Inspection robot hanging rail track

Abstract

The application provides a patrol robot hanging rail track, which comprises an indoor side rail and an outdoor side rail; a rail changing part is arranged between the indoor side rail and the outdoor side rail in a lifting manner, the patrol robot hanging rail track has an indoor patrol state and an indoor and outdoor patrol state, the patrol robot hanging rail track is in the indoor patrol state when the rail changing part and the indoor side rail are spliced and spaced from the outdoor side rail, and the patrol robot hanging rail track is in the indoor and outdoor patrol state when the rail changing part, the indoor side rail and the outdoor side rail are all spliced; a reinforcing part is arranged on the rail changing part, and the reinforcing part is detachably clamped with the indoor side rail and / or the outdoor side rail when the patrol robot is in the indoor patrol state or the indoor and outdoor patrol state. The technical scheme provided by the application can solve the problems of the unadjustable patrol robot hanging rail track and unreliable connection after the patrol state is switched in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of track technology for inspection robot hanging rail, in particular to an inspection robot hanging rail. BACKGROUND

[0002] With the rapid development of artificial intelligence technology and mobile robot technology, inspection robots emerge as the times require. The inspection robots can carry various security monitoring devices to intelligently patrol the working area, and can autonomously make decisions and transmit the collected information to a remote monitoring system. Due to the diversity of the inspection environment, taking an inspection robot capable of realizing indoor and outdoor inspection as an example, the inspection robot will sequentially inspect indoor, outdoor and indoor along the track during the inspection work. However, when the outside encounters windy, sandy and rainy weather, the robot may be damaged if it continues to conduct outdoor inspection, which can cause great loss. On the other hand, the variable track in the prior art usually adopts a variable track that is spliced in a flush manner after variable. The variable track and the original track are still two independent parts, and the variable track is easily slightly inclined or shifted due to the gravity of the passing inspection robot, thereby causing the flush surface of the track to fail. SUMMARY

[0003] The present application provides an inspection robot hanging rail to solve the problems of unadjustable and unreliable connection after state switching of the inspection robot hanging rail in the prior art.

[0004] In order to solve the above problems, the present application provides an inspection robot hanging rail, comprising: an indoor side track and an outdoor side track; a variable track part, the variable track part is arranged between the indoor side track and the outdoor side track in a liftable manner, the inspection robot hanging rail has an indoor inspection state and an indoor and outdoor inspection state, in a case where the variable track part and the indoor side track are spliced and spaced from the outdoor side track, the inspection robot hanging rail is in the indoor inspection state; in a case where the variable track part and the indoor side track and the outdoor side track are all spliced, the inspection robot hanging rail is in the indoor and outdoor inspection state; a reinforcing part, the reinforcing part is arranged on the variable track part, in a case where the inspection robot is in the indoor inspection state or the indoor and outdoor inspection state, the reinforcing part is detachably clamped with the indoor side track and / or the outdoor side track.

[0005] Further, the variable track part comprises a driving assembly, a connecting assembly, and a variable track and two transition tracks arranged on the connecting assembly, the variable track and the transition tracks are spaced in the vertical direction, the driving assembly and the connecting assembly are drivenly connected to drive the lifting of the connecting assembly, in a case where both ends of the variable track are spliced with both ends of the indoor side track respectively, the inspection robot hanging rail is in the indoor inspection state, in a case where both ends of the transition track are spliced with the outdoor side track and the indoor side track respectively, the inspection robot hanging rail is in the indoor and outdoor inspection state.

[0006] Further, the transition track and the change direction track each have a splicing section for aligning and splicing with the indoor side track and / or the outdoor side track, the reinforcing part includes a transmission assembly and a clamping assembly, the transmission assembly and the clamping assembly are arranged on the splicing section, and the transmission assembly is used to drive the clamping assembly to be detachably clamped with the indoor side track and / or the outdoor side track when the splicing section is spliced with the indoor side track and / or the outdoor side track.

[0007] Further, when the track-hung robot track is in the indoor and outdoor inspection state or the indoor inspection state, the top wall of the splicing section is located below the top wall of the indoor side track and / or the outdoor side track, the transmission assembly includes a transmission plate, a limiting block and a plurality of first elastic members, the transmission plate is arranged above the splicing section through the plurality of first elastic members, the splicing section has a mounting groove and a mounting hole that are in communication with each other, the limiting block is arranged below the transmission plate and can be movably arranged in the mounting groove, and the clamping assembly is movably arranged in the mounting hole and is detachably clamped with the indoor side track and / or the outdoor side track.

