A rail-mounted inspection device

Abstract

This invention relates to the field of inspection equipment, and discloses a track-type inspection device, comprising: a track; a drive mechanism and a flexible component, wherein the drive mechanism is fixedly mounted on the track, the flexible component has a ring structure, at least a portion of the flexible component is arranged along the length direction of the track, and the drive mechanism is used to drive the flexible component to move along the length direction of the track; and an inspection robot, the inspection robot being slidably connected to the track and connected to the flexible component to move synchronously with the flexible component. The track-type inspection device provided by this invention separates the inspection robot from the drive mechanism, with the drive mechanism remaining in a fixed position, and changes the inspection robot from active drive to passive drive. Since there is no need to move the drive mechanism, the track-type inspection device provided by this invention has a significantly increased operating time.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment, and in particular to a track-mounted inspection equipment. Background Technology

[0002] In harsh environments such as power plants, smelters, and coal mines, manual inspections pose safety risks. To address this, automated inspection equipment has emerged, offering advantages such as small size, light weight, high mobility, and the ability to navigate confined spaces. However, most existing automated inspection equipment is active, moving via built-in motors. This results in heavy equipment, short operating time, and an inability to perform 24 / 7 inspections. Summary of the Invention

[0003] To address the above technical problems, this invention provides a track-mounted inspection device with a longer battery life.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a track-mounted inspection device, comprising:

[0006] track;

[0007] The drive mechanism and the flexible component are provided. The drive mechanism is fixedly mounted on the track. The flexible component is a ring structure. At least a portion of the flexible component is arranged along the length direction of the track. The drive mechanism is used to drive the flexible component to move along the length direction of the track.

[0008] An inspection robot is slidably connected to the track and connected to the flexible component to move synchronously with the flexible component.

[0009] Optionally, the driving mechanism includes a motor, an active wedge wheel, and a passive wedge wheel. Both the active wedge wheel and the passive wedge wheel are rotatably mounted on the track. The motor is fixedly mounted on the track and connected to the active wedge wheel to drive the active wedge wheel to rotate. The flexible member passes around the active wedge wheel and the passive wedge wheel in sequence.

[0010] Optionally, the track is formed by splicing multiple straight segments and multiple arc segments along the length direction of the track. Each arc segment is disposed between two straight segments. Any two adjacent straight segments and any adjacent straight segments and arc segments are connected by a connecting structure, and each connecting structure is connected to a lifting mechanism for supporting the flexible component.

[0011] Optionally, the connecting structure includes two side plates and two connecting plugs, with the two side plates and the two connecting plugs arranged opposite to each other. The two side plates are disposed between the two connecting plugs, and each side plate is fixedly connected to the two connecting plugs. There is a gap between the two side plates, and the lifting mechanism is disposed between the two side plates. The two connecting plugs are respectively embedded in two adjacent straight segments and are detachably connected to the two straight segments, or the two connecting plugs are respectively embedded in adjacent straight segments and arc segments and are detachably connected to both the straight segments and the arc segments.

[0012] Optionally, the track-mounted inspection equipment further includes a first connector, through which the inspection robot is connected to the flexible component;

[0013] The lifting mechanism includes a lifting arm, a lifting wheel, a pressure wheel, a pressure wheel arm, and an elastic element. The lifting arm is connected to a connecting structure. The lifting wheel is rotatably mounted on the lifting arm. The pressure wheel arm is rotatably mounted on the connecting structure. The pressure wheel is rotatably mounted on the pressure wheel arm.

[0014] The pressure roller arm is connected to the connecting structure via the elastic member, so that the first connecting member can pass between the pressure roller and the lifting roller. In its natural state, the elastic member causes the pressure roller and the lifting roller to be positioned opposite each other, and the flexible member is clamped between the pressure roller and the lifting roller. When the first connecting member passes between the pressure roller and the lifting roller, the first connecting member can push the pressure roller to move away from the lifting roller.

