Rail-mounted inspection robot and use method

Abstract

The invention belongs to the technical field of inspection robots, and particularly relates to a rail-hanging inspection robot which comprises a rail and an inspection robot body used for moving on the rail, the inspection robot body comprises a box body, a movable groove is formed in the middle of the top of the box body, and a collecting groove is formed in the front portion of the interior of the movable groove. A heat dissipation groove is formed in the bottom of the box body, a plurality of protection plates are fixedly arranged in the heat dissipation groove, heat dissipation fins are fixedly arranged at the positions, at the tops of the protection plates, in the box body, a first fixing plate is fixedly arranged at the tops of the heat dissipation fins, and a driving module is fixedly arranged on the back of the interior of the box body. A cleaning module is fixedly arranged on the front lower portion of the driving module in the box body, a second camera is fixedly arranged in the middle of the front portion of the cleaning module in the box body, and a dust removal module is fixedly arranged on the right side of the second camera in the box body. And the track is cleaned through the cleaning module, so that the upper surface of the track is cleaner, and the inspection robot moves more stably.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a rail-hanging inspection robot and a use method thereof. Background Art

[0002] The inspection robot is a robot that integrates multiple sensors, can walk autonomously, and can simulate manual operations to replace traditional manual inspections. The rail-mounted inspection robot is not dependent on the ground environment and can climb slopes autonomously during driving. It is often used for inspection work in narrow areas such as tunnels, pipe galleries, and mine tunnels.

[0003] In the prior art, a patent document with the authorization announcement number CN116787400B provides a rail-hanging inspection robot, comprising a rail, a walking device for moving on the rail and an inspection robot; also comprising an upward moving component; the upward moving component comprises a pressure plate and a fixing frame; the pressure plate is positioned at the top of the water tank; the fixing frame comprises two long plates and one short plate, the short plate is fixed between the two long plates on one side close to the box body, the fixing frame is horizontally positioned in the vertical plate on the top of the water tank, and a fixed roller is movably connected to one side of each long plate close to the incomplete gear; a traction rope is fixed on each fixed roller, and the traction rope is wrapped around the outside of the fixed roller, and one end of each traction rope is fixedly connected to the top of the horizontal plate of the pressure plate, and the traction rope can pull the pressure plate upward; a rotating drum is coaxially fixed between the two fixed rollers, so that the camera lens can be easily cleaned.

[0004] However, the above-mentioned robot does not have a cleaning device for the track when it moves, so when dust or foreign matter appears on the track, the robot will be blocked and difficult to move, which will cause a great burden on the rollers of the robot and easily damage them. Summary of the invention

[0005] Based on the technical problems of existing inspection robots, the present invention proposes a rail-hanging inspection robot and a use method thereof.

[0006] The present invention proposes a rail-mounted inspection robot and a method of using the inspection robot, which include a rail and an inspection robot for moving on the rail, wherein the inspection robot includes a box body, and the box body is set to an L shape, a movable groove is opened in the middle of the top of the box body, a collecting groove is opened in the front of the movable groove, a heat dissipation groove is opened at the bottom of the box body, a plurality of protective plates are fixedly provided inside the heat dissipation groove, a heat dissipation fin is fixedly provided inside the box body at the top of the protective plate, and a first fixed plate is fixedly provided on the top of the heat dissipation fin, a driving module is fixedly provided at the back of the box body, a cleaning module is fixedly provided at the front lower part of the driving module inside the box body, a second camera is fixedly provided at the front fixed middle part of the cleaning module inside the box body, and a dust cleaning module is fixedly provided on the right side of the second camera inside the box body.

[0007] Preferably, the driving module includes a first rotating shaft rotatably fixed inside the box body, and the first rotating shaft is rotatably fixed inside the box body on both sides of the movable groove, and the two first rotating shafts rotate through the box body to the inside of the movable groove, and the two ends of the first rotating shafts are fixed with second rotating shafts compatible with the track inside the movable groove, and fourth rotating shafts are fixed at both ends inside the movable groove, and the fourth rotating shaft is located in front of the first rotating shaft, and rollers are rotatably fixed at the opposite ends of the two fourth rotating shafts.