[0008] Further, the clamping assembly includes a piston, a locking rod and a second elastic member, the mounting hole includes a first hole section and a second hole section that are connected with each other, the radial dimension of the first hole section is greater than the radial dimension of the second hole section, the first hole section is in communication with the mounting groove, the piston is movably arranged in the first hole section, the locking rod is movably arranged in the second hole section, the piston and the locking rod are connected, the second elastic member is arranged in the first hole section and abuts against the bottom wall of the first hole section and the piston at two ends, respectively, and the indoor side track and the outdoor side track have corresponding clamping holes, and one end of the locking rod is movably arranged in the clamping hole.

[0009] Further, the transmission assembly includes a transmission plate, and the two ends of the transmission plate each have a guide inclined surface that is inclined downward in a direction away from the center of the transmission plate, and the track-hung robot arranged on the track-hung robot track is in abutting fit with the guide inclined surface to control the lifting of the transmission plate.

[0010] Further, the connecting assembly includes a connecting frame and a plurality of adjusting assemblies, the driving assembly is drivingly connected with the connecting frame, the change direction track and the transition track are each arranged on the driving assembly through at least two adjusting assemblies, the splicing section has a mounting groove and an exhaust hole that are in communication with each other, the exhaust hole is used to communicate with an external environment, and the adjusting assembly includes an elastic sealing member that is compressibly arranged in the exhaust hole and seals the exhaust hole to seal or open the exhaust hole.

[0011] Further, the adjusting assembly comprises a receiving frame and a nut assembly, the receiving frame has a first long slot, the splicing section has a corresponding second long slot, the nut assembly passes through the first long slot and the second long slot and connects the receiving frame and the transition rail or the direction-changing rail, the elastic sealing member is arranged on the receiving frame and located in the exhaust hole, and the nut assembly is movably arranged relative to the length direction of the first long slot and the second long slot to compress the elastic sealing member in the case that the clamping assembly is clamped with the indoor side rail and / or the outdoor side rail.

[0012] Further, the driving assembly comprises a support plate and a plurality of telescopic electric cylinders arranged below the support plate, the support plate is fixedly connected with the top wall on the indoor side, the plurality of telescopic electric cylinders are arranged at intervals along the length direction of the support plate and are drivingly connected with the connecting assembly, and the driving assembly is telescopically arranged to drive the lifting of the connecting assembly, the direction-changing rail and the transition rail.

[0013] Further, the track of the inspection robot hanging rail further comprises a control part and a climate environment detection part, the climate environment detection part is used for detecting the environment condition where the outdoor side rail is located, and the control part is electrically connected with the direction-changing part and the climate environment detection part to control the lifting of the direction-changing part according to the detection condition of the climate environment detection part.

[0014] The present invention provides a rail system for an inspection robot, comprising: an indoor rail and an outdoor rail; a rail-changing unit, which is movably disposed between the indoor and outdoor rails; the inspection robot rail system has indoor inspection mode and in-and-outside inspection mode; when the rail-changing unit is connected to the indoor rail and spaced apart from the outdoor rail, the inspection robot rail system is in indoor inspection mode; when the rail-changing unit is connected to both the indoor and outdoor rails, the inspection robot rail system is in in-and-outside inspection mode; and a reinforcing unit, disposed on the rail-changing unit, which can be detachably engaged with the indoor and / or outdoor rails when the inspection robot is in either indoor or in-and-outside inspection mode. This solution achieves the switching between indoor and in-and-outside inspection modes of the inspection robot rail system through the lifting and lowering of the rail-changing unit, avoiding the problem of non-adjustable inspection rails in existing technologies, which are prone to damage during outdoor inspections in harsh outdoor environments. Workers can determine whether outdoor inspection is necessary based on the outdoor environment, ensuring the reliability of the inspection robot. On the other hand, the reinforcement part ensures the reliability of the connection between the track-changing part and the indoor and / or outdoor tracks. Specifically, in the prior art, after the track-changing part changes tracks, it is only necessary to ensure that the track of the track-changing part is aligned and spliced ​​with the indoor and / or outdoor tracks. The track of the track-changing part is independent of the indoor and outdoor tracks, and the overall strength of the indoor or outdoor inspection track cannot be guaranteed. This can easily lead to the track tilting downwards under the action of gravity when the inspection robot passes over the track of the track-changing part, causing the alignment with the indoor and / or outdoor tracks to fail. The reinforcement part allows the track of the track-changing part to be flush and snapped together with the indoor and / or outdoor tracks, so that multiple tracks are connected into a whole, ensuring the overall structural strength of the track and the reliability of the inspection robot. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0016] Figure 1 A schematic diagram of the structure of the inspection robot track provided in an embodiment of the present invention is shown;

[0017] Figure 2 It shows Figure 1 A magnified view of the selected location;

[0018] Figure 3 It shows Figure 1 A schematic diagram of the track-changing section in the track of the inspection robot;

[0019] Figure 4 It showsFigure 1 A partial structural schematic view of a track of a patrol robot hanging rail in an indoor patrol state;

[0020] Figure 5 A cross-sectional view is shown Figure 4 A cross-sectional view is shown

[0021] Figure 6 A cross-sectional view is shown Figure 4 A cross-sectional view is shown from another perspective.

