Inspection robot rail hanging assembly

Abstract

The application provides a kind of inspection robot hanging rail assembly, comprising: hanging rail part, including inverted L-shaped hanging rail;Inspection movement mechanism, including support frame, drive part, first buffer limiting part and second buffer limiting part, drive part is arranged on support frame and one end is rotatably arranged on the top wall of inverted L-shaped hanging rail, to drive support frame moves on inverted L-shaped hanging rail, the surface of drive part and the top wall of inverted L-shaped hanging rail is knurled surface;First buffer limiting part and second buffer limiting part are movably arranged through support frame, one end of first buffer limiting part, second buffer limiting part is respectively matched with the side wall, bottom end stop of support frame, the other end of first buffer limiting part and second buffer limiting part is respectively and the side wall, bottom end of inverted L-shaped hanging rail abuts, to limit the relative position of support frame and inverted L-shaped hanging rail in horizontal direction, vertical direction.Using the scheme, it can solve the problem of complex structure of inspection movement mechanism in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hanging rail type inspection robots, in particular to a hanging rail assembly of an inspection robot. BACKGROUND

[0002] At present, the connection between the inspection movement mechanism and the hanging rail of the hanging rail type inspection robot usually adopts a motor, a belt pulley, a belt and a hanging rail fixing wheel. The inspection robot is arranged on the inspection movement mechanism. The belt pulley and the belt are engaged. The motor drives the belt pulley to move and drives the entire inspection movement mechanism and the inspection robot to move. The hanging rail fixing wheel is used to limit the relative position between the hanging rail and the inspection movement mechanism, so as to avoid derailment. However, the installation of the belt pulley and the belt is troublesome due to the above-mentioned arrangement in the prior art. In addition, the climbing angle of the belt and the belt pulley transmission is small, and the transmission and power are not strong. SUMMARY

[0003] The present application provides a hanging rail assembly of an inspection robot to solve the problem of complex structure of the inspection movement mechanism of the inspection robot movement assembly in the prior art and limited climbing angle.

[0004] In order to solve the above-mentioned problems, the present application provides a hanging rail assembly of an inspection robot, which comprises: a hanging rail part, the hanging rail part comprising an inverted L-shaped hanging rail; an inspection movement mechanism, the inspection movement mechanism comprising a support frame, a driving part, a first buffer limiting part and a second buffer limiting part, the driving part being fixedly arranged on the support frame, one end of the driving part being rotatably arranged on the top wall of the inverted L-shaped hanging rail to drive the movement of the support frame in the extension direction of the inverted L-shaped hanging rail, wherein the surface of the driving part and the surface of the top wall of the inverted L-shaped hanging rail are knurled surfaces; the first buffer limiting part and the second buffer limiting part are movably arranged through the support frame, one end of the first buffer limiting part is in abutment with the side wall of the support frame, the other end of the first buffer limiting part is in abutment with the side wall of the inverted L-shaped hanging rail to limit the relative position of the support frame and the inverted L-shaped hanging rail in the horizontal direction; one end of the second buffer limiting part is in abutment with the bottom wall of the support frame, the other end of the second buffer limiting part is in abutment with the bottom end of the inverted L-shaped hanging rail to limit the relative position of the support frame and the inverted L-shaped hanging rail in the vertical direction.

[0005] Further, the driving part comprises a driving motor, a driving power supply and a driving wheel. The support frame has a first mounting position and a second mounting position which are arranged at intervals in the height direction. The driving motor is arranged at the first mounting position and is fixedly connected with the support frame. The driving power supply is arranged at the second mounting position and is fixedly connected with the support frame. The driving power supply is electrically connected with the driving motor. The outer periphery of the driving wheel is knurled. The driving wheel is sleeved on the output shaft of the driving motor and is engaged with the knurled surface of the top wall of the inverted L-shaped hanging rail.

[0006] Further, the support frame is a reversed T-shaped frame including a horizontal plate and a vertical plate connected to each other, the vertical plate is located at one side of the reversed L-shaped hanging rail, the vertical plate includes a first vertical plate segment, a second vertical plate segment and a third vertical plate segment connected to each other in sequence along the height direction, the horizontal plate is divided into a first horizontal plate segment and a second horizontal plate segment connected to each other by the vertical plate, the second horizontal plate segment is located at the side of the vertical plate close to the reversed L-shaped hanging rail, the first mounting position is located at the side of the first vertical plate segment away from the reversed L-shaped hanging rail, the second mounting position is located at the side of the third vertical plate segment away from the reversed L-shaped hanging rail and / or on the first horizontal plate segment, the first buffer limiting part is arranged on the second vertical plate segment, and the second buffer limiting part is arranged on the second horizontal plate segment.