[0008] Through the above technical solution, the two first rotating shafts and the fourth rotating shaft are all connected with rollers, which can facilitate the rollers to move inside the track, thereby facilitating the movement of the inspection robot.

[0009] Preferably, a second rotating shaft is rotatably fixed at the lower part of the two first rotating shafts inside the box body, and a driven bevel gear is fixedly provided at the lower part of the movable groove at the facing ends of the two second rotating shafts, and a support column is rotatably fixed to the outer wall of the two second rotating shafts close to the movable groove, and the side wall of the support column close to the movable groove is fixedly connected to the side wall of the box body close to the movable groove; a first gear is fixedly provided on the outer wall of the middle part of the two first rotating shafts inside the box body, and a second gear meshing with the first gear is fixedly provided on the outer wall of the two second rotating shafts, a motor is fixedly provided on the inner side wall of the back of the box body, and a driving bevel gear is fixedly connected to the motor transmission shaft, and the driving bevel gear is meshed with the two driven bevel gears.

[0010] Through the above technical solution, the motor drives the rollers on the two first rotating shafts to move, thereby driving the four rollers to move simultaneously, making it easier for the inspection robot to move.

[0011] Preferably, third rotating shafts are rotatably fixed on both sides of the front part of the fourth rotating shaft inside the movable groove, and the two third rotating shafts rotate and pass through the inside of the box body, a fourth gear is fixed on the outer wall of the third rotating shaft inside the box body, and third gears are fixed on the two first rotating shafts inside the box body near the outer wall of the movable groove, a rack belt is connected between the outer walls of the third gear and the fourth gear, and the inner wall of the rack belt is meshed with the outer walls of the third gear and the fourth gear, a brush roller is fixed to the end of the third rotating shaft inside the movable groove by bolts, and a scraper matching the track is fixed between the brush roller and the fourth rotating shaft inside the movable groove.

[0012] Through the above technical solution, the brush roller and the scraper can clean the dust and foreign matter on the track, making the track cleaner, thereby facilitating the movement of the roller.

[0013] Preferably, a first water tank is fixedly provided on the top of the first fixed plate at the lower part of the movable groove in the front part of the driven bevel gear, a first liquid inlet pipe is fixedly provided on the left side of the first water tank, and the first liquid inlet pipe passes through the outside of the box body, a first pipe cover is threadedly fixed to the end part of the first liquid inlet pipe, a first water pump is fixedly provided in front of the first water tank on the top of the first fixed plate, a first water pipe is fixedly connected to the water inlet end of the first water pump, and the first water pipe extends to the inside of the first water tank, a three-way switching pipe is fixedly provided at the water outlet end of the first water pump, second water pipes are fixedly provided at the other two ends of the three-way switching pipe, and the two second water pipes both pass through the box body to the two ends inside the movable groove side, and nozzles are fixedly provided at the ends of the two second water pipes, and the two nozzles are located directly in front of the two brush rollers, a first collecting box is fixedly provided inside the collecting trough, the first collecting box is located below the two fourth rotating shafts, the scraper, the brush roller and the nozzles, an extension box is fixedly provided inside the box body at the front bottom of the first collecting box, and a baffle is fixed to the end of the extension box by bolts; solenoid valves are installed on the outer walls of the two second water pipes, and a flow detector is installed on the outer wall of the second water pipe outside the two solenoid valves, an observation window is installed on the side of the first water tank away from the first water pump, and a first camera is fixedly provided in front of the observation window.

[0014] Through the above technical solution, the nozzle can spray water on the track, so that the brush roller and the scraper can more easily clean the dust and foreign matter on the track, thereby facilitating the movement of the inspection robot.