[0022] Wherein, the above drawings include the following reference signs:

[0023] 10, indoor side rail;

[0024] 20, outdoor side rail;

[0025] 30, rail changing part; 301, rail section; 302, splicing section; 303, mounting groove; 304, mounting hole; 305, exhaust hole; 306, second long hole; 31, driving assembly; 311, support plate; 312, telescopic electric cylinder; 313, guide assembly; 3131, sleeve; 3132, guide rod; 32, connecting assembly; 321, connecting frame; 322, adjusting assembly; 3221, elastic sealing piece; 3222, receiving frame; 3223, nut assembly; 3224, first long hole; 33, direction changing rail; 34, transition rail;

[0026] 40, reinforcing part; 41, transmission assembly; 411, transmission plate; 4111, guide inclined surface; 412, limiting block; 413, first elastic piece; 42, clamping assembly; 421, piston piece; 422, locking rod; 423, second elastic piece. DETAILED DESCRIPTION

[0027] 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 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, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work, fall within the scope of protection of the present application.

[0028] As Figures 1 to 6As shown, the embodiment of the present application provides a patrol robot hanging rail track, comprising: an indoor side rail 10 and an outdoor side rail 20; a rail changing part 30, which is arranged between the indoor side rail 10 and the outdoor side rail 20 in a lifting manner, and the patrol robot hanging rail track has an indoor patrol state and an indoor-outdoor patrol state, in the case that the rail changing part 30 and the indoor side rail 10 are spliced and spaced from the outdoor side rail 20, the patrol robot hanging rail track is in the indoor patrol state; in the case that the rail changing part 30 and the indoor side rail 10 and the outdoor side rail 20 are all spliced, the patrol robot hanging rail track is in the indoor-outdoor patrol state; a reinforcing part 40, which is arranged on the rail changing part 30, and in the case that the patrol robot is in the indoor patrol state or the indoor-outdoor patrol state, the reinforcing part 40 is detachably clamped with the indoor side rail 10 and / or the outdoor side rail 20.

[0029] In the embodiment, the lifting of the rail changing part 30 realizes the conversion of the patrol robot hanging rail track between the indoor patrol state and the indoor-outdoor patrol state, avoids the unadjustable patrol robot patrol track in the prior art, and avoids the damage of outdoor patrol in the case that the outdoor environment is poor. The staff can judge whether outdoor patrol is needed according to the outdoor environment, and the reliability of the patrol robot is ensured. On the other hand, the reinforcing part 40 realizes the reliability of the connection between the rail changing part 30 and the indoor side rail 10 and / or the outdoor side rail 20. Specifically, the rail changing part 30 in the prior art only needs to ensure that the track of the rail changing part 30 is aligned and spliced with the indoor side rail 10 and / or the outdoor side rail 20 after rail changing, the track of the rail changing part 30 is independent of the indoor side rail 10 and the outdoor side rail 20, the overall strength of the indoor patrol track or the outdoor patrol track formed thereby cannot be ensured, and the track may be inclined under the action of gravity when the patrol robot passes through the track of the rail changing part 30, which leads to the failure of alignment between the track and the indoor side rail 10 and / or the outdoor side rail 20. The clamping of the reinforcing part 40 after the track of the rail changing part 30 is flushly connected with the indoor side rail 10 and / or the outdoor side rail 20 makes the multiple tracks connected into a whole, ensures the overall structural strength of the track and the reliability of the patrol robot patrol.

[0030] As shown, Figures 1 to 4 The rail changing part 30 comprises a driving assembly 31, a connecting assembly 32, a changing direction track 33 and two transition tracks 34 arranged on the connecting assembly 32, the changing direction track 33 and the transition track 34 are spaced in the vertical direction, the driving assembly 31 and the connecting assembly 32 are drivingly connected to drive the lifting of the connecting assembly 32, in the case that the two ends of the changing direction track 33 are respectively spliced with the two ends of the indoor side rail 10, the patrol robot hanging rail track is in the indoor patrol state, and in the case that the two ends of the transition track 34 are respectively spliced with the outdoor side rail 20 and the indoor side rail 10, the patrol robot hanging rail track is in the indoor-outdoor patrol state.

