A rail-mounted fire inspection robot

Abstract

The present invention relates to the field of inspection robot technology, and specifically to a rail-type fire inspection robot, comprising at least three robot bodies that move along a slide rail, the three robot bodies being respectively equipped with a binocular pan-tilt platform for observing the external environment, a fire extinguishing tank for storing a fire extinguishing medium, and a robotic arm that can move with multiple degrees of freedom, the robotic arm being equipped with a nozzle and a photoelectric camera, the photoelectric camera being used to accurately locate the fire source and guide the movement trajectory of the robotic arm. Compared with traditional methods, this technical solution can not only realize the inspection and fire perception functions of the integrated pipeline corridor, but also, by interacting with a remote control center, can control the robotic arm that can move with multiple degrees of freedom to guide the nozzle position, cooperate with the fire extinguishing tank to effectively extinguish the center point of the fire source, and a photoelectric camera is provided at the end of the robotic arm, which can realize fire source detection without blind spots, accurately locate abnormal positions, and perform timely fire extinguishing and cooling operations.

Description

Technical Field

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

[0002] With the rapid development of urban infrastructure construction, many cities in China have adopted underground integrated pipeline corridors to alleviate the contradiction between ground installation and building space. Urban integrated pipeline corridors are a comprehensive space set up underground that integrates various engineering pipelines such as gas, heating, communications, electricity, water supply and drainage, and are equipped with special inspection ports, lifting ports and monitoring systems. Due to the large number of cables in the integrated pipeline corridor and the dense laying of power cables in the operating state, considering the structural characteristics of the pipeline corridor, when a cable fails, it will cause fire accidents in other surrounding cables. The stable and safe operation of infrastructure will directly affect urban development. Therefore, the inspection of the pipeline corridor is crucial. However, the space inside the pipeline corridor is complex and there are many facilities and equipment. The traditional manual inspection method has the possibility of missing inspections and missing discoveries, which also poses a certain threat to the personal safety of the inspectors.

[0003] Patent publication number CN105397795A discloses a track-mounted inspection robot, comprising a robot body, a main control unit, an energy module, a detection component, and a wireless communication module. The robot can detect equipment and the environment near the track in real time and transmit this information to a remote control center. This information is available to personnel in real time and can be used to send control commands to the robot. The robot provides stable inspection results, eliminating the need for on-site personnel, saving labor. In the event of a fire or hazardous gas leak, the robot can quickly arrive at the scene and obtain on-site data and information.

[0004] Since the integrated pipeline corridor is located underground, the underground environment is relatively humid and the ventilation is relatively poor. The existing inspection robots generally move along fixed tracks, and the inspection robots carry multiple functional modules, such as cameras and fire extinguishing modules. This leads to an increase in the length and volume of the existing inspection robots. In order to facilitate the inspection robots to easily turn when moving along the track, the current inspection robots are generally composed of multiple robot bodies, and adjacent robot bodies are connected by movable connections to shorten the turning radius of the inspection robots. Multiple functional modules are dispersed on different robot bodies, and the cables connecting different robot bodies are often directly exposed to the outside of the robot body. The cable joints are prone to short circuit accidents or other failures when they are in a humid environment for a long time, affecting the normal use of the robot in extreme environments. The above technical solutions do not solve this problem and need to be improved. Summary of the Invention

[0005] In order to overcome the above technical problems, the purpose of the present invention is to provide a rail-type fire inspection robot, which solves the problem that the current inspection robot does not have moisture-proof connection components between multiple parts, thereby affecting the long-term use of the inspection robot.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A rail-mounted fire inspection robot comprises at least three robot bodies that move along slide rails. Each of the three robot bodies is equipped with a binocular pan / tilt platform for observing the external environment, a fire extinguishing tank for storing fire extinguishing medium, and a robotic arm capable of moving with multiple degrees of freedom. The robotic arm is equipped with a nozzle and a photoelectric camera. The photoelectric camera is used to accurately locate the fire source and guide the movement trajectory of the robotic arm. The nozzle is connected to the fire extinguishing tank via a connecting pipe, and then sprays the fire extinguishing medium onto the fire source to extinguish the fire.

[0008] The robot body includes a base and a driving assembly arranged above the base. The driving assembly cooperates with the slide rail to drive the robot body to move forward or backward. Adjacent robot bodies are movably connected through a sealing connection assembly, and the cables passing through adjacent robot bodies are passed through the inside of the sealing connection assembly for connection. The sealing connection assembly is used to achieve synchronous movement between adjacent robot bodies and to seal and protect exposed cables.

[0009] Furthermore, the sealing connection assembly includes connecting pipes respectively provided on two adjacent robot bodies, the opposite surfaces of the two connecting pipes are provided with docking plates, two corrugated rubber sleeves and two elastic components are mirror-symmetrically provided between the two docking plates, and the two corrugated rubber sleeves and the two elastic components are detachably connected;

[0010] The connecting tube is a hollow cylindrical structure with two openings at both ends. The corrugated rubber sleeve is located at the opening of the connecting tube. The cable is placed inside the connecting tube. The joint of the cable is enclosed by the two corrugated rubber sleeves in the closed cavity formed by the two sleeves.

[0011] Furthermore, the corrugated rubber sleeve is a conical cylindrical structure with two ends open. The end with a smaller diameter of the corrugated rubber sleeve is fixedly connected to the docking plate, and the end with a larger diameter of the corrugated rubber sleeve is provided with a magnetic attraction component. The two corrugated rubber sleeves arranged in a mirror-symmetrical manner are sealed and docked together through the magnetic attraction component.

[0012] Furthermore, the elastic component includes a connecting plate 1 relatively close to the docking plate and a connecting plate 2 relatively far away from the docking plate, the connecting plate 1 and the connecting plate 2 are elastically connected by at least one pressure spring, and the two connecting plates 2 arranged in a mirror-symmetrical manner are detachably connected together by a limit shell and a rotating part.