[0007] Further, the support frame includes a vertical plate and a horizontal plate connected to each other, and the plurality of buffer limiting parts include a first buffer limiting part and a second buffer limiting part, the first buffer limiting part includes a first elastic member and a first limiting assembly, the second buffer limiting part includes a second elastic member and a second limiting assembly, the first limiting assembly is movably arranged through the horizontal plate along the horizontal direction, one end of the first limiting assembly abuts against the side wall of the reversed L-shaped hanging rail, the other end of the first limiting assembly is in abutting stop cooperation with the horizontal plate, two ends of the first elastic member are connected to the first limiting assembly and the horizontal plate respectively, the second limiting assembly is movably arranged through the vertical plate along the vertical direction, one end of the second limiting assembly abuts against the bottom end of the reversed L-shaped hanging rail, the other end of the second limiting assembly is in abutting stop cooperation with the vertical plate, and two ends of the second elastic member are connected to the second limiting assembly and the horizontal plate respectively.

[0008] Further, the vertical plate has a guide segment extending along the horizontal direction, the vertical plate has a first guide hole penetrating through the guide segment, the first guide hole includes a first hole segment and a second hole segment, the first hole segment is located at the side of the second hole segment away from the reversed L-shaped hanging rail and has a smaller radial dimension than the second hole segment, the first limiting assembly includes a side positioning member, a side positioning bracket and a side positioning wheel connected to each other in sequence, the side positioning bracket includes a first guide rod segment and a first mounting segment, the side positioning wheel is rotatably arranged on the first mounting segment, the first guide rod segment has a smaller radial dimension than the maximum radial dimension of the first mounting segment, the first elastic member is sleeved on the first guide rod segment and has two ends respectively abutting against the bottom wall of the second hole segment and the first mounting segment, so that the side positioning wheel abuts against the side wall of the reversed L-shaped hanging rail, the free end of the side positioning member is located outside the first hole segment, the connecting end of the side positioning member is located in the first hole segment and connected to the side positioning bracket, the radial dimension of the free end of the side positioning member is greater than the radial dimension of the first hole segment, and the free end of the side positioning member is in abutting stop cooperation with the end of the guide segment.

[0009] Further, the first limiting assembly further includes a rotation stopping structure arranged between the first hole segment and the first guide rod segment to limit the rotation of the first guide rod segment in the first hole segment.

[0010] Further, the horizontal plate has a second guide hole penetrating therethrough, the second limiting assembly comprises a lower positioning member, a lower support and a lower positioning wheel connected in sequence, the lower support comprises a second guide rod segment and a second mounting segment, the lower positioning wheel is rotatably arranged on the second mounting segment, the radial dimension of the second guide rod segment is smaller than the maximum radial dimension of the second mounting segment, a second elastic member is sleeved on the second guide rod segment and fixedly connected at both ends thereof with the top wall of the horizontal plate and the second mounting segment, so that the lower positioning wheel and the bottom wall of the inverted L-shaped hanging rail abut against each other, the free end of the lower positioning member is located on the lower side of the second guide hole, the connecting end of the lower positioning member penetrates through the second guide hole and is connected with the lower support, the radial dimension of the free end of the lower positioning member is greater than the radial dimension of the second guide hole, and the free end of the side positioning member is stop-fitted with the bottom wall of the horizontal plate.

[0011] Further, the outer periphery of the lower positioning wheel has an annular limiting groove, the bottom end of the inverted L-shaped hanging rail is located in the annular limiting groove and abuts against the bottom wall of the annular limiting groove, and the bottom end of the inverted L-shaped hanging rail is stop-fitted with the two side walls of the annular limiting groove.

[0012] Further, the horizontal plate further has a sector-shaped hole in communication with the second guide hole, the sector-shaped hole is arranged at the outer edge of the second guide hole, the opening dimension of the sector-shaped hole gradually increases in the direction away from the center of the second guide hole, and the second limiting assembly further comprises a second rotation limiting member, the second rotation limiting member is fixedly arranged on the second guide rod segment, the second rotation limiting member is rotatably arranged in the sector-shaped hole, and the second rotation limiting member and the two side walls of the sector-shaped hole in the circumferential direction are stop-fitted.

[0013] Further, the patrol robot hanging rail assembly further comprises a support part, the support part comprises a plurality of support frames and inverted L-shaped adapter plates, the inverted L-shaped adapter plates are arranged at the top of the support frames, and the inverted L-shaped hanging rail is fixedly connected with the plurality of inverted L-shaped adapter plates.

[0014] The technical scheme of the present application provides a patrol robot hanging rail assembly, which comprises: a hanging rail part, the hanging rail part comprising an inverted L-shaped hanging rail; a patrol movement mechanism, the patrol movement mechanism comprising a support frame, a driving part, a first buffer limiting part and a second buffer limiting part, the driving part being fixedly arranged on the support frame, one end of the driving part being rotatably arranged on the top wall of the inverted L-shaped hanging rail to drive the movement of the support frame in the extension direction of the inverted L-shaped hanging rail, wherein the surface of the driving part and the surface of the top wall of the inverted L-shaped hanging rail are knurled surfaces; the first buffer limiting part and the second buffer limiting part are movably arranged through the support frame, one end of the first buffer limiting part is stop-fitted with the side wall of the support frame, the other end of the first buffer limiting part abuts against the side wall of the inverted L-shaped hanging rail to limit the relative position of the support frame and the inverted L-shaped hanging rail in the horizontal direction; one end of the second buffer limiting part is stop-fitted with the bottom wall of the support frame, and the other end of the second buffer limiting part abuts against the bottom end of the inverted L-shaped hanging rail to limit the relative position of the support frame and the inverted L-shaped hanging rail in the vertical direction.