[0015] Preferably, a second fixing plate is fixedly provided in front of the first water pump inside the box body, and a placement groove, a first mounting groove and a second mounting groove are provided inside the box body in front of the second fixing plate, and an installation door is installed in front of the placement groove; a second camera is fixedly provided in the middle of the second fixing plate inside the first mounting groove, and an infrared sensor and an ultrasonic sensor are fixedly provided inside the first mounting groove on both sides of the second camera, a second collection box is fixedly provided at the lower part of the second camera at the top of the first fixing plate inside the first mounting groove, and the extension box extends to the upper part of the second collection box in front of the second camera.

[0016] Through the above technical solution, the provision of the extension box can facilitate the extension of the first collection box to the top of the second collection box, thereby facilitating the cleaning of dust and foreign matter collected inside the first collection box.

[0017] Preferably, a second water tank is fixedly provided inside the second mounting groove near the second fixing plate, a first electric push rod is fixedly provided on the right side of the front part of the second water tank inside the second mounting groove, a dust cleaning box is fixedly provided at the output end of the first electric push rod, a second water pump is fixedly provided inside the second mounting groove near the first mounting groove, a water inlet end of the second water pump is fixedly connected to a third water pipe, a water outlet end of the second water pump is fixedly connected to a telescopic water pipe, and the telescopic water pipe passes through the dust cleaning box near the first electric push rod to the inside of the dust cleaning box, and extends from the inside of the dust cleaning box to the outside near the second water tank, and the telescopic water pipe is fixed to the upper part of the second water tank through two positioning blocks, a second electric push rod is fixedly provided on the side of the dust cleaning box away from the second water tank, a push plate is fixedly provided at the output end of the second electric push rod, and drying cotton is fixedly provided on the side of the push plate; a second liquid inlet pipe is fixedly provided on the top of the second water tank, and the second liquid inlet pipe extends to the outside of the box body, and a second pipe cover is threadedly fixed to the end of the second liquid inlet pipe.

[0018] Through the above technical solution, the first electric push rod and the second electric push rod cooperate with each other, making it convenient to use dry cotton to clean the lens of the second camera.

[0019] Preferably, an empty slot adapted to the dust cleaning box is provided between the first installation slot and the second installation slot, and an empty slot adapted to the push plate is provided on the side of the dust cleaning box close to the second water tank, and a cleaning nozzle is fixedly provided on the end of the telescopic water pipe.

[0020] Through the above technical solution, the setting of the cleaning nozzle makes it possible to spray cleaning liquid on the lens of the second camera, so that the drying cotton can wipe the lens more cleanly.

[0021] Preferably, a control system is fixedly provided on the top of the first fixing plate below the motor.

[0022] Through the above technical solution, the control system can control the overall working mode of the equipment.

[0023] In addition, the present invention also provides a method for using the rail-hanging inspection robot, comprising the following steps:

[0024] Step 1: Install the inspection robot on the track, start the motor so that the motor drives the active bevel gear to rotate, which in turn causes the two driven bevel gears to rotate, which in turn causes the second gear to rotate, and the second gear meshes with the first gear, which drives the first gear to rotate, and the first gear drives the roller to rotate, so that the inspection robot can move on the track;

[0025] Step 2: When the inspection robot is moving, since the third gear and the first gear are fixed on the same first rotating shaft, the third gear also rotates when the first gear rotates, and the third gear is connected to the fourth gear through the rack belt, so that the third gear can drive the fourth gear to rotate, thereby causing the brush roller to rotate, so that the brush roller cleans the dust on the track, and the scraper arranged between the brush roller and the fourth rotating shaft can prevent the dust cleaned by the brush roller from contacting the roller, and can also scrape the dust on the track again, so as to facilitate the movement of the inspection robot;

[0026] Step 3: When the brush roller is cleaning the track, the first water pump starts to extract water from the first water tank and sprays it onto the track in front of the brush roller through the nozzle, so that the brush roller can easily clean the dust on the track;

[0027] Step 4: When the inspection robot moves on the track, since the second camera is exposed, the lens of the second camera is easily covered with dust when the inspection robot moves. The first electric push rod pushes the dust cleaning box to the front of the lens of the second camera, and then the cleaning liquid in the second water tank is pumped out by the second water pump and sprayed on the lens of the second camera through the cleaning nozzle on the telescopic water pipe. Then, the push plate is pushed by the second electric push rod so that the drying cotton on the push plate cleans the lens of the second camera, so that the second camera can shoot more clearly.