[0013] Furthermore, the connecting pipe has a mounting opening on its surface that communicates with the interior thereof, and an inner wall of the mounting opening has a movable groove along the axial direction of the connecting pipe;

[0014] A sealing plate is detachably connected to the mounting opening, the size of the sealing plate matches the mounting opening, and a fixing rod movably connected to the movable groove is provided on the surface of the sealing plate;

[0015] The bottom surface of the sealing plate and the end surface facing one end of the corrugated rubber sleeve are respectively provided with a magnetic block 1 and a magnetic block 2, and the end surface of the end with a narrower diameter of the corrugated rubber sleeve is provided with a magnetic block 3;

[0016] When the sealing plate does not seal the installation opening, the sealing plate can be fixed by the magnetic attraction of the magnetic block one and the magnetic block three so that the sealing plate and the connecting pipe are in a vertical state. When the sealing plate seals the installation opening, the sealing plate can be fixed by the magnetic attraction of the magnetic block two and the magnetic block three so that the sealing plate and the corrugated rubber sleeve are sealed and connected.

[0017] Furthermore, it also includes a busbar track arranged parallel to the slide rail, a conductive wire is installed in the busbar track, at least one of the robot bodies is electrically connected to the conductive wire through a contactor, and when the robot body moves along the slide rail, the contactor moves synchronously to provide continuous power supply to the power module in the robot body.

[0018] Furthermore, a positioning module, a control module, a distance sensor and a methane laser sensor are installed on the base;

[0019] The positioning module is used to locate the precise position of the robot body in real time;

[0020] The control module is used to exchange data with the remote control center and control the track robot to execute corresponding inspection and fire extinguishing instructions;

[0021] The distance sensor is used to detect obstacles on the travel route of the rail robot;

[0022] The methane laser sensor is used to detect the methane concentration in the integrated pipeline corridor.

[0023] Furthermore, the slide rail is an I-shaped channel steel, and the slide rail includes upper and lower horizontally arranged flanges and a web connecting the two flanges;

[0024] The drive assembly includes two side plates arranged opposite to each other, a connecting piece and a bearing seat are provided between the two side plates, both ends of the bearing seat are rotatably connected to the two side plates respectively, and the connecting piece is used to connect the two side plates into a whole structure, and the whole structure is rotatably connected to the base via a rotating bearing located in the middle of the bearing seat;

[0025] A gap is formed between the two side plates for the web plate and the lower flange to pass through, and a rubber wheel is rotatably provided between the side plates and the web plate. The rubber wheel is input with torque by a motor coaxially mounted therewith, and the rotation direction of the rubber wheel is consistent with the length extension direction of the slide rail. A guide wheel is rotatably provided between the two side plates at a position below the lower flange, and both the rubber wheel and the guide wheel can be in close contact with the surface of the slide rail.

[0026] The driving assembly is also provided with a tire thickness detection assembly for detecting the thickness of the rubber tire.

[0027] Furthermore, the rubber wheel and the guide wheel are arranged obliquely, the motor is mounted to the surface of the side plate through the first mounting seat, and the end of the guide wheel is mounted to the surface of the side plate through the second mounting seat, and a slide groove is provided between the side plate corresponding to the first mounting seat and the second mounting seat, and a tension spring for elastically connecting the first mounting seat and the second mounting seat is provided in the slide groove, and the first mounting seat and the second mounting seat can reciprocate about the slide groove;

[0028] The tire thickness detection assembly includes a pressure sensor and a detection lever. One end of the detection lever is rotatably connected to the surface of the side plate via a torsion spring. The other end of the detection lever passes through the side plate and contacts the surface of the rubber wheel via a universal ball. The torsion spring continuously drives the detection lever to rotate toward the rubber wheel. An arcuate slot is formed through the side plate at the position where the detection lever passes, and the detection lever can reciprocate within the arcuate slot.

[0029] The pressure sensor is connected to two pressure receiving parts, wherein pressure receiving part 1 is located at one end of the arc groove close to the rubber wheel, and pressure receiving part 2 extends between mounting seat 1 and mounting seat 2. When the tire thickness of the rubber wheel decreases, both pressure receiving part 1 and pressure receiving part 2 are squeezed. At this time, the pressure sensor alarms and the rubber wheel needs to be replaced.

[0030] Furthermore, the fire extinguisher tank is detachably connected to the robot body via a mounting assembly, wherein the mounting assembly includes a mounting plate disposed at the bottom of the robot body, with open collars extending downwardly at both ends of the mounting plate, and mounting sleeves rotatably connected to both ends of the open collars via shaft pins;

[0031] The inner wall of the mounting sleeve is paved with elastic material, and the two ends of the fire extinguishing tank are respectively placed in the two mounting sleeves, wherein at least one mounting sleeve is rotatably connected to a limit rod, and a slot is provided at the end of the limit rod. A clamping block is provided on the other mounting sleeve, and the limit rod is rotated to clamp the slot and the clamping block to be fixed. By constraining the distance between the two mounting sleeves, the fire extinguishing tank located between the two is limited and fixed.

[0032] Beneficial effects of the present invention:

[0033] 1. Compared with traditional methods, this technical solution can not only realize the inspection and fire detection functions of the integrated pipeline corridor, but also control the multi-degree-of-freedom movable robotic arm to guide the sprinkler position through interaction with the remote control center, and cooperate with the fire extinguisher to effectively extinguish the center of the fire source. The photoelectric camera at the end of the robotic arm can realize the fire source detection without blind spots, accurately locate the abnormal position, and carry out timely fire extinguishing and cooling operations, which has better actual application effect.

[0034] 2. The sealing connection assembly in the present technical solution can not only realize the synchronous movement of multiple robot bodies, but also seal and protect the cable joints between adjacent robot bodies. When the robot body moves at high speed, the corrugated rubber sleeve and pressure spring in the sealing connection assembly are in a tensioned state, and the length of the corrugated rubber sleeve and the pressure spring is extended to a certain extent based on their own structural characteristics. When the robot body moves at a low speed or is stationary, the corrugated rubber sleeve and the pressure spring are in a relaxed state, and the lengths of the two are restored. The corrugated rubber sleeve and the pressure spring do not require human intervention and can adaptively change with the movement speed of the robot body. During this process, the corrugated rubber sleeve always covers the cable joint inside, effectively preventing liquid or humid gas in the external environment from contacting the cable joint, thereby ensuring the long-term and stable operation of the rail robot in the underground integrated pipeline corridor environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings.