[0031] In the embodiment, the indoor side track 10 and the outdoor side track 20 are both single-track curved tracks with two butt-joint ends, the two butt-joint ends of the indoor side track 10 are located on the same side, the two butt-joint ends of the outdoor side track 20 are located on the same side, the two butt-joint ends of the indoor side track 10 and the two butt-joint ends of the outdoor side track 20 are in one-to-one correspondence and are spaced apart, the transition track 30 is located between the two, the transition track 33 is also a single-track curved track with two butt-joint ends, the two butt-joint ends of the transition track 33 are located on the same side and are arranged towards the indoor side track 10, when the two butt-joint ends of the transition track 33 are butt-jointed and spliced with the two butt-joint ends of the indoor side track 10, the indoor side track 10 and the transition track 33 form an indoor annular inspection track, at this time, the inspection robot hanging track is in an indoor inspection state. On the other hand, the two butt-joint ends of the transition track 34 are arranged towards the indoor side track 10 and the outdoor side track 20 respectively, the two butt-joint ends of one transition track 34 are connected with a corresponding set of butt-joint ends of the indoor side track 10 and the outdoor side track 20 respectively, the two butt-joint ends of the other transition track 34 are connected with another corresponding set of butt-joint ends of the indoor side track 10 and the outdoor side track 20 respectively, the indoor side track 10, the two transition tracks 34 and the outdoor side track 20 form an indoor and outdoor annular inspection track, at this time, the inspection robot hanging track is in an indoor and outdoor inspection state. In this way, the problem of the inspection robot inspection track being not adjustable in the prior art is avoided, and the outdoor inspection is prone to damage in the case of poor outdoor environment, the staff can judge whether outdoor inspection is needed according to the outdoor environment, and the reliability of the inspection robot is ensured.

[0032] Optionally, the indoor side track 10, the outdoor side track 20, the transition track 34 and the transition track 33 are all inverted L-shaped tracks, and the reinforcing portion 40 in the embodiment is arranged on the horizontal plate of the inverted L-shaped track. Among them, the butt-joint ends of the indoor side track 10 and the butt-joint ends of the outdoor side track 20 are flush in the horizontal direction, and the transition track 34 and the transition track 33 both extend along the horizontal direction, which facilitates the state conversion of the inspection robot hanging track.

[0033] As Figures 4 to 6As shown, the transition track 34 and the change direction track 33 each have a splicing section 302 for aligning and splicing with the indoor side track 10 and / or the outdoor side track 20, the reinforcing part 40 includes a transmission assembly 41 and a clamping assembly 42, both of which are arranged on the splicing section 302, the transmission assembly 41 is used to drive the clamping assembly 42 and the indoor side track 10 and / or the outdoor side track 20 to be detachably clamped in the case of splicing the splicing section 302 and the indoor side track 10 and / or the outdoor side track 20. In this way, the transmission assembly 41 drives the detachable clamping of the clamping assembly 42 and the indoor side track 10 and / or the outdoor side track 20, so that multiple tracks are connected into one whole, ensuring the structural strength of the track as a whole and the reliability of the inspection robot.

[0034] Optionally, the splicing section 302 is located on the horizontal plate of the inverted L-shaped track, and the actual range of the splicing section 302 can be adjusted according to actual conditions. For example, in the embodiment, the transition track 34 as a whole is the splicing section 302, which has a transmission assembly 41 and two clamping assemblies 42 arranged at both ends of the splicing section 302, so as to drive the two clamping assemblies 42 to be clamped with the indoor side track 10 and the outdoor side track 20 respectively by one transmission assembly 41. The change direction track 33 includes a track section 301 and splicing sections 302 arranged at both ends of the track section 301, each splicing section 302 corresponds to a set of transmission assemblies 41 and clamping assemblies 42, so as to simultaneously drive the two clamping assemblies 42 to be clamped with the indoor side track 10 by the two transmission assemblies 41 respectively.

[0035] Specifically, in the case that the track of the inspection robot is in the indoor and outdoor inspection state or the indoor inspection state, the top wall of the splicing section 302 is located below the top wall of the indoor side track 10 and / or the outdoor side track 20, the transmission assembly 41 includes a transmission plate 411, a limiting block 412 and a plurality of first elastic members 413, the transmission plate 411 is arranged above the splicing section 302 through the plurality of first elastic members 413, the splicing section 302 has a mounting groove 303 and a mounting hole 304 which are in communication with each other, the limiting block 412 is arranged below the transmission plate 411 and can be arranged in the mounting groove 303 in a lifting manner, and the clamping assembly 42 is movably arranged in the mounting hole 304 and detachably clamped with the indoor side track 10 and / or the outdoor side track 20.