[0015] Optionally, the arc segment includes a steering wheel, a second connecting member, a support sleeve, and an arc-shaped piece. Two arc-shaped pieces are arranged opposite each other and connected by the second connecting member. The support sleeve is disposed between the two arc-shaped pieces and is sleeved on the second connecting member. The two ends of the support sleeve abut against the two arc-shaped pieces respectively. One of the arc-shaped pieces is arranged opposite to the flexible member. The steering wheel is rotatably disposed on the arc-shaped piece opposite to the flexible member, and the flexible member passes around the arc-shaped piece.

[0016] Optionally, the track-type inspection equipment further includes a first mounting base, a load-bearing wheel, a driven wheel, and a generator. The first mounting base is fixedly connected to the inspection robot. The driven wheel and the load-bearing wheel are rotatably connected to the first mounting base. The driven wheel and the load-bearing wheel are respectively located on opposite sides of the track and are in contact with the track. The driven wheel is driven by the rotor of the generator.

[0017] Optionally, the track-type inspection equipment also includes a tension detection mechanism and a guide wheel. The tension detection mechanism is disposed on the track, and the guide wheel is rotatably disposed on the tension detection mechanism. The flexible member passes around the guide wheel, and the tension detection mechanism is electrically connected to the generator.

[0018] Optionally, the track-type inspection equipment further includes a tension adjustment mechanism and a tension wheel. The tension adjustment mechanism is disposed on the track, and the tension wheel is rotatably disposed on the tension adjustment mechanism. The flexible member passes around the tension wheel, and the tension adjustment mechanism is used to adjust the tension of the flexible member.

[0019] Optionally, the track-type inspection equipment also includes a suspension mechanism for suspending the track, the suspension mechanism being connected to the track.

[0020] The present invention achieves the following technical effects compared to the prior art:

[0021] The track-type inspection device provided by this invention separates the inspection robot from the drive mechanism, and the position of the drive mechanism remains fixed. The inspection robot is changed from active drive to passive drive. Since there is no need to move the drive mechanism, the battery life of the track-type inspection device provided by this invention is greatly increased. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a first-angle schematic diagram of the track-type inspection equipment provided in an embodiment of the present invention;

[0024] Figure 2 This is a second-angle schematic diagram of the track-type inspection equipment provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the drive mechanism of the track-type inspection equipment provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram illustrating the connection structure and lifting mechanism of the track-type inspection equipment provided in this embodiment of the invention.

[0027] Figure 5 for Figure 4 Exploded view;

[0028] Figure 6 This is a schematic diagram illustrating the arrangement of the first connecting member of the track-type inspection equipment provided in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the first angle of the arc segment of the track-type inspection equipment provided in this embodiment of the invention;

[0030] Figure 8 This is a schematic diagram of the second angle of the arc segment of the track-type inspection equipment provided in this embodiment of the invention;

[0031] Figure 9 This is a schematic diagram illustrating the arrangement of the load-bearing wheel, the driven wheel, and the generator in an embodiment of the present invention.

[0032] Figure 10 This is a schematic diagram of the tension detection mechanism of the track-type inspection equipment provided in this embodiment of the invention;

[0033] Figure 11 This is a schematic diagram of the tension adjustment mechanism of the track-type inspection equipment provided in this embodiment of the invention;

[0034] Figure 12 This is a schematic diagram of the suspension mechanism of the track-type inspection equipment provided in an embodiment of the present invention.