[0036] Figure 1 It is a stereoscopic view of the present invention in use;

[0037] Figure 2 is a side view of the present invention in use;

[0038] Figure 3 is a three-dimensional view of the sealing connection assembly of the present invention;

[0039] Figure 4 is a top view of the sealed connection assembly of the present invention;

[0040] Figure 5 It is the stereoscopic view of the corrugated rubber sleeve in the present invention. Figure 1 ;

[0041] Figure 6 It is the stereoscopic view of the corrugated rubber sleeve in the present invention. Figure 2 ;

[0042] Figure 7 This is a three-dimensional view of the connecting pipe, docking plate, and corrugated rubber sleeve in the present invention;

[0043] Figure 8 It is a three-dimensional view of the sealing plate in the present invention;

[0044] Figure 9 It is a three-dimensional view of the sealing plate in the open state in the present invention;

[0045] Figure 10 is a three-dimensional view of the elastic component of the present invention;

[0046] Figure 11 is a cross-sectional view of the elastic component of the present invention;

[0047] Figure 12 It is a three-dimensional view of the limiting shell in the present invention;

[0048] Figure 13 is a three-dimensional view of the rotating member of the present invention;

[0049] Figure 14 is a side view of the robot body of the present invention;

[0050] Figure 15 This is a front view of the robot body of the present invention;

[0051] Figure 16 is a three-dimensional view of the robot body of the present invention;

[0052] Figure 17 It is the stereoscopic view of the driving component in the present invention. Figure 1 ;

[0053] Figure 18 is a three-dimensional view of the drive assembly of the present invention from a bottom perspective;

[0054] Figure 19 is a side view of the drive assembly of the present invention;

[0055] Figure 20 It is the stereoscopic view of the driving component in the present invention. Figure 2 ;

[0056] Figure 21 It is a side view of the fire extinguisher tank and the mounting assembly after assembly in the present invention;

[0057] Figure 22 is a three-dimensional view of the mounting sleeve of the present invention;

[0058] Figure 23 It is a three-dimensional view of the mounting sleeve and the limiting rod in the present invention.

[0059] In the figure: 1. Busbar track; 2. Slide rail; 21. Flange; 22. Web; 23. Angle iron; 24. Hanger; 3. Robot body; 31. Contactor; 32. Base; 33. Positioning module; 34. Control module; 35. Distance sensor; 36. Methane laser sensor; 4. Drive assembly; 41. Side plate; 411. Slide groove; 412. Arc groove; 42. Connector; 43. Bearing seat; 431. Rotating bearing; 4 4. Rubber wheel; 441. Motor; 442. Mounting seat 1; 45. Guide wheel; 451. Mounting seat 2; 46. Cooling fan; 47. Pressure sensor; 471. Pressure receiving element 1; 472. Pressure receiving element 2; 48. Detection lever; 481. Torsion spring; 482. Universal ball bearing; 49. Tension spring; 5. Sealing connection assembly; 51. Connecting pipe; 511. Mounting port; 512. Movable slot; 52. Closing plate; 52 1. Fixing rod; 522. Magnetic block 1; 523. Magnetic block 2; 524. Shifting block; 53. Docking plate; 54. Corrugated rubber sleeve; 541. Magnetic groove; 542. Magnetic column; 543. Magnetic block 3; 55. Elastic component; 551. Connecting plate 1; 552. Connecting plate 2; 553. Pressure spring; 554. Pin; 555. Limiting shell; 5551. Rotating groove; 5552. Limiting block 1; 5553. Limiting groove 1 ; 556, rotating part; 5561, rotating rod; 5562, twisting head; 5563, limit block 2; 5564, limit slot 2; 6, binocular pan / tilt; 7, fire extinguisher; 71, connecting pipe; 72, nozzle; 8, robotic arm; 81, photoelectric camera; 9, mounting assembly; 91, mounting plate; 92, open ring; 93, axle pin; 94, mounting sleeve; 941, clamping block; 95, limit rod; 951, clamping slot; 96, avoidance slot. DETAILED DESCRIPTION

[0060] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] Example 1:

[0062] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-mounted fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. Each of the three robot bodies 3 is equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robotic arm 8. The robotic arm 8 is equipped with a nozzle 72 and a photoelectric camera 81.

[0063] The robot body 3 in this solution includes a base 32, on which are installed a positioning module 33, a control module 34, a distance sensor 35, a power module and a methane laser sensor 36. Among them, the positioning module 33 is used to locate the precise position of the robot body 3 in real time; the control module 34 is used to exchange data with the remote control center and control the track robot to execute corresponding inspection and fire extinguishing instructions; the distance sensor 35 is used to detect obstacles on the track robot's route. When there is an obstacle on the route, the robot body 3 automatically stops to avoid collision damage; the methane laser sensor 36 is used to detect the methane concentration in the integrated pipeline corridor.

[0064] When a fire is detected, the binocular pan-tilt platform 6 is used to shoot the fire site to realize information collection. The binocular pan-tilt platform 6 includes a visible light camera and a thermal imaging camera. The visible light camera is used to observe the external environment, and the thermal imaging camera is used to locate the external fire source. The collected information is input into the control module 34 for processing, and the control module 34 can interact with the on-site information and the remote control center. The control module 34 controls the robotic arm 8 to move the sprinkler 72 to the fire site. The photoelectric camera 81 is used to accurately locate the fire source and guide the movement trajectory of the robotic arm 8. The sprinkler 72 is connected to the fire extinguishing tank 7 through the connecting pipe 71 and sprays the fire extinguishing medium to the fire source to extinguish the fire. Through this structural setting, not only the inspection of the integrated pipeline corridor and the fire perception function can be realized, but also the fire source detection without blind spots can be realized, the abnormal position can be accurately located, and timely fire extinguishing and cooling operations can be performed, and the actual application effect is better.