[0036] In the embodiment, as shown in Figures 4 to 6As shown, taking the inspection robot in an indoor inspection state as an example, when the inspection robot is running on the indoor track 10 or the outdoor track 20, the deflection track 33 and the indoor track 10 are in a spliced ​​state. At this time, multiple first elastic elements 413 are in an extended state, lifting the interconnected transmission plate 411 and limiting block 412. The limiting block 412 blocks the opening of the mounting groove 303, and the snap-fit ​​component 42 is located in the mounting hole 304. The mounting groove 303 and the mounting hole 304 are connected and in a blocked state. During the process of the inspection robot moving to the spliced ​​section 302, it pushes the transmission plate 411 downward and compresses multiple first elastic elements 413. The limiting block 412 moves with the transmission plate 411 and penetrates into the mounting groove 303, squeezing the gas in the mounting groove 303 into the mounting hole 304. The snap-fit ​​component 42 moves under the action of air pressure and extends out of the mounting hole 304 and snaps into the indoor track 10. This configuration ensures the automatic engagement of the turning track 33 with the indoor track 10, connecting them into a single unit as the inspection robot passes through the splicing section 302. This guarantees the overall structural strength of the track and the reliability of the inspection robot's inspection. Similarly, when the inspection robot is in both indoor and outdoor inspection mode, the engagement process of the transition track 34 with both the indoor track 10 and the outdoor track 20 is the same.

[0037] Optionally, the limiting block 412 is an elastic block, which can provide buffer for the lifting and lowering of the transmission plate 411 and ensure the reliability of the lifting and lowering of the transmission plate 411 and the limiting block 412.

[0038] like Figure 5 As shown, the snap-fit ​​assembly 42 includes a piston 421, a locking rod 422, and a second elastic member 423. The mounting hole 304 includes a first hole section and a second hole section connected to each other. The radial dimension of the first hole section is larger than that of the second hole section. The first hole section is connected to the mounting groove 303. The piston 421 is movably inserted into the first hole section, and the locking rod 422 is movably inserted into the second hole section. The piston 421 and the locking rod 422 are connected. The second elastic member 423 is disposed in the first hole section and its two ends abut against the bottom wall of the first hole section and the piston 421, respectively. The indoor side rail 10 and the outdoor side rail 20 have corresponding snap-fit ​​holes. One end of the locking rod 422 is insertably inserted into the snap-fit ​​hole.

[0039] In this embodiment, the piston 421 and the first hole section are in a limiting fit (sealing fit), and the locking rod 422 and the second hole section are in a limiting fit (sealing fit) to ensure the reliability of the sealing of the cavity communicating between the mounting hole 304 and the mounting groove 303, as well as the reliability of the air pressure driving the snap-fit ​​assembly 42. Figures 4 to 6As shown, taking the case that the inspection robot is in the indoor inspection state, the inspection robot moves to the spliced section 302, and in the process, the transmission plate 411 is pressed downward and the limiting block 412 is deepened into the installation groove 303, the gas in the installation groove 303 is extruded into the installation hole 304 and pushes the piston piece 421 and the locking rod 422 to move, the second elastic piece 423 is compressed, one end of the locking rod 422 extends out of the installation hole 304 and is connected with the clamping hole of the indoor side rail 10. Further, in the process that the inspection robot moves from the spliced section 302 to the indoor side rail 10, the transmission plate 411 and the limiting block 412 are reset under the action of the first elastic piece 413, the piston piece 421 is reset under the action of the second elastic piece 423 and pushes the gas in the installation hole 304 to the installation groove 303, the locking rod 422 is reset with the piston piece 421 and returns to the installation hole 304, and the separation of the change direction rail 33 and the indoor side rail 10 is realized. In this way, the automatic clamping and automatic separation of the change direction rail 33 and the indoor side rail 10 are facilitated, so that the two are connected into a whole in the process that the inspection robot passes through the spliced section 302, the structural strength of the whole rail is ensured, and the reliability of the inspection robot is ensured. When the inspection robot is in the indoor and outdoor inspection state, the clamping process of the transition rail 34 and the indoor side rail 10 and the outdoor side rail 20 is the same.

[0040] As shown in Figure 5 The transmission assembly 41 includes a transmission plate 411, both ends of the transmission plate 411 have a guide slope 4111, the guide slope 4111 is inclined downward in the direction from the center of the transmission plate 411 to both sides, and the inspection robot arranged on the inspection robot hanging rail and the guide slope 4111 are pushed and matched to control the lifting of the transmission plate 411.