[0028] Step 5: After the inspection robot completes the inspection, it opens the baffle to discharge the dust collected in the first collection box into the second collection box, and then cleans out the dust inside the second collection box, thereby making it easier to handle the dust.

[0029] The beneficial effects of the present invention are:

[0030] 1. By setting a motor, a motor transmission shaft is connected to an active bevel gear, and the active bevel gear is meshed with a driven bevel gear, the driven bevel gear is connected to a second gear, the second gear is meshed with the first gear, and the first gear and the third gear are fixed on the first rotating shaft, and the third gear is connected to the fourth gear through a rack belt, and the fourth gear fixes the brush roller on the track, and a scraper is set between the brush roller and the roller, so that a motor can drive the inspection robot to move on the track, and at the same time can clean the track, so as to ensure the cleanliness of the track, so that the inspection robot can move more smoothly, and can also protect the roller and prevent the roller from being damaged; and through the cooperation of the first water tank, the first water pump and the nozzle, water can be sprayed on the track in front of the roller, so that the brush roller and the scraper can clean the track more cleanly, and because the track is cleaned more cleanly, the inspection robot makes less noise when moving.

[0031] 2. By setting the first electric push rod, the second water tank, the dust cleaning box, the second water pump, the telescopic water pipe, the second electric push rod, and the drying cotton, the second water pump can draw water from the second water tank to spray the lens of the second camera, and then the second electric push rod, the first electric push rod and the drying cotton can wipe the lens of the second camera, thereby ensuring the clarity of the camera.

[0032] 3. By setting up a combination of heat dissipation slots, protective plates and heat dissipation fins, the heat dissipation effect of the robot is ensured when working for a long time, preventing equipment failure caused by overheating.

[0033] 4. The placement groove is provided to place the brush roller, so that the brush roller can be easily taken out and replaced when it is damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the front appearance of a rail-hanging inspection robot proposed by the present invention;

[0035] Figure 2 This is a schematic diagram of the appearance of a rail-hanging inspection robot proposed by the present invention when viewed from above;

[0036] Figure 3 This is a front internal schematic diagram of a rail-hanging inspection robot proposed by the present invention;

[0037] Figure 4 This is a schematic diagram of the back interior of a rail-hanging inspection robot proposed by the present invention;

[0038] Figure 5 This is a front view of a driving module of a rail-hanging inspection robot proposed by the present invention;

[0039] Figure 6 This is a rear view of a driving module of a rail-hanging inspection robot proposed by the present invention;

[0040] Figure 7 This is a front view of a cleaning module of a rail-hanging inspection robot proposed by the present invention;

[0041] Figure 8 This is a back view of a cleaning module of a rail-hanging inspection robot proposed by the present invention;

[0042] Fig. 9 This is a front view of a dust cleaning module of a rail-hanging inspection robot proposed by the present invention;

[0043] Fig.10 This is a cross-sectional view of a dust cleaning module of a rail-hanging inspection robot proposed by the present invention;

[0044] Fig.11 This is a back view of a dust cleaning module of a rail-hanging inspection robot proposed by the present invention;

[0045] Fig.12 for Figure 5 Enlarged view of point A in the middle.