[0065] In this embodiment, a roller is provided on the robot arm 8, and the connecting tube 71 is wound around the roller. The roller guides and limits the position of the connecting tube 71, thereby preventing the connecting tube 71 from obstructing the movement of the robot arm 8.

[0066] Regarding the selection of the robotic arm 8, the specifications of the robotic arm 8 that match the actual height space of the integrated pipeline corridor and the longest distance that the robotic arm 8 can be extended can be selected.

[0067] In this embodiment, the fire extinguishing tank 7 is provided with a pneumatic activation device, a leakage detection interface, and an outlet for outputting the fire extinguishing medium. The pneumatic activation device is controlled by the control module 34. When the pneumatic activation device is activated, high-pressure gas is generated in the cavity of the fire extinguishing tank 7. The high-pressure gas pushes the fire extinguishing medium out of the outlet. The outlet is connected to the nozzle 72 through a connecting pipe 71, so that the fire extinguishing medium is sprayed from the nozzle 72 to the fire source to extinguish the fire.

[0068] The leakage detection interface can be connected to an external detection device to check whether there is leakage inside the fire extinguisher 7;

[0069] Whether the nozzle 72 in this embodiment sprays out the fire extinguishing medium can be controlled by a relay to control the solenoid valve switch, which is set at the outlet of the fire extinguishing tank 7, on the connecting pipe 71 or at the position of the nozzle 72 and can be installed according to actual needs.

[0070] In this embodiment, the nozzle 72 is configured as a Y-shaped structure, and nozzles are provided at both ends of the Y-shaped structure, which can spray the fire extinguishing medium in two directions simultaneously, so that the spraying range is wider. When the nozzle 72 is rotated, the time for the fire extinguishing medium to be sprayed to a certain position can be shortened, thereby improving the fire extinguishing efficiency.

[0071] like Figure 1 、 Figure 14 、 Figure 15 As shown, a driving component 4 is provided above the base 32. The driving component 4 cooperates with the slide rail 2 to drive the robot body 3 to move forward or backward along the slide rail 2. Adjacent robot bodies 3 are movably connected through a sealing connection component 5, and the cables passing through adjacent robot bodies 3 are passed through the sealing connection component 5 for connection. The sealing connection component 5 is used to realize synchronous movement between adjacent robot bodies 3 and to seal and protect exposed cables.

[0072] like Figure 1 、 Figure 2 As shown, in this embodiment, the slide rail 2 is an I-shaped channel steel, and the slide rail 2 includes upper and lower horizontally arranged flanges 21 and a web 22 connecting the two flanges 21. The web 22 remains vertical relative to the upper and lower flanges 21.

[0073] like Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20As shown, the drive assembly 4 includes two side plates 41 arranged opposite to each other, and a connecting member 42 and a bearing seat 43 are provided between the two side plates 41. The connecting member 42 is a U-shaped structure, and the connecting member 42 is used to connect the two side plates 41 into an integral structure. The bearing seat 43 is located at the bottom end of the side plate 41, and the two ends of the bearing seat 43 are rotatably connected to the two side plates 41 respectively. A rotating bearing 431 is installed in the middle of the bearing seat 43. The overall structure composed of the two side plates 41 is rotatably connected to the base 32 through the rotating bearing 431. When the slide rail 2 bends or fluctuates up and down, the overall structure can adaptively turn and swing up and down about the bearing seat 43 and the rotating bearing 431, so as to realize high-speed and smooth movement of the robot body 3 along the slide rail 2.

[0074] like Figure 15 As shown, a gap is formed between the two side plates 41 for the web 22 and the lower flange 21 to pass through, and a rubber wheel 44 is rotatably arranged between the side plate 41 and the web 22. The rubber wheel 44 inputs torque through a motor 441 coaxially mounted therewith, and the rotation direction of the rubber wheel 44 is consistent with the length extension direction of the slide rail 2. A guide wheel 45 is rotatably arranged between the two side plates 41 at a position below the lower flange 21. Both the rubber wheel 44 and the guide wheel 45 can be in close contact with the surface of the slide rail 2. After the rubber wheel 44 rotates, it drives the entire drive assembly 4 and the robot body 3 to move along the slide rail 2, and the guide wheel 45 is used to guide the movement of the robot body 3.

[0075] In this embodiment, an inclined surface is formed from the web 22 to the flange 21, and the rubber wheel 44 is a truncated cone structure as a whole. The diameter of the rubber wheel 44 close to the web 22 is smaller than the diameter of the rubber wheel 44 away from the web 22. When the rubber wheel 44 moves along the slide rail 2, due to the inclination, the rubber wheel 44 on one side moves relative to the slide rail 2, and the rubber wheel 44 on the other side will also move accordingly, keeping the rubber wheels 44 on both sides always in contact with the flange 21, and no derailment will occur. The movement of the robot body 3 will also be more stable.

[0076] like Figure 17 As shown, the drive assembly 4 further includes a heat dissipation fan 46 , which is mounted on the surface of the side plate 41 . The heat dissipation fan 46 provides heat dissipation and cooling for the motor 441 during long-term operation.

[0077] Among the at least three robot bodies 3 of this solution, at least one drive component 4 can be selected to be started according to actual inspection needs, and any robot body 3 can be used to drive it and the robot body 3 to move. At this time, the inspection speed is slow and the energy consumption is low. When a fire occurs, multiple drive components 4 can be started at the same time to increase the inspection speed and speed up the fire extinguishing efficiency.

[0078] like Figure 1 、 Figure 3 、 Figure 4As shown, the sealing connection assembly 5 includes connecting pipes 51 respectively provided on two adjacent robot bodies 3. The opposite surfaces of the two connecting pipes 51 are provided with docking plates 53. Two corrugated rubber sleeves 54 and two elastic components 55 are mirror-symmetrically provided between the two docking plates 53. The two corrugated rubber sleeves 54 and the two elastic components 55 are detachably connected.