[0015] With the scheme, the surfaces of the driving part and the reverse L-shaped hanging rail in rotation cooperation are knurled surfaces, which increases the friction between the two in the transmission process, avoids the complicated transmission structure such as the planar wheel contact or chain contact in the prior art, and leads to the complex structure of the inspection movement mechanism, saves the processing cost while ensuring the reliability of the transmission. On the other hand, the first and second buffer limiting parts are used to limit and support the support frame, so as to avoid the situation that the inspection movement mechanism is out of track or moves off during the movement, and the movement is stuck. The first and second buffer limiting parts are movably arranged to buffer and flexibly support the support frame, avoid the situation that the rigid limiting part in the prior art cannot be adjusted in the limiting area, leads to the gap or unstable connection between the support frame and the reverse L-shaped hanging rail, and ensures the reliability of the connection between the inspection movement mechanism and the reverse L-shaped hanging rail. Further, the first and second buffer limiting parts support the support frame, and the surfaces of the driving part and the reverse L-shaped hanging rail in rotation cooperation are knurled, so that the inspection movement mechanism in the scheme can realize the climbing of the 90° hanging rail, and the applicability of the inspection robot hanging assembly is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, make an explanation of the application complete, and are not intended to limit the application unduly. In the drawings:

[0017] Figure 1 A structure schematic diagram of the inspection robot hanging assembly provided by the embodiment of the application is shown;

[0018] Figure 2 A front view of Figure 1 is shown;

[0019] Figure 3 A rear view of Figure 1 is shown;

[0020] Figure 4 A sectional view of the A-A position in Figure 2 is shown;

[0021] Figure 5 An enlarged view of the C position in Figure 4 is shown;

[0022] Figure 6 An enlarged view of the B position in Figure 3 is shown;

[0023] Figure 7 A partial enlarged view of the inspection robot of Figure 1 without the second elastic member is shown.

[0024] Wherein, the above-mentioned drawings include the following reference signs:

[0025] 10, hanging rail part; 11, support part; 111, support frame; 112, inverted L-shaped adapter plate; 12, inverted L-shaped hanging rail;

[0026] 20, inspection moving mechanism;

[0027] 21, support frame; 211, vertical plate; 2111, guide section; 2112, first guide hole; 212, horizontal plate; 2121, second guide hole; 2122, fan-shaped hole;

[0028] 22, driving part; 221, driving motor; 222, driving power supply; 223, driving wheel;

[0029] 23, first buffer limiting part; 231, first elastic member; 232, side positioning member; 233, side positioning support; 2331, first guide rod section; 2332, first mounting section; 234, side positioning wheel; 235, rotation-stopping structure;

[0030] 24, second buffer limiting part; 241, second elastic member; 242, lower positioning member; 243, lower positioning support; 2431, second guide rod section; 2432, second mounting section; 244, lower positioning wheel; 2441, annular limiting groove; 245, gasket; 246, second rotation limiting member. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative in nature and by no means as any limitation to the present application and its application or use. All other embodiments obtained by those of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the scope of protection of the present application.

[0032] As Figures 1 to 7As shown, the embodiment of the present application provides a patrol robot hanging rail assembly, comprising: a hanging rail part 10, the hanging rail part 10 comprising an inverted L-shaped hanging rail 12; a patrol movement mechanism 20, the patrol movement mechanism 20 comprising a support frame 21, a driving part 22, a first buffer limiting part 23 and a second buffer limiting part 24, the driving part 22 being fixedly arranged on the support frame 21, one end of the driving part 22 being rotatably arranged on the top wall of the inverted L-shaped hanging rail 12 to drive the movement of the support frame 21 in the extension direction of the inverted L-shaped hanging rail 12, wherein the surface of the driving part 22 and the surface of the top wall of the inverted L-shaped hanging rail 12 are knurled surfaces; the first buffer limiting part 23 and the second buffer limiting part 24 are movably arranged through the support frame 21, one end of the first buffer limiting part 23 is in abutment with the side wall of the support frame 21, the other end of the first buffer limiting part 23 is in abutment with the side wall of the inverted L-shaped hanging rail 12 to limit the relative position of the support frame 21 and the inverted L-shaped hanging rail in the horizontal direction; one end of the second buffer limiting part 24 is in abutment with the bottom wall of the support frame 21, the other end of the second buffer limiting part 24 is in abutment with the bottom end of the inverted L-shaped hanging rail 12 to limit the relative position of the support frame 21 and the inverted L-shaped hanging rail in the vertical direction.