[0035] Figures 1-12 Explanation of reference numerals in the attached drawings: 1. Inspection robot; 2. Straight segment; 3. Connecting structure; 4. Arc segment; 5. Suspension mechanism; 6. Drive mechanism; 7. Tension adjustment mechanism; 8. Flexible component; 9. First mounting base; 10. Load-bearing wheel; 11. Passive wheel; 12. Generator; 13. First connecting component; 14. Side plate; 15. Connecting plug; 16. Lifting arm; 17. Lifting wheel; 18. Pressure wheel; 19. Pressure wheel arm; 20. Elastic component; 21. Motor; 22. Active wedge wheel; 23. Passive wedge wheel; 24. Steering wheel; 25. Second connecting piece; 26. Support sleeve; 27. Arc-shaped plate; 28. Tension detection mechanism; 29. ​​Guide wheel; 30. Linear drive mechanism; 31. Tensioning wheel; 32. Turnbuckle; 33. Third connecting piece; 34. Fourth connecting piece; 35. Second mounting base; 36. Third mounting base; 37. Slider; 38. Guide groove; 39. Steering wheel. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The purpose of this invention is to provide a track-mounted inspection device with a longer operating time.

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-12 As shown, this embodiment of the invention provides a track-type inspection device, including: a track, a drive mechanism 6, a flexible component 8, and an inspection robot 1.

[0040] Specifically, the drive mechanism 6 is fixedly mounted on the track, and the flexible component 8 has a ring structure, with at least a portion of the flexible component 8 arranged along the length of the track. The drive mechanism 6 drives the flexible component 8 to move along the length of the track. The inspection robot 1 is slidably connected to the track and connected to the flexible component 8 to move synchronously with it. The specific structure of the inspection robot 1 is prior art and not the focus of this invention, so it will not be described in detail here. The flexible component 8 includes, but is not limited to, being made of steel wire rope.

[0041] The track-type inspection device provided in this embodiment of the invention separates the inspection robot 1 from the drive mechanism 6, and the position of the drive mechanism 6 remains fixed. The inspection robot 1 is changed from active drive to passive drive. Since there is no need to move the drive mechanism 6, the battery life of the track-type inspection device provided in this embodiment of the invention is greatly increased.

[0042] In this embodiment, as Figure 3 As shown, the drive mechanism 6 includes a motor 21, a driving wedge wheel 22, and a driven wedge wheel 23. Both the driving wedge wheel 22 and the driven wedge wheel 23 are rotatably mounted on a track. The motor 21 is fixedly mounted on the track and connected to the driving wedge wheel 22 to drive its rotation. The flexible member 8 passes sequentially around the driving wedge wheel 22 and the driven wedge wheel 23. During operation, the motor 21 drives the driving wedge wheel 22 to rotate, and the rotation of the driving wedge wheel 22 simultaneously drives the flexible member 8 to move using friction.

[0043] In this embodiment, as Figures 1-2 As shown, the track is spliced ​​together by multiple straight segments 2 and multiple arc segments 4 along the length of the track. Each arc segment 4 is set between two straight segments 2. Any two adjacent straight segments 2 and any adjacent straight segments 2 and arc segments 4 are connected by a connecting structure 3. Each connecting structure 3 is connected to a lifting mechanism for supporting the flexible component 8.

[0044] The number and arrangement of straight segment 2 and arc segment 4 are determined according to actual needs. Generally, arc segment 4 is set at the turning position and straight segment 2 is set at the straight position. Figure 1The central track is specifically a U-shaped structure. Correspondingly, an arc segment 4 is set at each of the two corners of the U-shaped structure, and the remaining positions are all spliced ​​together by straight segments 2.

[0045] As an alternative implementation method, such as Figure 4 As shown, the connecting structure 3 includes two side plates 14 and two connecting plugs 15. The two side plates 14 and the two connecting plugs 15 are arranged opposite each other, with the two side plates 14 positioned between the two connecting plugs 15. Each side plate 14 is fixedly connected to both connecting plugs 15, and there is a gap between the two side plates 14. The lifting mechanism is positioned between the two side plates 14. The two connecting plugs 15 are respectively embedded in two adjacent straight segments 2 and detachably connected to each of the two straight segments 2, or the two connecting plugs 15 are respectively embedded in an adjacent straight segment 2 and an arc segment 4, and detachably connected to both the straight segment 2 and the arc segment 4. This arrangement makes the connection between the straight segment 2 and the arc segment 4, or between the two straight segments 2, more stable and less prone to shaking. Furthermore, placing the lifting mechanism between the two side plates 14 makes the overall device more compact and improves space utilization.