[0041] In the embodiment, when the inspection robot is in the spliced segment 302 and the indoor side track 10 and / or the outdoor side track 20 is spliced and the inspection robot is located on the indoor side track 10 and / or the outdoor side track 20, the top wall of the transmission plate 411 is located on the top wall of the indoor side track 10 and / or the outdoor side track 20, the bottom end of the guide slope 4111 is flush with the end of the top wall of the indoor side track 10 and / or the outdoor side track 20, or the end of the top wall of the indoor side track 10 and / or the outdoor side track 20 is located between the top end and the bottom end of the guide slope 4111, when the spliced segment 302 is spliced with the indoor side track 10 and / or the outdoor side track 20 and the inspection robot is located on the spliced segment 302, the transmission plate 411 is lowered to the top end of the guide slope 4111 and the top wall of the indoor side track 10 and / or the outdoor side track 20 is flush, that is, the top wall of the transmission plate 411 and the top wall of the indoor side track 10 and / or the outdoor side track 20 are flush. In this way, the movement of the inspection robot is avoided by the transmission plate 411, which ensures the continuity of the movement of the inspection robot on the track rail while ensuring the reliability of the inspection robot pushing against the transmission plate 411.

[0042] As shown in Figure 5 and Figure 6 , the connecting assembly 32 includes a connecting frame 321 and a plurality of adjusting assemblies 322, the driving assembly 31 and the connecting frame 321 are drivingly connected, the change direction track 33 and the transition track 34 are both arranged on the driving assembly 31 through at least two adjusting assemblies 322, the spliced segment 302 has a mounting groove 303 and an exhaust hole 305 that are in communication with each other, the exhaust hole 305 is used for communication with the external environment, and the adjusting assembly 322 includes an elastic sealing piece 3221, which is compressibly arranged in the exhaust hole 305 and seals the exhaust hole 305 to seal or open the exhaust hole 305.

[0043] In the embodiment, the transition track 34 and the direction-changing track 33 are both arranged on the driving assembly 31 through two adjusting assemblies 322, which avoids the instability when connecting the tracks through a single adjusting assembly 322. The exhaust hole 305 and the mounting hole 304 are in communication with two different side walls of the mounting groove 303 respectively. The mounting hole 304 extends along the length direction of the splicing section 302, and the exhaust hole 305 extends along the width direction of the splicing section 302. The end of the exhaust hole 305 away from the mounting groove is in communication with the outside. Taking the case that the inspection robot is in the indoor inspection state as an example, in the process that the inspection robot moves from the splicing section 302 to the indoor side track 10, the elastic force of the second elastic member 423 may be insufficient to overcome the air pressure to reset the piston member 421 and the locking rod 422, which leads to the case that the direction-changing track 33 is still connected with the indoor side track 10 when it is necessary to adjust the state of the inspection robot hanging on the track. At this time, the elastic plugging member 3221 can be compressed to make the exhaust hole 305 in communication with the outside to release part of the gas in the exhaust hole 305, the mounting groove 303 and the mounting hole 304, so that the air pressure in the cavity formed by the three is reduced, which ensures that the second elastic member 423 can overcome the air pressure and make the piston member 421 and the locking rod 422 reset completely, and ensures the reliability of the connection and separation of the direction-changing track 33, the transition track 34, the indoor side track 10 and / or the outdoor side track 20.

[0044] Specifically, the adjusting assembly 322 includes a receiving frame 3222 and a nut assembly 3223. The receiving frame 3222 has a first long hole 3224, and the splicing section 302 has a corresponding second long hole 306. The nut assembly 3223 passes through the first long hole 3224 and the second long hole 306 and connects the receiving frame 3222 and the transition track 34 or the direction-changing track 33. The elastic plugging member 3221 is arranged on the receiving frame 3222 and located in the exhaust hole 305. The nut assembly 3223 is movably arranged relative to the length direction of the first long hole 3224 and the second long hole 306, so as to compress the elastic plugging member 3221 when the clamping assembly 42 is connected with the indoor side track 10 and / or the outdoor side track 20.

[0045] In the embodiment, the nut assembly 3223 is used to limit the connection of the receiving frame 3222 and the transition rail 34 or the turning rail 33, and the first long slot 3224 and the second long slot 306 are used to realize the relative lifting of the two, which is convenient for the compression of the elastic sealing element 3221 arranged in the exhaust hole 305. Taking the case that the inspection robot is in the indoor inspection state as an example, if the clamping of the turning rail 33 and the indoor side rail 10 is not completely separated during the movement of the inspection robot from the spliced section 302 to the indoor side rail 10, the connection frame 321 can be driven to lift the turning rail 33 and the transition rail 34. During the lifting, the receiving frame 3222 is lifted first because the clamping of the turning rail 33 and the indoor side rail 10 is not completely separated. The elastic sealing element 3221 arranged on the receiving frame 3222 and located in the opening of the exhaust hole 305 is compressed, so that a gap is formed between the elastic sealing element 3221 and the exhaust hole 305. Part of the gas in the mounting groove 303 and the mounting hole 304 is discharged through the exhaust hole 305 until the elastic force of the second elastic element 423 is sufficient to overcome the air pressure to completely reset the piston element 421 and the locking rod 422. At this time, the clamping of the turning rail 33 and the indoor side rail 10 is disconnected, and the elastic sealing element 3221 is stretched and re-seals the exhaust hole 305. When the inspection robot is in the indoor and outdoor inspection state, the transition rail 34 and the indoor side rail 10 and the outdoor side rail 20 are exhausted in the same way. In this way, the reliability of the reset driving of the second elastic element 423, the piston element 421 and the locking rod 422 is ensured, and the reliability and stability of the state conversion of the inspection robot hanging on the rail are ensured.