[0033] In the present embodiment, the surfaces of the driving part 22 and the inverted L-shaped hanging rail 12 that are rotatably arranged are knurled surfaces, which increases the friction between the two during transmission, avoids the complex transmission structure of the prior art, such as planar wheel contact or chain contact, which leads to a complex structure of the patrol movement mechanism 20, ensures the reliability of the transmission, and saves the processing cost. On the other hand, the first buffer limiting part 23 and the second buffer limiting part 24 are used to limit and support the support frame 21, which avoids the situation that the patrol movement mechanism 20 is off the track or moves off-center during movement, which leads to movement jamming, the first buffer limiting part 23 and the second buffer limiting part 24 are movably arranged to achieve flexible buffer support of the support frame 21, which avoids the situation that the rigid limiting part of the prior art cannot adjust the limiting area, which leads to gaps or unstable connection between the support frame 21 and the inverted L-shaped hanging rail 12, and ensures the reliability of the connection between the patrol movement mechanism 20 and the inverted L-shaped hanging rail 12. Further, in combination with the support of the first buffer limiting part 23 and the second buffer limiting part 24 to the support frame 21, and the knurled design of the surfaces of the driving part 22 and the inverted L-shaped hanging rail 12 that are rotatably arranged, the patrol movement mechanism 20 in the present scheme can realize the climbing of the 90° hanging rail, which improves the applicability of the patrol robot hanging rail assembly.

[0034] As Figures 1 to 6As shown, the driving part 22 comprises a driving motor 221, a driving power supply 222 and a driving wheel 223, the support frame 21 has a first mounting position and a second mounting position which are arranged downward along the height direction, the driving motor 221 is arranged at the first mounting position and fixedly connected with the support frame 21, the driving power supply 222 is arranged at the second mounting position and fixedly connected with the support frame 21, the driving power supply 222 is electrically connected with the driving motor 221, the outer circumferential surface of the driving wheel 223 is knurled, the driving wheel 223 is sleeved on the output shaft of the driving motor 221 and engaged with the knurled surface of the top wall of the inverted L-shaped hanging rail 12. In this way, the driving motor 221 and the driving power supply 222 are arranged upward and downward, the installation of the driving part 22 and the support frame 21 is integrated, and the structure assembly is miniaturized after the support frame 21 and the driving part 22 are connected. The driving wheel 223 is driven to rotate by the driving motor 221, so that the whole inspection moving mechanism 20 moves along the extension direction of the inverted L-shaped hanging rail 12. The driving wheel 223 and the output shaft of the driving motor 221 are connected through a key, so as to ensure the relative position of the driving wheel 223 and the driving motor 221 in the axial and circumferential directions.

[0035] As shown in Figure 1 , Figure 4 and Figure 5 , the support frame 21 is an inverted T-shaped frame comprising a horizontal plate 212 and a vertical plate 211 which are connected with each other, the vertical plate 211 is located at one side of the inverted L-shaped hanging rail 12, the vertical plate 211 comprises a first vertical plate section, a second vertical plate section and a third vertical plate section which are connected in sequence downward along the height direction, the horizontal plate 212 is divided into a first horizontal plate section and a second horizontal plate section which are connected with each other by the vertical plate 211, the second horizontal plate section is located at the side of the vertical plate 211 close to the inverted L-shaped hanging rail 12, the first mounting position is located at the side of the first vertical plate section away from the inverted L-shaped hanging rail 12, the second mounting position is located at the side of the third vertical plate section away from the inverted L-shaped hanging rail 12 and / or on the first horizontal plate section, the first buffer limiting part 23 is arranged on the second vertical plate section, and the second buffer limiting part 24 is arranged on the second horizontal plate section.

[0036] Thus, the driving part 22 and the support frame 21 are integrated and installed, and the structure assembly after the driving part 22 and the support frame 21 are connected is miniaturized. Specifically, in the embodiment, the first vertical plate section has threaded holes at four corners in the circumferential direction, the motor body of the driving motor 221 has corresponding four through holes on the side facing the first vertical plate section, the driving motor 221 and the first vertical plate section are fixedly connected through four screws, the first vertical plate section further has an avoiding hole, the output shaft of the driving motor 221 passes through the avoiding hole and is located above the inverted L-shaped hanging rail 12, and the driving wheel 223 is connected to the end of the output shaft above the inverted L-shaped hanging rail 12 through a key and abuts against the top wall of the inverted L-shaped hanging rail 12. Further, the driving power supply 222 in the embodiment is arranged on the first horizontal plate section, and the driving part 22 further includes a battery fixing strip, and the driving power supply 222 is fixed on the first horizontal plate section through the battery fixing strip. The second vertical plate section and the second horizontal plate section each have an avoiding hole for the first buffer limiting part 23 and the second buffer limiting part 24 to pass through, respectively.