[0046] Furthermore, such as Figures 4-5 As shown, the track-type inspection equipment also includes a first connector 13, through which the inspection robot 1 is connected to the flexible component 8.

[0047] The lifting mechanism includes a lifting arm 16, a lifting wheel 17, a pressure wheel 18, a pressure wheel arm 19, and an elastic element 20. The lifting arm 16 is connected to the connecting structure 3. The lifting wheel 17 is rotatably mounted on the lifting arm 16. The pressure wheel arm 19 is rotatably mounted on the connecting structure 3. The pressure wheel 18 is rotatably mounted on the pressure wheel arm 19.

[0048] The pressure roller arm 19 is connected to the connecting structure 3 via an elastic member 20, allowing the first connecting member 13 to pass between the pressure roller 18 and the lifting roller 17. In its natural state, the elastic member 20 causes the pressure roller 18 and the lifting roller 17 to be positioned opposite each other, and the flexible member 8 is clamped between the pressure roller 18 and the lifting roller 17. When the first connecting member 13 passes between the pressure roller 18 and the lifting roller 17, the first connecting member 13 can push the pressure roller 18 to move away from the lifting roller 17.

[0049] More specifically, the lifting arm 16 and the pressure wheel arm 19 are connected to the two side plates 14 of the connection structure 3, and the elastic element 20 is, for example, a torsion spring. When the torsion spring is used as the elastic element 20, the torsion spring is sleeved on the pressure wheel arm 19.

[0050] More specifically, such as Figure 6As shown, the first connecting member 13 has an inverted "L" shape. The first connecting member 13 includes a first connecting plate and a second connecting plate. The first connecting plate is parallel to the track, and the second connecting plate is connected to one end of the first connecting plate. The second connecting member 25 is connected to the inspection robot 1, and the first connecting plate is connected to the ring member 8. With this configuration, the first connecting member 13 can easily pass between the pressure wheel 18 and the lifting wheel 17.

[0051] In this embodiment, to make the turning of the inspection robot 1 smoother, such as Figures 7-8 The arc segment 4 includes a steering wheel 24, a second connecting member 25, a support sleeve 26, and an arc-shaped piece 27. Two arc-shaped pieces 27 are arranged opposite each other and connected by the second connecting member 25. The support sleeve 26 is positioned between the two arc-shaped pieces 27 and is fitted onto the second connecting member 25. Both ends of the support sleeve 26 abut against the two arc-shaped pieces 27 to support them. One of the arc-shaped pieces 27 is arranged opposite to the flexible member 8. The steering wheel 24 is rotatably mounted on the arc-shaped piece 27 opposite to the flexible member 8, and the flexible member 8 passes around the arc-shaped piece 27.

[0052] Furthermore, there are at least two second connectors 25, and all second connectors 25 are arranged sequentially along the length of the arc segment 4. Each second connector 25 is fitted with a support sleeve 26; there are at least two guide wheels 29, and all guide wheels are arranged sequentially along the length of the arc segment 4.

[0053] In this embodiment, as Figure 9 As shown, the track-type inspection equipment also includes a first mounting base 9, a load-bearing wheel 10, a driven wheel 11, and a generator 12. The first mounting base 9 is fixedly connected to the inspection robot 1. The driven wheel 11 and the load-bearing wheel 10 are both rotatably connected to the first mounting base 9. The driven wheel 11 and the load-bearing wheel 10 are respectively located on opposite sides of the track and are in contact with the track. The driven wheel 11 is connected to the rotor of the generator 12 for transmission. This configuration allows the traction force of the motor 21 to be converted into electrical energy.

[0054] To better support the track, the axis of the load-bearing wheel 10 is oriented along the thickness direction of the track. Correspondingly, the axis of the driven wheel 11 is oriented along the width direction of the track, and the axis of the driven wheel 11 is perpendicular to the axis of the load-bearing wheel 10.