[0046] Further, the receiving frame 3222 is an inverted L-shaped frame, the spliced section 302 is an inverted L-shaped rail, the first long slot is arranged on the vertical plate of the inverted L-shaped frame, and the second long slot is correspondingly arranged on the vertical plate of the inverted L-shaped rail. In the embodiment, the nut assembly 3223 only plays a connecting and limiting role and cannot fix the relative position of the receiving frame 3222 and the turning rail 33 or the transition rail 34 in the height direction.

[0047] As shown in Figures 1 to 3 The driving assembly 31 includes a support plate 311 and a plurality of telescopic electric cylinders 312 arranged below the support plate 311. The support plate 311 is used for fixed connection with the top wall of the indoor side. The plurality of telescopic electric cylinders 312 are arranged along the length direction of the support plate 311 and are drivingly connected with the connecting assembly 32. The driving assembly 31 is telescopically arranged to drive the lifting of the connecting assembly 32, the turning rail 33 and the transition rail 34. Specifically, the plurality of telescopic electric cylinders 312 are arranged along the length direction of the connection frame 321. In this way, the driving effect on the connection frame 321 is ensured.

[0048] Optionally, the drive assembly 31 further includes a guide assembly 313, which includes a sleeve 3131 and a guide rod 3132 that are nested together. The sleeve 3131 and the guide rod 3132 are respectively disposed on the support plate 311 and the connecting assembly 32 to guide the lifting and lowering of the connecting assembly 32.

[0049] Specifically, the inspection robot's track also includes a control unit and a climate environment detection unit. The climate environment detection unit is used to detect the environmental conditions of the outdoor track 20. The control unit, the track-changing unit 30, and the climate environment detection unit are all electrically connected to control the raising and lowering of the track-changing unit 30 according to the detection results of the climate environment detection unit.

[0050] In this embodiment, the control unit and the telescopic electric cylinder 312 are electrically connected to automatically adjust the lifting and lowering of the track-changing unit 30 according to the detection data of the climate environment detection unit. This enables automatic switching between indoor and outdoor inspection states for the inspection robot's track, achieving semi-automatic switching of the inspection robot's track state. Optionally, the control unit can also be manually adjusted to achieve the lifting and lowering of the track-changing unit 30.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0053] In the description of the application, it should be understood that the orientation words such as "front, back, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0054] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with 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 described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" 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 "first", "second" and the like to define parts only facilitates the differentiation of the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore, it cannot be understood as a limitation on the scope of protection of the application.