[0037] As shown in Figure 4 and Figure 5 , the support frame 21 includes a vertical plate 211 and a horizontal plate 212 connected to each other, and the plurality of buffer limiting parts include a first buffer limiting part 23 and a second buffer limiting part 24, the first buffer limiting part 23 includes a first elastic member 231 and a first limiting assembly, the second buffer limiting part 24 includes a second elastic member 241 and a second limiting assembly, the first limiting assembly is movably arranged through the horizontal plate 212 in the horizontal direction, one end of the first limiting assembly abuts against the side wall of the inverted L-shaped hanging rail 12, and the other end of the first limiting assembly is in abutting stop cooperation with the horizontal plate 212, both ends of the first elastic member 231 are connected to the first limiting assembly and the horizontal plate 212, respectively, the second limiting assembly is movably arranged through the vertical plate 211 in the vertical direction, one end of the second limiting assembly abuts against the bottom end of the inverted L-shaped hanging rail 12, and the other end of the second limiting assembly is in abutting stop cooperation with the vertical plate 211, both ends of the second elastic member 241 are connected to the second limiting assembly and the horizontal plate 212, respectively. In the embodiment, the first limiting assembly abuts against the side wall of the inverted L-shaped hanging rail 12 through the elastic force of the first elastic member 231, and the second limiting assembly abuts against the bottom end of the inverted L-shaped hanging rail 12 through the elastic force of the second elastic member 241, so as to ensure the flexible support and limiting effect of the first buffer limiting part 23 and the second buffer limiting part 24 on the support frame 21.

[0038] Specifically, the vertical plate 211 has a guide segment 2111 extending in the horizontal direction, the vertical plate 211 has a first guide hole 2112 penetrating through the guide segment 2111, the first guide hole 2112 includes a first hole segment and a second hole segment, the first hole segment is located on a side of the second hole segment away from the inverted L-shaped hanging rail 12 and has a smaller radial dimension than the second hole segment, the first limiting component includes a side positioning piece 232, a side positioning bracket 233 and a side positioning wheel 234 connected in sequence, the side positioning bracket 233 includes a first guide rod segment 2331 and a first mounting segment 2332, the side positioning wheel 234 is rotatably arranged on the first mounting segment 2332, the first guide rod segment 2331 has a smaller radial dimension than a maximum radial dimension of the first mounting segment 2332, a first elastic piece 231 is sleeved on the first guide rod segment 2331 and abuts against the bottom wall of the second hole segment and the first mounting segment 2332 at two ends respectively, so that the side positioning wheel 234 abuts against the side wall of the inverted L-shaped hanging rail 12, a free end of the side positioning piece 232 is located outside the first hole segment, a connecting end of the side positioning piece 232 is located in the first hole segment and connected with the side positioning bracket 233, the free end has a larger radial dimension than the first hole segment, and the free end of the side positioning piece 232 and an end portion of the guide segment 2111 are in abutting fit.

[0039] In the embodiment, the guide segment 2111 and the first guide hole 2112 are both located on the second vertical plate segment and extend in the horizontal direction, the free end of the side positioning piece 232 and the end portion of the guide segment 2111 are in abutting fit, and the first mounting segment 2332 has a larger radial dimension than the second hole segment and is in abutting fit with the vertical plate 211. In this way, the movement of the side positioning bracket 233 is limited, so that the first buffer limiting portion 23 is prevented from being disabled due to the side positioning bracket 233 moving out of the first guide hole 2112. The first hole segment and the first guide rod segment 2331 are in limiting fit, so as to guide the movement of the side positioning bracket 233 and prevent the movement from deviating. The first elastic piece 231 is partially arranged in the second hole segment, so as to facilitate the installation and placement of the first elastic piece 231. The side positioning bracket 233 is tightly abutted against the side wall of the inverted L-shaped hanging rail 12 under the elastic action of the first elastic piece 231.

[0040] Specifically, the side positioning piece 232 in the embodiment is a screw, the end portion of the first guide rod segment 2331 has a threaded hole, and the side positioning piece 232 is arranged in the threaded hole. The first mounting segment 2332 is a strip structure with a concave cross section, the side positioning wheel 234 includes a connecting shaft and a wheel body, the connecting shaft is arranged in the first mounting segment 2332, and the wheel body is rotatably sleeved on the connecting shaft through a bearing. An outer peripheral portion of the wheel body protrudes from a region surrounded by the first mounting segment 2332, so as to ensure that the wheel body abuts against the inverted L-shaped hanging rail 12. The radial direction of the wheel body is parallel to the top wall of the inverted L-shaped hanging rail 12, and the axial direction of the wheel body is parallel to the side wall of the inverted L-shaped hanging rail 12, so as to ensure that the movement track of the side positioning wheel 234 is the same as the extension track of the inverted L-shaped hanging rail 12.

[0041] Furthermore, the first limiting component also includes an anti-rotation structure 235, which is disposed between the first hole section and the first guide rod section 2331 to limit the rotation of the first guide rod section 2331 within the first hole section.

[0042] In this embodiment, the anti-rotation structure 235 restricts the relative rotation of the side support 233 and the guide section 2111 in the circumferential direction, ensuring that the movement trajectory of the side positioning wheel 234 is the same as the extension trajectory of the inverted L-shaped hanging rail 12. This avoids the side support 233 rotating, causing the movement trajectory of the side positioning wheel 234 to intersect with the extension trajectory of the inverted L-shaped hanging rail 12, which could lead to the inspection motion mechanism 20 getting stuck during movement. This ensures the reliability of the inspection motion mechanism 20 moving along the inverted L-shaped hanging rail.