[0079] The connecting tube 51 is a hollow cylindrical structure with openings at both ends. The corrugated rubber sleeve 54 is located at the opening of the connecting tube 51. The cable connecting the robot body 3 enters from one end of the connecting tube 51 and exits from the other end. The joint of the cable between two adjacent robot bodies 3 is located between the two docking plates 53. The cable joint is enclosed by the two corrugated rubber sleeves 54 inside the closed cavity formed by the two.

[0080] like Figure 5 、 Figure 6 As shown, in this embodiment, the corrugated rubber sleeve 54 is a conical cylindrical structure with two ends open. The end with a smaller diameter of the corrugated rubber sleeve 54 is fixedly connected to the docking plate 53, and the end with a larger diameter of the corrugated rubber sleeve 54 is provided with a magnetic attraction component. The two corrugated rubber sleeves 54 arranged in a mirror-symmetrical manner are sealed and docked together through the magnetic attraction component. After the two corrugated rubber sleeves 54 are separated manually, the two cables can be easily connected. Since insulating tape or other docking parts are generally wrapped around the joints, the end with a larger diameter of the corrugated rubber sleeve 54 can better cover the joints to avoid conflict between the corrugated rubber sleeve 54 and the cable joints.

[0081] In this embodiment, the two corrugated rubber sleeves 54 are connected by a magnetic attraction component, so the two corrugated rubber sleeves 54 can be easily docked or disassembled, and after docking, the probability of liquid or humid gas contacting the cable connector can be greatly reduced, ensuring the long-term stable operation of the robot body 3.

[0082] like Figure 10 、 Figure 11 As shown, the elastic component 55 includes a connecting plate 1 551 relatively close to the docking plate 53 and a connecting plate 2 552 relatively far away from the docking plate 53. The connecting plate 1 551 and the connecting plate 2 552 are elastically connected by at least one pressure spring 553. In this embodiment, four pressure springs 553 are connected between the connecting plate 1 551 and the connecting plate 2 552. The connecting plate 1 551 is installed on the docking plate 53 through a pin 554, and the two connecting plates 2 552 arranged in a mirror-symmetrical manner are detachably connected together through a limit shell 555 and a rotating member 556.

[0083] The elastic component 55 in this solution serves as the main traction component connecting adjacent robot bodies 3. When any one of the multiple robot bodies 3 moves, the traction force is transmitted to the adjacent robot body 3 through the elastic component 55, driving the multiple robot bodies 3 to move synchronously.

[0084] The sealing connection component 5 in this solution can not only achieve the synchronous movement of multiple robot bodies 3, but also seal and protect the cables connecting adjacent robot bodies 3. Since the corrugated rubber sleeve 54 and the elastic component 55 have a certain degree of extension, they will not conflict with the slide rail 2 when the multiple robot bodies 3 turn. When the robot body 3 moves at high speed, the corrugated rubber sleeve 54 and the pressure spring 553 are in a tensioned state. The length of the corrugated rubber sleeve 54 and the pressure spring 553 is extended to a certain extent based on their own structural characteristics. When the robot body 3 moves at a low speed or is stationary, the corrugated rubber sleeve 54 and the pressure spring 553 are in a relaxed state. The length of the two is restored. The corrugated rubber sleeve 54 and the pressure spring 553 do not require manual intervention and can adaptively change with the movement speed of the robot body 3. During this process, the corrugated rubber sleeve 54 always covers the cable joint inside, effectively preventing liquid or humid gas in the external environment from contacting the cable joint, ensuring the long-term stable operation of the rail robot in the underground integrated pipeline corridor environment.

[0085] Example 2:

[0086] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-type fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. The three robot bodies 3 are respectively equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robot arm 8. Compared with the first embodiment, the difference of this embodiment is:

[0087] like Figure 5 、 Figure 6As shown, the magnetic assembly includes magnetic grooves 541 and magnetic columns 542. A plurality of magnetic grooves 541 are provided at equal angles on the end surface of one end of the corrugated rubber sleeve 54 with a larger diameter. Magnetic material is provided in the magnetic grooves 541, while a plurality of magnetic columns 542 are provided at equal angles on the end surface of the other end of the corrugated rubber sleeve 54 with a larger diameter. The positions of the magnetic grooves 541 and the magnetic columns 542 correspond one to one. When docking, the magnetic columns 542 are embedded in the magnetic grooves 541, and the two corrugated rubber sleeves 54 are docked tightly to prevent moisture from seeping in.

[0088] like Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 As shown, between the two mirror-symmetrical connecting plates 552 , the limiting housing 555 is mounted on one of the connecting plates 552 , and the rotating member 556 is mounted on the other connecting plate 552 ;

[0089] A rotation groove 5551 is formed on the side of the limiting shell 555 facing the rotating member 556. A plurality of limiting blocks 5552 are arranged at equal intervals on the inner wall of the rotation groove 5551 along the axial direction of the limiting shell 555. A limiting groove 5553 is formed between adjacent limiting blocks 5552. The rotating member 556 includes a rotating rod 5561 rotatably connected to the connecting plate 2 552. The end of the rotating rod 5561 facing away from the limiting shell 555 is connected to a twisting head 5562. The end of the rotating rod 5561 facing the limiting shell 555 is provided with a plurality of limiting blocks 5552 at equal intervals along the axial direction of the rotating rod 5561. 563, a second limiting groove 5564 is formed between adjacent second limiting blocks 5563. When the two elastic components 55 are docked, the rotating rod 5561 is inserted into the rotating groove 5551 and rotated at a certain angle, so that the first limiting block 5552 is embedded in the second limiting groove 5564, and the second limiting block 5563 is embedded in the first limiting groove 5553, that is, the first limiting block 5552 and the second limiting block 5563 are staggered with each other, thereby realizing the interlocking of the rotating member 556 and the limiting shell 555. When disassembling, the rotating rod 5561 can be pulled out of the rotating groove 5551 by rotating the twisting head 5562 in the opposite direction.

