A telescopic creeping track inspection robot

Abstract

The present invention provides a telescopic peristaltic track inspection robot, which includes a main body assembly, including a main pipe, a connecting pipe, and a tail pipe; a support member for supporting the device, a driving member for driving the support member, a moving member for driving the device to move, and a third motor installed inside the main pipe; a searchlight assembly, which is arranged at one end of the third motor and includes a shell and a driving head for facilitating the movement of the device. The telescopic peristaltic track inspection robot provided by the present invention solves the problem that existing inspection robots generally move by moving wheels or tracks when in use, have poor adaptability to complex and narrow track environments, resulting in inconvenience in robot movement inspection, affecting inspection efficiency, and a large amount of dust easily adheres to the surface of the inspection probe, resulting in blurred inspection images and affecting inspection detection effects.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a telescopic creeping track inspection robot. Background Art

[0002] With the continuous extension of mines and the improvement of mine mechanization, automation and intelligence, the base of mine transportation tracks is large and the situation is complicated. It is necessary to regularly inspect and maintain the interior of the tracks to ensure that the tracks are unobstructed.

[0003] When in use, existing inspection robots generally move by moving wheels or tracks, and have poor adaptability to complex and narrow track environments, which makes it inconvenient for robots to move around for inspections, affecting inspection efficiency. In addition, a large amount of dust easily adheres to the surface of the inspection probe, causing the inspection image to be blurred, affecting the inspection detection effect.

[0004] Therefore, it is necessary to provide a telescopic creeping track inspection robot to solve the above technical problems. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a telescopic creeping track inspection robot.

[0006] The telescopic peristaltic track inspection robot provided by the present invention includes a main body component, including a main pipe, a connecting pipe, and a tail pipe; it also includes a support member for supporting the device, a driving member for driving the support member, a moving member for driving the device to move, and a third motor installed inside the main pipe; a searchlight component, which is arranged at one end of the third motor, including a shell, a driving head for facilitating the movement of the device, a searchlight member for illuminating the inside of the track, an observation tube for facilitating illuminating the track, a protective cover for protecting the searchlight member, a mounting block fixed to the outside of the protective cover, a scraper for cleaning the inner wall of the track, and a fixed block for driving the shell to rotate.

[0007] Preferably, the driving member includes a first motor installed inside the main pipe and the tail pipe, and a first threaded rod fixed to an output end of the first motor.

[0008] Preferably, the driving member further includes a threaded block arranged on the outside of the first threaded rod, and a support block arranged at one end of the first threaded rod.

[0009] Preferably, the support member includes a first connecting block fixed on the outside of the threaded block, a connecting rod rotating inside the first connecting block, and a second connecting block rotating at one end of the connecting rod.

[0010] Preferably, the support member further includes a support rod fixed on the outside of the support block, and a limiting sleeve sliding on the outside of the support rod.

[0011] Preferably, the support member further includes a guide rod fixed to one side of the second connecting block, a support frame arranged at one end of the guide rod, a connecting shaft for facilitating the rotation of the support frame, and a clamping pad for supporting the support frame.

[0012] Preferably, the moving member includes a second motor installed inside the tail pipe, and a second threaded rod fixed inside the second motor.

[0013] Preferably, the moving member further includes a connecting plate provided at one end of the second threaded rod, and a limiting rod fixed at one end of the connecting plate.

[0014] Preferably, the searchlight comprises a camera for searching the track, a fixing rod for supporting the camera, and a mounting plate for mounting the fixing rod.

[0015] Preferably, the searchlight also includes an annular water storage pipe installed on one side of the fixing rod, a support plate installed on the inner wall of the annular water storage pipe, a micro water pump installed on one side of the support plate, and a cleaning water pipe arranged at the water outlet end of the micro water pump.