[0043] like Figure 4 , Figure 5 and Figure 7 As shown, the horizontal plate 212 has a through second guide hole 2121. The second limiting assembly includes a lower positioning member 242, a lower bracket 243, and a lower positioning wheel 244 connected in sequence. The lower bracket 243 includes a second guide rod segment 2431 and a second mounting segment 2432. The lower positioning wheel 244 is rotatably mounted on the second mounting segment 2432. The radial dimension of the second guide rod segment 2431 is smaller than the maximum radial dimension of the second mounting segment 2432. The second elastic member 241 is sleeved on the second guide rod segment 2431. Both ends are fixedly connected to the top wall of the horizontal plate 212 and the second mounting section 2432 respectively, so that the lower positioning wheel 244 and the bottom wall of the inverted L-shaped hanging rail 12 abut against each other. The free end of the lower positioning member 242 is located on the lower side of the second guide hole 2121. The connecting end of the lower positioning member 242 passes through the second guide hole 2121 and is connected to the lower bracket 243. The radial dimension of the free end of the lower positioning member 242 is greater than the radial dimension of the second guide hole 2121. The free end of the side positioning member 232 is engaged with the bottom wall of the horizontal plate 212.

[0044] In the embodiment, the second guide hole 2121 is located on the second horizontal plate segment and extends in the vertical direction, the free end of the lower positioning member 242 is in abutting engagement with the bottom wall of the horizontal plate 212, and the radial dimension of the second mounting segment 2432 is greater than that of the second guide hole 2121 and is in abutting engagement with the horizontal plate 212. In this way, the movement of the lower support 243 is limited, so as to avoid the situation that the lower support 243 moves excessively out of the second guide hole 2121 and causes the second buffer limiting portion 24 to fail. The second guide hole 2121 and the second guide rod segment 2431 are in limiting engagement, so as to guide the movement of the lower support 243 and avoid the situation that the movement deviates.

[0045] Specifically, the lower positioning member 242 in the embodiment is a screw, the end of the second guide rod segment 2431 is provided with a threaded hole, and the lower positioning member 242 is arranged in the threaded hole. The second mounting segment 2432 is a strip structure with a concave cross section, and the structure of the lower positioning wheel 244 is the same as that of the side positioning wheel 234, including a connecting shaft and a wheel body. The connecting shaft is arranged in the second mounting segment 2432, the wheel body is rotatably sleeved on the connecting shaft through a bearing, and the outer peripheral portion of the wheel body protrudes from the area surrounded by the second mounting segment 2432, so as to ensure that the wheel body is in abutting engagement with the inverted L-shaped hanging rail 12. Specifically, the radial direction of the wheel body of the lower positioning wheel 244 is parallel to the side wall of the inverted L-shaped hanging rail 12, and the axial direction of the wheel body is parallel to the top wall of the inverted L-shaped hanging rail 12, so as to ensure that the movement track of the lower positioning wheel 244 is the same as the extension track of the inverted L-shaped hanging rail 12.

[0046] As shown in Figure 5 the second limiting assembly in the embodiment further includes a gasket 245, the gasket 245 is sleeved on the lower positioning member 242, the radial dimension of the gasket 245 is greater than that of the second guide hole 2121, and the gasket 245 is in abutting engagement with the bottom wall of the horizontal plate 212. In this way, the radial dimension of the free end of the lower positioning member 242 is not limited, and the lower positioning member 242 is in abutting engagement with the bottom wall of the horizontal plate 212 through the gasket 245.

[0047] As shown in Figure 5 the outer periphery of the lower positioning wheel 244 is provided with an annular limiting groove 2441, the bottom end of the inverted L-shaped hanging rail 12 is located in the annular limiting groove 2441 and is in abutting engagement with the bottom wall of the annular limiting groove 2441, and the bottom end of the inverted L-shaped hanging rail 12 is in abutting engagement with the two side walls of the annular limiting groove 2441. In this way, the bottom end of the inverted L-shaped hanging rail 12 is supported, and the two side walls of the annular limiting groove 2441 abut against the bottom end of the inverted L-shaped hanging rail 12, so as to avoid derailment.

[0048] As shown in Figure 7As shown, the horizontal plate 212 also has a sector hole 2122 in communication with the second guide hole 2121, the sector hole 2122 is arranged at the outer edge of the second guide hole 2121, in the direction away from the center of the second guide hole 2121, the opening size of the sector hole 2122 gradually increases, and the second limiting assembly further includes a second rotation limiting piece 246, the second rotation limiting piece 246 is fixedly arranged on the second guide rod segment 2431, the second rotation limiting piece 246 is rotatably arranged in the sector hole 2122, and the second rotation limiting piece 246 and the sector hole 2122 are in circumferential wall stop cooperation.