[0055] Furthermore, such as Figure 10As shown, the track-type inspection equipment also includes a tension force detection mechanism 28 and a guide wheel 29. The tension wheel 31 detection mechanism is mounted on the track, and the guide wheel 29 is rotatably mounted on the tension wheel 31 detection mechanism. The flexible component 8 passes around the guide wheel 29, and the tension force detection mechanism 28 is electrically connected to the generator 12. By utilizing the electrical energy collected by the generator 12 to power the tension force detection mechanism 28, energy utilization can be effectively improved. The tension force detection mechanism 28 is, for example, a force sensor. Furthermore, the track-type inspection equipment also includes a second mounting base 35, through which the motor 21 is fixedly mounted on the track, and the tension force detection mechanism 28 is mounted on the second mounting base 35.

[0056] In this embodiment, as Figure 11 As shown, the track-type inspection equipment also includes a tension adjustment mechanism 7 and a tension wheel 31. The tension adjustment mechanism 7 is set on the track, and the tension wheel 31 is rotatably set on the tension adjustment mechanism 7. The flexible member 8 passes around the tension wheel 31. The tension adjustment mechanism 7 is used to adjust the tension of the flexible member 8.

[0057] The tension adjustment mechanism 7 is, for example, a linear drive mechanism 30. More specifically, the track-type inspection equipment also includes a third mounting base 36 and a slider 37. The third mounting base 36 is disposed on the track and has a guide groove 38. The slider 37 is slidably connected to the guide groove 38. The tension wheel 31 is rotatably disposed on the slider 37. The linear drive mechanism 30 includes a lead screw and a nut. The nut is axially limited and cannot move along its own axial direction. It is rotatably disposed on the mounting base. One end of the lead screw passes through the mounting base and the nut. The lead screw is rotatably connected to the mounting base and threadedly connected to the nut.

[0058] In practical use, rotating the nut causes the lead screw to move the slider 37 along the length of the guide groove 38. Simultaneously, the flexible component 8 and the tensioning wheel 31 move. It should be noted that the way the flexible component 8 bypasses the tensioning wheel 31 ensures that the flexible component 8 moves synchronously with the tensioning wheel 31 when the tensioning wheel 31 moves. The specific method by which the flexible component 8 bypasses the tensioning wheel 31 will not be elaborated here.

[0059] In this embodiment, as Figure 12 As shown, the track-type inspection equipment also includes a suspension mechanism 5 for suspending the track, and the suspension mechanism 5 is connected to the track. In actual use, using the suspension mechanism 5 to suspend the track-type inspection equipment in the air allows the inspection robot 1 to have a better field of vision, thereby improving the inspection effect.

[0060] Furthermore, such as Figure 1 , Figure 2 as well as Figure 12As shown, there are at least two suspension mechanisms 5, and all suspension mechanisms 5 are arranged sequentially along the length of the track. The exact number depends on the actual needs. The suspension mechanism 5 is, for example, a turnbuckle 32. More specifically, one end of the turnbuckle 32 is connected to the straight segment 2, the curved segment 4, or the connecting structure 3 via a third connector 33. The other end of the turnbuckle 32 is provided with a fourth connector 34, which is used to fix it to other mechanisms, such as the ceiling of a factory building.