[0016] Compared with related technologies, the telescopic creeping track inspection robot provided by the present invention has the following beneficial effects:

[0017] 1. The present invention achieves the effect of driving the device to creep forward by providing a support member, a driving member and a moving member, which facilitates inspection, detection and other tasks. The device creeps forward, allowing the robot to move flexibly within the track;

[0018] 2. The present invention performs patrol inspections by setting up a camera in the searchlight assembly. The camera can be protected by a protective cover to avoid the problem of lens blur. The protective cover can be cleaned by an annular water storage pipe and a micro water pump to avoid the problem of dust on the protective cover affecting the patrol inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a preferred embodiment of the telescopic creeping track inspection robot provided by the present invention;

[0020] Figure 2 This is an exploded schematic diagram of the telescopic creeping track inspection robot provided by the present invention;

[0021] Figure 3 A cross-sectional view of the telescopic creeping track inspection robot provided by the present invention;

[0022] Figure 4 A schematic structural diagram of the driving member and the supporting member shown in the present invention;

[0023] Figure 5 for Figure 4A schematic diagram of the enlarged structure at point A shown in FIG;

[0024] Figure 6 Schematic diagram of the structure of the moving parts shown in the present invention;

[0025] Figure 7 It is a structural schematic diagram of the searchlight assembly shown in the present invention;

[0026] Figure 8 Schematic diagram of the structure of the searchlight shown in the present invention.

[0027] Numbers in the figure: 1, main assembly; 11, main pipe; 12, connecting pipe; 13, tail pipe; 14, driving member; 141, first motor; 142, first threaded rod; 143, threaded block; 144, support block; 15, support member; 151, first connecting block; 152, connecting rod; 153, second connecting block; 154, limiting sleeve; 155, support rod; 156, guide rod; 157, support frame; 158, connecting shaft; 159, clamping pad; 16, moving member; 1 61. Second motor; 162. Second threaded rod; 163. Connecting plate; 164. Limiting rod; 17. Third motor; 2. Searchlight assembly; 21. Housing; 22. Drive head; 23. Searchlight; 231. Camera; 232. Fixing rod; 233. Mounting plate; 234. Annular water storage pipe; 235. Support plate; 236. Micro water pump; 237. Cleaning water pipe; 24. Observation tube; 25. Protective cover; 26. Mounting block; 27. Scraper; 28. Fixing block. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 , Figure 1 A schematic structural diagram of a preferred embodiment of the telescopic creeping track inspection robot provided by the present invention; Figure 2 This is an exploded schematic diagram of the telescopic creeping track inspection robot provided by the present invention; Figure 3 A cross-sectional view of the telescopic creeping track inspection robot provided by the present invention; Figure 4 A schematic structural diagram of the driving member and the supporting member shown in the present invention; Figure 5 for Figure 3 A schematic diagram of the enlarged structure at point A shown in FIG; Figure 6 Schematic diagram of the structure of the moving parts shown in the present invention; Figure 7It is a structural schematic diagram of the searchlight assembly shown in the present invention; Figure 8 The schematic diagram of the searchlight assembly of the present invention is shown. A telescopic peristaltic rail inspection robot comprises a main assembly 1, including a main pipe 11, a connecting pipe 12, and a tail pipe 13; a support member 15 for supporting the device; a driving member 14 for driving the support member 15; a moving member 16 for driving the device; and a third motor 17 mounted inside the main pipe 11. A searchlight assembly 2, disposed at one end of the third motor 17, comprises a housing 21, a driving head 22 for facilitating movement of the device; a searchlight 23 for illuminating the interior of the track; an observation tube 24 for facilitating illuminating the track; a protective cover 25 for protecting the searchlight 23; a mounting block 26 fixed to the outside of the protective cover 25; a scraper 27 for cleaning the inner wall of the track; and a fixed block 28 for rotating the housing 21. Both the main pipe 11 and the tail pipe 13 are equipped with a driving member 14 and a supporting member 15, and the two sets of driving members 14 can operate independently.

[0030] In the specific implementation process, Figure 2 、 Figure 3 and Figure 4 As shown, the driving member 14 includes a first motor 141 installed inside the main pipe 11 and the tail pipe 13 , and a first threaded rod 142 fixed to the output end of the first motor 141 .

[0031] The driving member 14 further includes a threaded block 143 disposed on the outside of the first threaded rod 142 , and a support block 144 disposed at one end of the first threaded rod 142 .

[0032] It should be noted that: the first threaded rod 142 is threadedly connected to the threaded block 143, and one end of the first threaded rod 142 is rotatably connected to the support block 144. The first motor 141 drives the first threaded rod 142 to rotate, so that the threaded block 143 can move outside the first threaded rod 142.

[0033] refer to Figure 2 、 Figure 3 and Figure 4 As shown, the support member 15 includes a first connecting block 151 fixed to the outside of the threaded block 143 , a connecting rod 152 rotating inside the first connecting block 151 , and a second connecting block 153 rotating at one end of the connecting rod 152 .