[0056] The above only describes the preferred embodiments of the application and is not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A rail for an inspection robot, characterized in that, include: Indoor side track (10) and outdoor side track (20); The track-changing part (30) is vertically and flexibly disposed between the indoor side track (10) and the outdoor side track (20). The inspection robot's track has an indoor inspection state and an indoor / outdoor inspection state. When the track-changing part (30) is spliced ​​with the indoor side track (10) and spaced apart from the outdoor side track (20), the inspection robot's track is in the indoor inspection state. When the track-changing part (30) is spliced ​​with both the indoor side track (10) and the outdoor side track (20), the inspection robot's track is in the indoor / outdoor inspection state. The reinforcement part (40) is disposed on the track-changing part (30). When the inspection robot is in the indoor inspection state or the indoor and outdoor inspection state, the reinforcement part (40) can be detachably engaged with the indoor side track (10) and / or the outdoor side track (20). The track-changing unit (30) includes a drive assembly (31), a connecting assembly (32), a reversing track (33) and two transition tracks (34) disposed on the connecting assembly (32). The reversing track (33) and the transition tracks (34) are spaced apart in the vertical direction. The drive assembly (31) and the connecting assembly (32) are driven to connect and drive the connecting assembly (32) to lift and lower. When the two ends of the reversing track (33) are respectively spliced ​​with the two ends of the indoor track (10), the inspection robot is in the indoor inspection state. When the two ends of the transition track (34) are respectively spliced ​​with the outdoor track (20) and the indoor track (10), the inspection robot is in the indoor and outdoor inspection state. Both the transition track (34) and the reversing track (33) have splicing sections (302), which are used to align and splice with the indoor track (10) and / or the outdoor track (20). The reinforcement part (40) includes a transmission assembly (41) and a snap-fit ​​assembly (42). Both the transmission assembly (41) and the snap-fit ​​assembly (42) are disposed on the splicing section (302). The transmission assembly (41) is used to drive the snap-fit ​​assembly (42) to snap into the indoor track (10) and / or the outdoor track (20) in a separable manner when the splicing section (302) is spliced ​​with the indoor track (10) and / or the outdoor track (20). When the inspection robot is in the internal and external inspection state or the indoor inspection state, the top wall of the splicing section (302) is located below the top wall of the indoor side track (10) and / or the outdoor side track (20). The transmission component (41) includes a transmission plate (411), a limiting block (412) and a plurality of first elastic elements (413). The transmission plate (411) is set above the splicing section (302) through a plurality of first elastic elements (413). The splicing section (302) has an interconnected mounting groove (303) and a mounting hole (304). The limiting block (412) is set below the transmission plate (411) and can be moved up and down with the transmission plate (411) and pass through the mounting groove (303). The snap-fit ​​component (42) is movably passed through the mounting hole (304) and can be snap-fitted separately with the indoor side track (10) and / or the outdoor side track (20). The connecting assembly (32) includes a connecting frame (321) and multiple adjusting assemblies (322). The driving assembly (31) and the connecting frame (321) are drivenly connected. The deflecting track (33) and the transition track (34) are both set on the driving assembly (31) through at least two of the adjusting assemblies (322). The splicing section (302) has an interconnected mounting groove (303) and an exhaust hole (305). The exhaust hole (305) is used to communicate with the external environment. The adjusting assembly (322) includes an elastic sealing member (3221). The elastic sealing member (3221) is compressibly disposed in the exhaust hole (305) and seals the exhaust hole (305) to seal or open the exhaust hole (305). The snap-fit ​​assembly (42) moves under air pressure and extends out of the mounting hole (304) and snaps into the indoor side track (10).

2. The inspection robot track according to claim 1, characterized in that, The snap-fit ​​assembly (42) includes a piston (421), a locking rod (422), and a second elastic member (423). The mounting hole (304) includes a first hole segment and a second hole segment connected to each other. The radial dimension of the first hole segment is larger than that of the second hole segment. The first hole segment is connected to the mounting groove (303). The piston (421) is movably inserted into the first hole segment. The locking rod (422) is movably inserted into the second hole segment. The piston (421) and the locking rod (422) are connected. The second elastic member (423) is disposed in the first hole segment and its two ends abut against the bottom wall of the first hole segment and the piston (421), respectively. The indoor side track (10) and the outdoor side track (20) have corresponding snap-fit ​​holes. One end of the locking rod (422) is pluggably inserted into the snap-fit ​​hole.

3. The inspection robot track according to claim 1, characterized in that, The transmission assembly (41) includes a transmission plate (411), both ends of which have guide slopes (4111). The guide slopes (4111) are inclined downwards from the center of the transmission plate (411) to both sides. The inspection robot mounted on the inspection robot track and the guide slopes (4111) push against each other to control the lifting and lowering of the transmission plate (411).

4. The inspection robot track according to claim 3, characterized in that, The adjusting component (322) includes a receiving frame (3222) and a nut assembly (3223). The receiving frame (3222) has a first elongated hole (3224), and the splicing section (302) has a corresponding second elongated hole (306). The nut assembly (3223) passes through the first elongated hole (3224) and the second elongated hole (306) and connects the receiving frame (3222) and the transition track (34) or the reversing track (33). The elastic sealing member (3221) is disposed on the receiving frame (3222) and located in the vent hole (305). The nut assembly (3223) is movably disposed relative to the length direction of the first elongated hole (3224) and the second elongated hole (306) to compress the elastic sealing member (3221) when the snap-fit ​​component (42) and the indoor side track (10) and / or the outdoor side track (20) are snapped together.

5. The inspection robot track according to claim 1, characterized in that, The drive assembly (31) includes a support plate (311) and a plurality of telescopic electric cylinders (312) disposed below the support plate (311). The support plate (311) is fixedly connected to the ceiling wall on the indoor side. The plurality of telescopic electric cylinders (312) are spaced apart along the length direction of the support plate (311) and are driven connected to the connecting assembly (32). The drive assembly (31) is telescopically configured to drive the lifting and lowering of the connecting assembly (32), the reversing track (33) and the transition track (34).

6. The inspection robot track according to claim 1, characterized in that, The inspection robot's track also includes a control unit and a climate environment detection unit. The climate environment detection unit is used to detect the environmental conditions of the outdoor track (20). The control unit, the track-changing unit (30), and the climate environment detection unit are all electrically connected to control the lifting and lowering of the track-changing unit (30) according to the detection results of the climate environment detection unit.

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