[0046] In the figure: 1. Inspection robot; 100. Active slot; 101. Collecting slot; 102. Heat dissipation slot; 103. Box; 2. Track; 3. Mounting door; 4. Mounting hole; 5. Driving module; 501. First rotating shaft; 502. Second rotating shaft; 503. Roller; 504. First gear; 505. Second gear; 506. Support column; 507. Third gear; 508. Fourth gear; 509. Third rotating shaft; 510. Brush roller; 511. Fourth rotating shaft; 512. Scraper; 513. Motor; 514. Driven bevel gear; 515. Active bevel gear; 516. Rack belt; 6. Cleaning module; 601. First water tank; 602. First liquid inlet pipe; 603. First pipe cover; 604. First collecting box; 605. Extension box; 606. First water pump; 607. First water pipe; 608. Tee Transfer pipe; 609, second water pipe; 610, nozzle; 611, flow detector; 612, solenoid valve; 613, first camera; 614, observation window; 615, baffle; 7, dust cleaning module; 701, first electric push rod; 702, second water tank; 703, dust cleaning box; 704, second water pump; 705, third water pipe; 706, telescopic water pipe; 708, positioning block; 709, second liquid inlet pipe; 710, second pipe cover; 711, second electric push rod; 712, push plate; 713, drying cotton; 8, protective plate; 9, heat dissipation fin; 10, first fixing plate; 11, second fixing plate; 12, placement slot; 13, first installation slot; 14, second installation slot; 15, control system; 16, second camera; 17, infrared sensor; 18, ultrasonic sensor; 19, second collection box. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Reference Figure 1-Figure 4A rail-mounted inspection robot and a method of using the same include a rail 2 and an inspection robot 1 for moving on the rail 2, wherein the inspection robot 1 includes a box 103, and the box 103 is set in an L shape, a movable groove 100 is opened in the middle of the top of the box 103, a collecting groove 101 is opened in the front of the movable groove 100, a heat dissipation groove 102 is opened at the bottom of the box 103, a plurality of protective plates 8 are fixedly arranged inside the heat dissipation groove 102, a heat dissipation fin 9 is fixedly arranged inside the box 103 at the top of the protective plate 8, and a first fixed plate 10 is fixedly arranged on the top of the heat dissipation fin 9, A driving module 5 is fixedly provided on the back of the box body 103, a control system 15 is fixedly provided on the top of the first fixing plate 10 at the rear lower part of the driving module 5, a cleaning module 6 is fixedly provided at the front lower part of the driving module 5 in the box body 103, and a second camera 16 is fixedly provided at the front fixed middle part of the cleaning module 6 in the box body 103, and a dust cleaning module 7 is fixedly provided on the right side of the second camera 16 in the box body 103; the heat dissipation fins 9 can increase the heat dissipation effect of the inspection robot 1, ensure the heat dissipation effect of the inspection robot when working for a long time, and prevent equipment failure caused by overheating.