[0061] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A track-mounted inspection device, characterized in that, include: track; The drive mechanism and the flexible component are provided. The drive mechanism is fixedly mounted on the track. The flexible component is a ring structure. At least a portion of the flexible component is arranged along the length direction of the track. The drive mechanism is used to drive the flexible component to move along the length direction of the track. An inspection robot is slidably connected to the track and connected to the flexible component to move synchronously with the flexible component. The track is composed of multiple straight segments and multiple arc segments spliced ​​together along the length of the track. Each arc segment is disposed between two straight segments. Any two adjacent straight segments and any adjacent straight segments and arc segments are connected by a connecting structure. Each connecting structure is connected to a lifting mechanism for supporting the flexible component. The lifting mechanism includes a lifting arm, a lifting wheel, a pressure wheel, a pressure wheel arm, and an elastic element. The lifting arm is connected to a connecting structure. The lifting wheel is rotatably mounted on the lifting arm. The pressure wheel arm is rotatably mounted on the connecting structure. The pressure wheel is rotatably mounted on the pressure wheel arm. The pressure roller arm is connected to the connecting structure through the elastic element. In its natural state, the elastic element causes the pressure roller and the lifting roller to be positioned opposite each other, and the flexible element is clamped between the pressure roller and the lifting roller.

2. The track-mounted inspection equipment according to claim 1, characterized in that, The driving mechanism includes a motor, an active wedge wheel, and a passive wedge wheel. Both the active and passive wedge wheels are rotatably mounted on the track. The motor is fixedly mounted on the track and connected to the active wedge wheel to drive the active wedge wheel to rotate. The flexible member passes around the active and passive wedge wheels in sequence.

3. The track-mounted inspection equipment according to claim 1, characterized in that, The connecting structure includes two side plates and two connecting plugs. The two side plates and the two connecting plugs are arranged opposite to each other. The two side plates are disposed between the two connecting plugs. Each side plate is fixedly connected to the two connecting plugs, and there is a gap between the two side plates. The lifting mechanism is disposed between the two side plates. The two connecting plugs are respectively embedded in two adjacent straight segments and are detachably connected to the two straight segments respectively. Alternatively, the two connecting plugs are respectively embedded in adjacent straight segments and arc segments and are detachably connected to both straight segments and arc segments respectively.

4. The track-mounted inspection equipment according to claim 1 or 3, characterized in that, It also includes a first connector, through which the inspection robot is connected to the flexible component. The first connector can pass between the pressure wheel and the lifting wheel. When the first connector passes between the pressure wheel and the lifting wheel, the first connector can push the pressure wheel to move away from the lifting wheel.

5. The track-mounted inspection equipment according to claim 1, characterized in that, The arc-shaped segment includes a steering wheel, a second connecting member, a support sleeve, and an arc-shaped piece. Two arc-shaped pieces are arranged opposite each other and connected by the second connecting member. The support sleeve is disposed between the two arc-shaped pieces and is sleeved on the second connecting member. The two ends of the support sleeve abut against the two arc-shaped pieces respectively. One of the arc-shaped pieces is arranged opposite to the flexible member. The steering wheel is rotatably disposed on the arc-shaped piece opposite to the flexible member, and the flexible member passes around the arc-shaped piece.

6. The track-mounted inspection equipment according to claim 1, characterized in that, It also includes a first mounting base, a load-bearing wheel, a driven wheel, and a generator. The first mounting base is fixedly connected to the inspection robot. The driven wheel and the load-bearing wheel are rotatably connected to the first mounting base. The driven wheel and the load-bearing wheel are respectively located on opposite sides of the track and are in contact with the track. The driven wheel is connected to the rotor of the generator for transmission.

7. The track-mounted inspection equipment according to claim 6, characterized in that, It also includes a tension detection mechanism and a guide wheel. The tension detection mechanism is set on the track, and the guide wheel is rotatably set on the tension detection mechanism. The flexible member passes around the guide wheel, and the tension detection mechanism is electrically connected to the generator.

8. The track-mounted inspection equipment according to claim 1, characterized in that, It also includes a tension adjustment mechanism and a tension wheel. The tension adjustment mechanism is disposed on the track, and the tension wheel is rotatably disposed on the tension adjustment mechanism. The flexible member passes around the tension wheel, and the tension adjustment mechanism is used to adjust the tension of the flexible member.

9. The track-mounted inspection equipment according to claim 1, characterized in that, It also includes a suspension mechanism for suspending the track, the suspension mechanism being connected to the track.

Images