[0090] In this embodiment, the two corrugated rubber sleeves 54 and the limiting shell 555 and the rotating part 556 can be quickly disassembled and installed. When the robot body 3 needs to be replaced, it is more efficient and quick, easy to maintain and service, and the structure is reliable and not easy to fall off without human intervention.

[0091] In order to avoid falling off, in this embodiment, two sets of elastic components 55 are provided from top to bottom between the two oppositely arranged docking plates 53 for docking, which further improves the reliability and fault tolerance of the connection.

[0092] Example 3:

[0093] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-type fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. The three robot bodies 3 are respectively equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robot arm 8. Compared with the first embodiment, the difference of this embodiment is:

[0094] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the surface of the connecting tube 51 is provided with a mounting opening 511 communicating with the interior thereof, and the inner wall of the mounting opening 511 is provided with a movable groove 512 along the axial direction of the connecting tube 51. The movable groove 512 is an open structure and is provided with a groove communicating with the surface of the connecting tube 51.

[0095] There is a sealing plate 52, the size of which matches the mounting port 511, and the surface of the sealing plate 52 is provided with a fixing rod 521 movably connected to the movable groove 512, and a magnetic block 1 522 and a magnetic block 2 523 are respectively provided on the bottom surface of the sealing plate 52 and the end surface facing one end of the corrugated rubber sleeve 54, and a magnetic block 3 543 is provided on the end surface of the corrugated rubber sleeve 54 with a narrower diameter. At least one end of the sealing plate 52 is also connected to a raised shift block 524, which facilitates pushing or pulling the sealing plate 52 during use.

[0096] When it is necessary to connect cables or inspect cables, the sealing plate 52 does not seal the installation opening 511 at this time, and the sealing plate 52 can be taken out from the installation opening 511, that is, the sealing plate 52 is pushed in the installation opening 511, and the fixing rod 521 is taken out from the slot along the movable groove 512. Alternatively, the sealing plate 52 can be pushed toward the corrugated rubber sleeve 54 and the sealing plate 52 is rotated 90 degrees about the fixing rod 521 so that the sealing plate 52 and the connecting pipe 51 are in a vertical state. At this time, the sealing plate 52 can pass through the magnetic block 522. The sealing plate 52 is fixed by the magnetic attraction of the magnetic block 2 523 and the magnetic block 3 543, and both methods are convenient for the access of cables. When a new cable is connected, it is necessary to seal the installation port 511 with the sealing plate 52 to prevent moisture. The sealing plate 52 is pushed along the movable groove 512 so that the sealing plate 52 and the connecting pipe 51 are in a horizontal state. The sealing plate 52 can be fixed by the magnetic attraction of the magnetic block 2 523 and the magnetic block 3 543 so that the sealing plate 52 and the corrugated rubber sleeve 54 are sealed and connected, further preventing the entry of moisture in the integrated pipeline corridor.

[0097] Example 4:

[0098] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-type fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. The three robot bodies 3 are respectively equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robot arm 8. Compared with the first embodiment, the difference of this embodiment is:

[0099] like Figure 1 、 Figure 2As shown, the busbar track 1 is arranged parallel to the slide rail 2, and the busbar track 1 and the slide rail 2 are fixedly connected by the angle iron 23. The slide rail 2 is installed in the integrated pipeline corridor through the hanger 24 at its top. A conductive wire is installed in the busbar track 1, and at least one robot body 3 is electrically connected to the conductive wire through a contactor 31. When the robot body 3 moves along the slide rail 2, the contactor 31 moves synchronously to provide a continuous power supply to the power module in the robot body 3. This method can realize continuous inspection of the track robot, and there is no inspection loophole during charging, which ensures the safe and stable operation of the urban integrated pipeline corridor.

[0100] Embodiment 5:

[0101] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-type fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. The three robot bodies 3 are respectively equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robot arm 8. Compared with the first embodiment, the difference of this embodiment is:

[0102] The driving component 4 is also equipped with a tire thickness detection component for detecting the tire thickness of the rubber wheel 44. The surface of the rubber wheel 44 is covered with a rubber sleeve, which is generally made of elastic material such as rubber, silicone, etc. The rubber sleeve can provide a certain buffering force when the robot body 3 turns, to avoid squeezing between the relevant gears connected to the rubber wheel 44 and the slide rail 2 when turning, which makes it difficult for the robot body 3 to turn and the relevant gears to wear seriously. The rubber sleeve can prevent the robot body 3 from shaking when turning, ensuring smooth and fast turning. However, since the rubber sleeve is a consumable, once the rubber sleeve is worn to a thinner size or the thickness of the rubber sleeves on both sides is inconsistent, it is easy to affect the safe and stable operation of the robot body 3. Therefore, it is necessary to perform tire thickness detection on the rubber wheel 44.

[0103] like Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 As shown, the rubber wheel 44 and the guide wheel 45 are arranged obliquely, the motor 441 is mounted to the surface of the side plate 41 through the mounting seat 1 442, and the end of the guide wheel 45 is mounted to the surface of the side plate 41 through the mounting seat 2 451. A slide groove 411 is provided between the side plate 41 corresponding to the mounting seat 1 442 and the mounting seat 2 451, and a tension spring 49 is provided in the slide groove 411 for elastically connecting the mounting seat 1 442 and the mounting seat 2 451. The mounting seat 1 442 and the mounting seat 2 451 can reciprocate about the slide groove 411. After the slide rail 2 passes between the two oppositely arranged side plates 41, the tension spring 49 will continue to pull the rubber wheel 44 and the guide wheel 45 to tightly abut against the slide rail 2, so that even if the rubber sleeve on the surface of the rubber wheel 44 becomes thinner, the rubber wheel 44 can still be in close contact with the flange 21 under the action of the tension spring 49, thereby improving the transmission effect and braking effect, which is beneficial to the efficient and safe operation of the robot body 3.