[0049] In the embodiment, the sector hole 2122 is arranged to enable the lower support 243 to rotate by a certain angle to adapt to the rotation of the inspection motion mechanism 20 when passing through the bend of the inverted L-shaped hanging rail 12. Further, the second elastic piece 241 has two ends fixedly connected with the top wall of the horizontal plate 212 and the second mounting segment 2432 respectively to provide elastic force in the circumferential direction for the lower support 243 after the rotation by a certain angle, so as to facilitate the automatic reset of the lower support 243 after the rotation.

[0050] As shown in the figure, Figures 2 to 3 The inspection robot hanging rail assembly further includes a support part 11, the support part 11 includes a plurality of support frames 111 and inverted L-shaped adapter plates 112, the inverted L-shaped adapter plates 112 are arranged at the top of the support frames 111, and the inverted L-shaped hanging rail 12 is fixedly connected with the plurality of inverted L-shaped adapter plates 112. In this way, the support effect of the support part 11 on the inverted L-shaped hanging rail 12 is ensured, wherein the connection between the support frames 111 and the inverted L-shaped hanging rail 12 is realized through the inverted L-shaped adapter plates 112, the utilization area of the inverted L-shaped hanging rail 12 is as high as possible, and the situation that the inspection motion mechanism 20 is too concentrated is avoided.

[0051] It is to be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that, when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or combination thereof.

[0052] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all such variations are intended to be included within the scope of the present application as defined in the following claims, along with full equivalents thereof.

[0053] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "horizontal", "top", "bottom", and the like are generally based on the orientation or positional relationships shown in the drawings, and are merely intended to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the present application. The orientation terms "inner", "outer" refer to the inner and outer relative to the contour of the components themselves.

[0054] For the convenience of description, spatial relative terms such as "above", "upper", "top", "up", "lower", "bottom", and the like can be used herein to describe the spatial position relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "on" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0055] In addition, it should be noted that the use of the terms "first", "second", and the like do not have a special meaning, and are merely used to distinguish the corresponding components, and therefore should not be construed as limiting the scope of protection of the present application.

[0056] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A patrolling robot rail hanging assembly, characterized in that, The utility model relates to a kind of rail-mounted inspection vehicle, including: Rail hanging part (10), the rail hanging part (10) includes inverted L type rail (12); Inspection movement mechanism (20), the inspection movement mechanism (20) includes support frame (21), drive part (22), first buffer limiting part (23) and second buffer limiting part (24), the drive part (22) is fixedly arranged on the support frame (21), one end of the drive part (22) is rotatably arranged on the top wall of the inverted L type rail (12), to drive the support frame (21) moves in the direction of extension of the inverted L type rail (12), wherein the surface of the drive part (22) and the surface of the top wall of the inverted L type rail (12) are knurled surface; The first buffer limiting part (23) and the second buffer limiting part (24) are movably arranged through the support frame (21), one end of the first buffer limiting part (23) is stopped with the side wall of the support frame (21), the other end of the first buffer limiting part (23) is abutted with the side wall of the inverted L type rail (12), to limit the relative position of the support frame (21) and the inverted L type rail in horizontal direction;One end of the second buffer limiting part (24) is stopped with the bottom wall of the support frame (21), the other end of the second buffer limiting part (24) is abutted with the bottom end of the inverted L type rail (12), to limit the relative position of the support frame (21) and the inverted L type rail in vertical direction; The support frame (21) includes vertical plate (211) and horizontal plate (212) connected with each other, a plurality of buffer limiting parts include first buffer limiting part (23) and second buffer limiting part (24), the first buffer limiting part (23) includes first elastic member (231) and first limiting assembly, the second buffer limiting part (24) includes second elastic member (241) and second limiting assembly, the first limiting assembly is movably arranged through the horizontal plate (212) along horizontal direction, one end of the first limiting assembly is abutted with the side wall of the inverted L type rail (12), the other end of the first limiting assembly is stopped with the horizontal plate (212), both ends of the first elastic member (231) are connected with the first limiting assembly and the horizontal plate (212) respectively, the second limiting assembly is movably arranged through the vertical plate (211) along vertical direction, one end of the second limiting assembly is abutted with the bottom end of the inverted L type rail (12), the other end of the second limiting assembly is stopped with the vertical plate (211), both ends of the second elastic member (241) are connected with the second limiting assembly and the horizontal plate (212) respectively. The vertical plate (211) has a guide section (2111) extending in a horizontal direction, the vertical plate (211) has a first guide hole (2112) penetrating through the guide section (2111), the first guide hole (2112) comprises a first hole section and a second hole section, the first hole section is located on a side of the second hole section away from the inverted L-shaped hanging rail (12) and has a smaller radial dimension than the second hole section, the first limiting component comprises a side positioning piece (232), a side positioning bracket (233) and a side positioning wheel (234) connected in sequence, the side positioning bracket (233) comprises a first guide rod section (2331) and a first mounting section (2332), the side positioning wheel (234) is rotatably arranged on the first mounting section (2332), the first guide rod section (2331) has a smaller radial dimension than the maximum radial dimension of the first mounting section (2332), the first elastic piece (231) is sleeved on the first guide rod section (2331) and has two ends respectively abutting against the bottom wall of the second hole section and the first mounting section (2332), so that the side positioning wheel (234) abuts against the side wall of the inverted L-shaped hanging rail (12), the free end of the side positioning piece (232) is located outside the first hole section, the connecting end of the side positioning piece (232) is located in the first hole section and connected with the side positioning bracket (233), the radial dimension of the free end of the side positioning piece (232) is greater than the radial dimension of the first hole section, and the free end of the side positioning piece (232) is in abutting engagement with the end portion of the guide section (2111). The first limiting component further comprises a rotation stopping structure (235) arranged between the first hole section and the first guide rod section (2331) to limit the rotation of the first guide rod section (2331) in the first hole section.