[0049] In this embodiment, refer to Figure 1 , Figure 5 and Figure 6The driving module 5 includes a first rotating shaft 501 rotatably fixed inside the box body 103, and the first rotating shaft 501 is rotatably fixed inside the box body 103 on both sides of the movable groove 100, and the two first rotating shafts 501 rotate through the box body 103 to the inside of the movable groove 100, and the ends of the two first rotating shafts 501 are fixed with second rotating shafts 502 adapted to the track 2 inside the movable groove 100, and the fourth rotating shaft 511 is fixed at both ends inside the movable groove 100, and the fourth rotating shaft 511 is located in front of the first rotating shaft 501, and the two fourth rotating shafts 51 1, rollers 503 are rotatably fixed at the two ends facing each other; second shafts 502 are rotatably fixed at the lower parts of the two first shafts 501 inside the box body 103, and driven bevel gears 514 are fixed at the lower parts of the movable groove 100 at the two ends facing each other of the two second shafts 502, and support columns 506 are rotatably fixed at the outer walls of the two second shafts 502 on the side close to the movable groove 100, and the side walls of the support columns 506 on the side close to the movable groove 100 are fixedly connected to the side walls of the box body 103 close to the movable groove 100; the two first shafts 501 inside the box body 103 A first gear 504 is fixedly provided on the outer wall of the middle part, and a second gear 505 meshing with the first gear 504 is fixedly provided on the outer walls of the two second rotating shafts 502. A motor 513 is fixedly provided on the inner wall of the back of the box body 103, and a driving bevel gear 515 is fixedly connected to the transmission shaft of the motor 513. The driving bevel gear 515 is meshed with the two driven bevel gears 514. Third rotating shafts 509 are rotatably fixed on both sides of the front part of the fourth rotating shaft 511 inside the movable groove 100, and the two third rotating shafts 509 are rotated to penetrate the inside of the box body 103. A fourth gear 508 is fixedly disposed on the outer wall of the third rotating shaft 509 inside the box body 103, and third gears 507 are fixedly disposed on the outer wall of the two first rotating shafts 501 near the outer wall of the movable groove 100 inside the box body 103, a rack belt 516 is connected between the outer walls of the third gear 507 and the fourth gear 508, and the inner wall of the rack belt 516 is meshed with the outer walls of the third gear 507 and the fourth gear 508, and a brush roller 510 is fixedly disposed at the end of the third rotating shaft 509 inside the movable groove 100 by bolts (the appearance of the connection between the third rotating shaft 509 and the brush roller 510 is as shown in FIG. Fig.12 As shown), a scraper 512 adapted to the track 2 is fixedly provided between the brush roller 510 and the fourth rotating shaft 511 inside the movable groove 100.

[0050] In this embodiment, refer to Figure 5 , Figure 7 and Figure 8A first water tank 601 is fixedly provided on the top of the first fixed plate 10 at the lower part of the movable groove 100 at the front part of the driven bevel gear 514, a first liquid inlet pipe 602 is fixedly provided on the left side of the first water tank 601, and the first liquid inlet pipe 602 penetrates to the outside of the box body 103, and a first pipe cover 603 is threadedly fixed to the end of the first liquid inlet pipe 602, a first water pump 606 is fixedly provided on the front part of the first water tank 601 at the top of the first fixed plate 10, a first water pipe 607 is fixedly connected to the water inlet end of the first water pump 606, and the first water pipe 607 extends to the inside of the first water tank 601, a three-way switching pipe 608 is fixedly provided on the water outlet end of the first water pump 606, and second water pipes 609 are fixedly provided at the other two ends of the three-way switching pipe 608, and two second water pipes 609 penetrate the box body 103 to both sides of the inside of the movable groove 100, and the two A nozzle 610 is fixedly provided at the end of each of the second water pipes 609, and the two nozzles 610 are located directly in front of the two brush rollers 510; a first collection box 604 is fixedly provided inside the collection trough 101, and the first collection box 604 is located below the two fourth rotating shafts 511, the scraper 512, the brush roller 510 and the nozzle 610; an extension box 605 is fixedly provided inside the box body 103 at the front bottom of the first collection box 604, and a baffle 615 is fixed to the end of the extension box 605 by bolts; solenoid valves 612 are installed on the outer walls of the two second water pipes 609, and a flow detector 611 is installed on the outer wall of the second water pipe 609 outside the two solenoid valves 612; an observation window 614 is installed on the side of the first water tank 601 away from the first water pump 606, and a first camera 613 is fixedly provided in front of the observation window 614.