[0104] The tire thickness detection assembly includes a pressure sensor 47 and a detection lever 48. The detection lever 48 and the guide wheel 45 are symmetrically arranged about the rubber wheel 44. The surface of the side plate 41 is rotatably connected to one end of the detection lever 48 via a torsion spring 481. The other end of the detection lever 48 passes through the side plate 41 and contacts the surface of the rubber wheel 44 via a universal ball 482. The torsion spring 481 can continuously drive the detection lever 48 to rotate toward the rubber wheel 44. An arcuate groove 412 is formed through the side plate 41 at a position corresponding to the position through which the detection lever 48 passes. The detection lever 48 can reciprocate in the arcuate groove 412. The pressure sensor 47 is connected to two pressure receiving components, wherein the first pressure receiving component 471 is located at the end of the arcuate groove 412 close to the rubber wheel 44, and the second pressure receiving component 472 extends between the first mounting seat 442 and the second mounting seat 451.

[0105] According to the above technical solution, when the rubber sleeve on the surface of the rubber wheel 44 becomes thinner, that is, the tire thickness of the rubber wheel 44 decreases, the detection lever 48 will rotate toward the rubber wheel 44 along the arc groove 412 under the action of the torsion spring 481. The universal ball 482 is always in close contact with the surface of the rubber wheel 44 and will not affect the normal rotation of the rubber wheel 44 until the detection lever 48 moves to one end of the arc groove 412 and contacts the pressure receiving part 1 471. Due to the thinning of the tire thickness of the rubber wheel 44, the entire rubber wheel 44 will also be driven by the mounting seat 1 442 to move toward the mounting seat 2 451 under the action of the tension spring 49, until the mounting seat 1 442 contacts the pressure receiving part 2 472 in this process. When the pressure receiving part 1 471 and the pressure receiving part 2 472 are squeezed at the same time, the pressure sensor 47 alarms, indicating that the rubber wheel 44 needs to be replaced. The detection method is not only energy-saving and sustainable, but also ensures that the pressure sensor 47 will not give false alarms through double verification.

[0106] Example 6:

[0107] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 23 As shown, a rail-type fire inspection robot includes at least three robot bodies 3 that move along a slide rail 2. The three robot bodies 3 are respectively equipped with a binocular pan / tilt platform 6 for observing the external environment, a fire extinguishing tank 7 for storing fire extinguishing medium, and a multi-degree-of-freedom movable robot arm 8. Compared with the first embodiment, the difference of this embodiment is:

[0108] like Figure 1 、 Figure 21 、 Figure 22 、 Figure 23 As shown, the fire extinguisher 7 is detachably connected to the robot body 3 via a mounting assembly 9. The mounting assembly 9 includes a mounting plate 91 disposed at the bottom of the robot body 3. Open collars 92 extend downward from both ends of the mounting plate 91. The contour of the open collar 92 matches the contour of the fire extinguisher 7. In this embodiment, the fire extinguisher 7 is a cylindrical structure, and both ends of the fire extinguisher 7 are spherical. Therefore, the open collar 92 has an arc-shaped structure. The two ends of the open collar 92 are rotatably connected to a mounting sleeve 94 via an axle pin 93. The mounting sleeve 94 has an inwardly concave quarter sphere structure, and the inner wall of the mounting sleeve 94 is paved with elastic material.

[0109] The installation sleeve 94 in this embodiment is provided with an avoidance groove 96 corresponding to the connecting pipe 71 or other places that need to be avoided, so as to avoid obstruction when the installation sleeve 94 is limiting and fixing the fire extinguishing tank 7.

[0110] When installing the fire extinguisher tank 7, the fire extinguisher tank 7 is pushed up so that the tank body of the fire extinguisher tank 7 is engaged with the open collar 92. Then, the mounting sleeves 94 at both ends of the mounting plate 91 automatically rotate under the action of gravity and engage with both ends of the fire extinguisher tank 7, thereby achieving preliminary fixation of the fire extinguisher tank 7 placed between the two mounting sleeves 94.

[0111] In the two mounting sleeves 94, the bottom of one mounting sleeve 94 is rotatably connected to a limiting rod 95, and a card slot 951 is provided at the end of the limiting rod 95, while a card block 941 is provided on the other mounting sleeve 94. When the fire extinguisher 7 is installed between the two mounting sleeves 94, the limiting rod 95 is rotated to make the card slot 951 and the card block 941 be clamped and fixed. By constraining the distance between the two mounting sleeves 94, the fire extinguisher 7 located between the two is limited and fixed. At this time, the fire extinguisher 7 is firmly limited, and the elastic material on the inner wall of the mounting sleeve 94 can also achieve soft contact with the body of the fire extinguisher 7, avoiding rigid contact with the fire extinguisher 7 to cause damage to it. Not only will it not fall off when installed on the high-speed moving robot body 3, but the method of installing and removing the fire extinguisher 7 is simple and efficient, which is conducive to promotion.