2. The patrolling robot hanging rail assembly of claim 1, wherein, The driving part (22) comprises a driving motor (221), a driving power supply (222) and a driving wheel (223), the support frame (21) has a first mounting position and a second mounting position arranged at intervals in a height direction, the driving motor (221) is arranged at the first mounting position and fixedly connected with the support frame (21), the driving power supply (222) is arranged at the second mounting position and fixedly connected with the support frame (21), the driving power supply (222) is electrically connected with the driving motor (221), and the outer periphery of the driving wheel (223) is knurled, the driving wheel (223) is sleeved on the output shaft of the driving motor (221) and engaged with the knurled surface of the top wall of the inverted L-shaped hanging rail (12).

3. The patrolling robot hanging rail assembly according to claim 2, wherein, The support frame (21) is a inverted T-shaped frame including a horizontal plate (212) and a vertical plate (211) connected with each other, the vertical plate (211) is located at one side of the inverted L-shaped hanging rail (12), the vertical plate (211) includes a first vertical plate section, a second vertical plate section and a third vertical plate section connected in sequence along the height direction from top to bottom, the horizontal plate (212) is divided into a first horizontal plate section and a second horizontal plate section connected with each other by the vertical plate (211), the second horizontal plate section is located at the side of the vertical plate (211) close to the inverted L-shaped hanging rail (12), the first mounting position is located at the side of the first vertical plate section away from the inverted L-shaped hanging rail (12), the second mounting position is located at the side of the third vertical plate section away from the inverted L-shaped hanging rail (12) and / or on the first horizontal plate section, the first buffer limiting part (23) is arranged on the second vertical plate section, and the second buffer limiting part (24) is arranged on the second horizontal plate section.

4. The robotic patrol hanging rail assembly of claim 1, wherein, The horizontal plate (212) has a second guide hole (2121) penetrating through, the second limiting assembly includes a lower positioning piece (242), a lower support (243) and a lower positioning wheel (244) connected in sequence, the lower support (243) includes a second guide rod section (2431) and a second mounting section (2432), the lower positioning wheel (244) is rotatably arranged on the second mounting section (2432), the radial dimension of the second guide rod section (2431) is smaller than the maximum radial dimension of the second mounting section (2432), the second elastic piece (241) is sleeved on the second guide rod section (2431) and fixedly connected at both ends with a top wall of the horizontal plate (212) and the second mounting section (2432) respectively, so that the lower positioning wheel (244) and a bottom wall of the inverted L-shaped hanging rail (12) abut against each other, a free end of the lower positioning piece (242) is located at the lower side of the second guide hole (2121), a connecting end of the lower positioning piece (242) penetrates through the second guide hole (2121) and is connected with the lower support (243), and the radial dimension of the free end of the lower positioning piece (242) is greater than the radial dimension of the second guide hole (2121), and a free end of the side positioning piece (232) is in abutting fit with a bottom wall of the horizontal plate (212).

5. The patrolling robot rail assembly of claim 4, wherein, The outer periphery of the lower positioning wheel (244) has an annular limiting groove (2441), the bottom end of the inverted L-shaped hanging rail (12) is located in the annular limiting groove (2441) and abuts against a bottom wall of the annular limiting groove (2441), and the bottom end of the inverted L-shaped hanging rail (12) and two side walls of the annular limiting groove (2441) are in abutting fit.

6. The patrolling robot rail assembly of claim 4, wherein, The transverse plate (212) further has a sector hole (2122) in communication with the second guide hole (2121), the sector hole (2122) is arranged at the outer edge of the second guide hole (2121), the opening size of the sector hole (2122) gradually increases in the direction away from the center of the second guide hole (2121), the second limiting assembly further comprises a second rotation limiting piece (246), the second rotation limiting piece (246) is fixedly arranged on the second guide rod section (2431), the second rotation limiting piece (246) is rotatably arranged in the sector hole (2122), and the second rotation limiting piece (246) and the sector hole (2122) are in circumferential two side wall stop cooperation.

7. The robotic patrol hanging rail assembly of claim 1, wherein, The track-hung assembly of the inspection robot further comprises a support part (11), the support part (11) comprises a plurality of support frames (111) and inverted L-shaped adapter plates (112), the inverted L-shaped adapter plates (112) are arranged on the top of the support frames (111), and the inverted L-shaped hanging rails (12) and the plurality of inverted L-shaped adapter plates (112) are fixedly connected.

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