[0034] The support member 15 further includes a support rod 155 fixed on the outside of the support block 144 , and a limiting sleeve 154 sliding on the outside of the support rod 155 .

[0035] The support member 15 also includes a guide rod 156 fixed to one side of the second connecting block 153 , a support frame 157 arranged at one end of the guide rod 156 , a connecting shaft 158 for facilitating the rotation of the support frame 157 , and a clamping pad 159 for supporting the support frame 157 .

[0036] It should be noted that: the outer side of the guide rod 156 slides inside the main pipe 11 and the tail pipe 13, one end of the guide rod 156 slides inside the support frame 157, the movement of the threaded block 143 drives the first connecting block 151 to move, so that the connecting rod 152 pushes the second connecting block 153 to move upward, so that the limit sleeve 154 slides on the outer side of the support rod 155, so that the second connecting block 153 moves vertically up and down, and at the same time, the threaded block 143 moves horizontally, and the second connecting block 153 drives the guide rod 156 to move upward, so that one end of the guide rod 156 slides inside the support frame 157, so that the support frame 157 rotates, so that one end of the support frame 157 drives the clamping pad 159 to contact the inner wall of the track to support the device.

[0037] refer to Figure 2 and Figure 5 As shown, the moving member 16 includes a second motor 161 installed inside the tail pipe 13 and a second threaded rod 162 fixed inside the second motor 161 .

[0038] The moving member 16 further includes a connecting plate 163 disposed at one end of the second threaded rod 162 , and a limiting rod 164 fixed to one end of the connecting plate 163 .

[0039] It should be noted that the outer side of the second threaded rod 162 is threadedly connected to the inner wall of the connecting tube 12, the limiting rod 164 is slidably connected to the connecting tube 12, and the other end of the limiting rod 164 is fixed to one side of the tail tube 13. The clamping pad 159 inside the tail tube 13 contacts the inside of the track to support and limit the tail tube 13. The second motor 161 drives the second threaded rod 162 to rotate, pushing the connecting tube 12 to move forward, so that the connecting tube 12 slides on the outer side of the limiting rod 164 to prevent the connecting tube 12 from rotating. After the connecting tube 12 moves forward, the support frame 157 inside the main tube 11 drives the clamping pad 159 to contact the inner wall of the track, so that the clamping pad 159 inside the tail tube 13 is separated from the inner wall of the track. Starting the second motor 161 drives the second threaded rod 162 to rotate in the opposite direction. If the connecting tube 12 does not move, the tail tube 13 will be pulled forward. The above process is repeated to achieve the effect of peristaltic advancement.

[0040] refer to Figure 6 and Figure 7 As shown, the searchlight 23 includes a camera 231 for searching the track, a fixing rod 232 for supporting the camera 231 , and a mounting plate 233 for mounting the fixing rod 232 .

[0041] The searchlight 23 also includes an annular water storage pipe 234 installed on one side of the fixed rod 232, a support plate 235 installed on the inner wall of the annular water storage pipe 234, a micro water pump 236 installed on one side of the support plate 235, and a cleaning water pipe 237 arranged at the water outlet end of the micro water pump 236.

[0042] It should be noted that the water inlet end of the micro water pump 236 is connected to the annular water storage pipe 234 through a pipeline, and the cleaning water pipe 237 is connected to the observation tube 24, which can clean the protective cover 25 inside the observation tube 24 to ensure the clarity of the inspection picture.

[0043] The working principle of the telescopic creeping track inspection robot provided by the present invention is as follows:

[0044] When the device is in use, it is set on the outside of the I-shaped track, and the camera 231 is used for inspection and detection. The camera 231 can be protected by the protective cover 25 to avoid the problem of lens blur. When there is a lot of dust outside the protective cover 25, the micro water pump 236 is started to pump out the water flow inside the annular water storage pipe 234, and the protective cover 25 is cleaned through the cleaning water pipe 237 to ensure the clarity of the inspection picture. When the inspection finds that there are blocks inside the track or the device cannot move, the third motor 17 is started to drive the fixed block 28 to rotate, so that the drive head 22 and the scraper 27 rotate to adjust the track. The blocks on the inner wall of the track are scraped off to ensure that the inside of the track is unobstructed. By setting the support member 15 and the driving member 14, the first motor 141 is started to drive the first threaded rod 142 to rotate, so that the threaded block 143 can move outside the first threaded rod 142. The movement of the threaded block 143 drives the first connecting block 151 to move, so that the connecting rod 152 rotates inside the first connecting block 151 and pushes the second connecting block 153 to move upward, so that the limiting sleeve 154 slides outside the support rod 155, so that the second connecting block 153 moves vertically up and down, and at the same time, the threaded block 143 moves horizontally, and the second connecting block 1 53 drives the guide rod 156 to move upward, so that one end of the guide rod 156 slides inside the support frame 157, so that the support frame 157 rotates, so that the clamping pad 159 at one end of the support frame 157 contacts the inner wall of the track to support the device. The main pipe 11 and the tail pipe 13 are both provided with a driving member 14 and a supporting member 15. The two sets of driving members 14 can operate independently. When the device needs to move forward, the clamping pad 159 inside the tail pipe 13 contacts the track to support and limit the tail pipe 13, so that the tail pipe 13 remains stable and immobile. Then the second motor 161 is started to drive the second threaded rod 162 to rotate, pushing the connecting The tube 12 moves forward, causing the connecting tube 12 to slide on the outside of the limit rod 164 to prevent the connecting tube 12 from rotating. After the connecting tube 12 drives the main tube 11 and the driving head 22 to move forward, the clamping pad 159 inside the main tube 11 contacts the track, causing the clamping pad 159 inside the tail tube 13 to disengage from the track. The second motor 161 is started to drive the second threaded rod 162 to rotate in the opposite direction. If the connecting tube 12 does not move, the tail tube 13 will be pulled forward. The above process is repeated to achieve the effect of peristaltic advancement. Through peristaltic advancement, the device can move flexibly on the track to ensure the track inspection and detection effect.

[0045] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A telescopic creeping track inspection robot, characterized in that: include: A main assembly (1) includes a main pipe (11), a connecting pipe (12), and a tail pipe (13); It also includes a support member (15) for supporting the device, a driving member (14) for driving the support member (15) to support the device, a moving member (16) for driving the device to move, and a third motor (17) installed inside the main pipe (11); A searchlight assembly (2) is provided at one end of the third motor (17), comprising a housing (21), a driving head (22) for facilitating movement of the device, a searchlight member (23) for illuminating the interior of the track, an observation tube (24) for facilitating illuminating the track, a protective cover (25) for protecting the searchlight member (23), a mounting block (26) fixed to the outside of the protective cover (25), a scraper (27) for cleaning the inner wall of the track, and a fixing block (28) for driving the housing (21) to rotate; The driving member (14) includes a first motor (141) installed inside the main pipe (11) and the tail pipe (13), and a first threaded rod (142) fixed to the output end of the first motor (141); The driving member (14) further includes a threaded block (143) arranged outside the first threaded rod (142), and a support block (144) arranged at one end of the first threaded rod (142); The support member (15) includes a first connecting block (151) fixed on the outside of the threaded block (143), a connecting rod (152) rotating inside the first connecting block (151), and a second connecting block (153) rotating at one end of the connecting rod (152); The support member (15) further comprises a support rod (155) fixed on the outside of the support block (144), and a limiting sleeve (154) sliding on the outside of the support rod (155); The moving member (16) includes a second motor (161) installed inside the tail pipe (13), and a second threaded rod (162) fixed inside the second motor (161); The moving member (16) further comprises a connecting plate (163) arranged at one end of the second threaded rod (162), and a limiting rod (164) fixed at one end of the connecting plate (163).

2. The telescopic creeping track inspection robot according to claim 1, characterized in that: The support member (15) further comprises a guide rod (156) fixed to one side of the second connecting block (153), a support frame (157) arranged at one end of the guide rod (156), a connecting shaft (158) for facilitating the rotation of the support frame (157), and a clamping pad (159) for supporting the support frame (157).

3. The telescopic creeping track inspection robot according to claim 1, characterized in that: The searchlight (23) comprises a camera (231) for searching the track, a fixing rod (232) for supporting the camera (231), and a mounting plate (233) for mounting the fixing rod (232).

4. The telescopic creeping track inspection robot according to claim 3, characterized in that: The searchlight (23) further comprises an annular water storage pipe (234) mounted on one side of the fixing rod (232), a support plate (235) mounted on the inner wall of the annular water storage pipe (234), a micro water pump (236) mounted on one side of the support plate (235), and a cleaning water pipe (237) arranged at the water outlet end of the micro water pump (236).

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