[0112] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0113] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in similar ways. As long as they do not deviate from the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A rail-type fire inspection robot, comprising at least three robot bodies moving along a slide rail, characterized in that: The three robot bodies are respectively equipped with a binocular pan-tilt platform for observing the external environment, a fire extinguishing tank for storing fire extinguishing medium, and a robotic arm that can move with multiple degrees of freedom. The robotic arm is equipped with a nozzle and a photoelectric camera. The photoelectric camera is used to accurately locate the fire source and guide the movement trajectory of the robotic arm. The nozzle is connected to the fire extinguishing tank through a connecting pipe and sprays the fire extinguishing medium to the fire source to extinguish the fire. The robot body includes a base and a drive assembly disposed above the base. The drive assembly cooperates with the slide rail to drive the robot body forward or backward. Adjacent robot bodies are movably connected via a sealed connection assembly, and cables extending from adjacent robot bodies are connected within the sealed connection assembly. The sealed connection assembly is used to achieve synchronous movement between adjacent robot bodies and provide sealing protection for exposed cables. The sealing connection assembly includes connecting pipes respectively provided on two adjacent robot bodies, and the opposite surfaces of the two connecting pipes are provided with docking plates. Two corrugated rubber sleeves and two elastic components are mirror-symmetrically provided between the two docking plates. The two corrugated rubber sleeves and the two elastic components are detachably connected. The connecting tube is a hollow cylindrical structure with two open ends. The corrugated rubber sleeve is located at the opening of the connecting tube. The cable is placed inside the connecting tube. The joint of the cable is sealed by the two corrugated rubber sleeves in the closed cavity formed by the two sleeves. The corrugated rubber sleeve is a conical structure with two ends open. The end with a smaller diameter of the corrugated rubber sleeve is fixedly connected to the docking plate, and the end with a larger diameter of the corrugated rubber sleeve is provided with a magnetic attraction component. The two corrugated rubber sleeves arranged in a mirror-symmetrical manner are sealed and docked together through the magnetic attraction component. The surface of the connecting pipe is provided with a mounting opening communicating with the interior thereof, and the inner wall of the mounting opening is provided with a movable groove along the axial direction of the connecting pipe; A sealing plate is detachably connected to the mounting opening, the size of the sealing plate matches the mounting opening, and a fixing rod movably connected to the movable groove is provided on the surface of the sealing plate; The bottom surface of the sealing plate and the end surface facing one end of the corrugated rubber sleeve are respectively provided with a magnetic block 1 and a magnetic block 2, and the end surface of the end with a narrower diameter of the corrugated rubber sleeve is provided with a magnetic block 3; When the sealing plate does not seal the installation opening, the sealing plate can be fixed by the magnetic attraction of the magnetic block one and the magnetic block three so that the sealing plate and the connecting pipe are in a vertical state. When the sealing plate seals the installation opening, the sealing plate can be fixed by the magnetic attraction of the magnetic block two and the magnetic block three so that the sealing plate and the corrugated rubber sleeve are sealed and connected.

2. A rail-type fire inspection robot according to claim 1, characterized in that: The elastic component includes a connecting plate 1 relatively close to the docking plate and a connecting plate 2 relatively far away from the docking plate. The connecting plate 1 and the connecting plate 2 are elastically connected by at least one pressure spring, and the two connecting plates 2 arranged in mirror symmetry are detachably connected together by a limit shell and a rotating part.

3. A rail-type fire inspection robot according to claim 1, characterized in that: It also includes a busbar track arranged parallel to the slide rail, a conductive wire is installed in the busbar track, at least one of the robot bodies is electrically connected to the conductive wire through a contactor, and when the robot body moves along the slide rail, the contactor moves synchronously to provide continuous power supply to the power module in the robot body.

4. The rail-type fire inspection robot according to claim 1, characterized in that: The base is equipped with a positioning module, a control module, a distance sensor and a methane laser sensor; The positioning module is used to locate the precise position of the robot body in real time; The control module is used to exchange data with the remote control center and control the rail-type fire inspection robot to execute corresponding inspection and fire extinguishing instructions; The distance sensor is used to detect obstacles on the route of the rail-type fire inspection robot; The methane laser sensor is used to detect the methane concentration in the integrated pipeline corridor.

5. The rail-type fire inspection robot according to claim 1, characterized in that: The slide rail is an I-shaped channel steel, and the slide rail includes upper and lower horizontally arranged flanges and a web connecting the two flanges; The drive assembly includes two side plates arranged opposite to each other, a connecting piece and a bearing seat are provided between the two side plates, both ends of the bearing seat are rotatably connected to the two side plates respectively, and the connecting piece is used to connect the two side plates into a whole structure, and the whole structure is rotatably connected to the base via a rotating bearing located in the middle of the bearing seat; A gap is formed between the two side plates for the web plate and the lower flange to pass through, and a rubber wheel is rotatably provided between the side plates and the web plate. The rubber wheel is input with torque by a motor coaxially mounted therewith, and the rotation direction of the rubber wheel is consistent with the length extension direction of the slide rail. A guide wheel is rotatably provided between the two side plates at a position below the lower flange, and both the rubber wheel and the guide wheel can be in close contact with the surface of the slide rail. The driving assembly is also provided with a tire thickness detection assembly for detecting the thickness of the rubber tire.

6. The rail-type fire inspection robot according to claim 5, characterized in that: The rubber wheel and the guide wheel are arranged obliquely, the motor is mounted on the surface of the side plate through the first mounting seat, and the end of the guide wheel is mounted on the surface of the side plate through the second mounting seat. A sliding groove is provided between the side plate corresponding to the first mounting seat and the second mounting seat, and a tension spring for elastically connecting the first mounting seat and the second mounting seat is provided in the sliding groove, so that the first mounting seat and the second mounting seat can reciprocate about the sliding groove; The tire thickness detection assembly includes a pressure sensor and a detection lever. One end of the detection lever is rotatably connected to the surface of the side plate via a torsion spring. The other end of the detection lever passes through the side plate and contacts the surface of the rubber wheel via a universal ball. The torsion spring continuously drives the detection lever to rotate toward the rubber wheel. An arcuate slot is formed through the side plate at the position where the detection lever passes, and the detection lever can reciprocate within the arcuate slot. The pressure sensor is connected to two pressure receiving parts, wherein pressure receiving part 1 is located at one end of the arc groove close to the rubber wheel, and pressure receiving part 2 extends between mounting seat 1 and mounting seat 2. When the tire thickness of the rubber wheel decreases, both pressure receiving part 1 and pressure receiving part 2 are squeezed. At this time, the pressure sensor alarms and the rubber wheel needs to be replaced.

7. The rail-type fire inspection robot according to claim 1, characterized in that: The fire extinguisher tank is detachably connected to the robot body via a mounting assembly, wherein the mounting assembly includes a mounting plate disposed at the bottom of the robot body, with open collars extending downwardly from both ends of the mounting plate, and mounting sleeves rotatably connected to both ends of the open collars via shaft pins; The inner wall of the mounting sleeve is paved with elastic material, and the two ends of the fire extinguishing tank are respectively placed in the two mounting sleeves, wherein at least one mounting sleeve is rotatably connected to a limit rod, and a slot is provided at the end of the limit rod. A clamping block is provided on the other mounting sleeve, and the limit rod is rotated to clamp the slot and the clamping block to be fixed. By constraining the distance between the two mounting sleeves, the fire extinguishing tank located between the two is limited and fixed.

Images