[0051] In this embodiment, refer to Figure 1 , Fig. 9 , Fig.10 and Fig.11A second fixing plate 11 is fixedly provided in front of the first water pump 606 in the box body 103, and a placement slot 12, a first installation slot 13 and a second installation slot 14 are provided in the box body 103 in front of the second fixing plate 11, and an installation door 3 is installed in front of the placement slot 12; a second camera 16 is fixedly provided in the middle of the second fixing plate 11 in the first installation slot 13, and an infrared sensor 17 and an ultrasonic sensor 18 are fixedly provided in the first installation slot 13 on both sides of the second camera 16, and a second sensor 18 is fixedly provided in the top of the first fixing plate 10 in the first installation slot 13. A second collecting box 19 is fixedly provided at the lower part of the camera 16, and the extension box 605 extends to the upper part of the second collecting box 19 in front of the second camera 16; a second water tank 702 is fixedly provided in the second mounting groove 14 near the second fixing plate 11, a first electric push rod 701 is fixedly provided on the right side of the front part of the second water tank 702 in the second mounting groove 14, a dust cleaning box 703 is fixedly provided at the output end of the first electric push rod 701, a second water pump 704 is fixedly provided in the second mounting groove 14 near the first mounting groove 13, and the second water pump 704 is provided to pump water. The water end is fixedly connected to a third water pipe 705, the water outlet end of the second water pump 704 is fixedly connected to a telescopic water pipe 706, and the telescopic water pipe 706 penetrates the dust cleaning box 703 near the side of the first electric push rod 701 to the inside of the dust cleaning box 703, and extends from the inside of the dust cleaning box 703 to the outside near the side of the second water tank 702, and the telescopic water pipe 706 is fixed to the upper part of the second water tank 702 through two positioning blocks 708, and a second electric push rod 711 is fixedly provided on the side of the dust cleaning box 703 away from the second water tank 702, and the output end of the second electric push rod 711 is fixedly connected to the water outlet end of the second water pump 704, and the telescopic water pipe 706 penetrates the dust cleaning box 703 near the side of the first electric push rod 701 to the inside of the dust cleaning box 703, and extends from the inside of the dust cleaning box 703 to the outside near the side of the second water tank 702, and the telescopic water pipe 706 is fixed to the upper part of the second water tank 702 through two positioning blocks 708. A push plate 712 is fixedly provided, and a drying cotton 713 is fixedly provided on the side of the push plate 712; a second liquid inlet pipe 709 is fixedly provided on the top of the second water tank 702, and the second liquid inlet pipe 709 extends to the outside of the box body 103, and the second pipe cover 710 is threadedly fixed to the end of the second liquid inlet pipe 709; an empty groove matched with the dust cleaning box 703 is opened between the first mounting groove 13 and the second mounting groove 14, and an empty groove matched with the push plate 712 is opened on the side of the dust cleaning box 703 close to the second water tank 702, and a cleaning nozzle is fixedly provided at the end of the telescopic water pipe 706.

[0052] In addition, if Figure 1-Figure 12 As shown, the present invention also provides a method for using the rail-hanging inspection robot, comprising the following steps:

[0053] Step 1: Install the inspection robot 1 on the track 2, start the motor 513 so that the motor 513 drives the active bevel gear 515 to rotate, thereby causing the two driven bevel gears 514 to rotate, thereby causing the second gear 505 to rotate, and the second gear 505 meshes with the first gear 504, thereby driving the first gear 504 to rotate, so that the first gear 504 drives the roller 503 to rotate, so that the inspection robot 1 can move on the track 2;

[0054] Step 2: When the inspection robot 1 is moving, since the third gear 507 and the first gear 504 are fixed on the same first rotating shaft 501, the third gear 507 also rotates when the first gear 504 rotates, and the third gear 507 is connected to the fourth gear 508 through the rack belt 516, so that the third gear 507 can drive the fourth gear 508 to rotate, thereby causing the brush roller 510 to rotate, so that the brush roller 510 cleans the dust on the track 2, and the scraper 512 arranged between the brush roller 510 and the fourth rotating shaft 511 can prevent the dust cleaned by the brush roller 510 from contacting the roller 503, and can also scrape the dust on the track 2 again, so that the inspection robot 1 can move conveniently;

[0055] Step 3: When the brush roller 510 is cleaning the track 2, the first water pump 606 starts to extract water from the first water tank 601 and sprays it onto the track 2 in front of the brush roller 510 through the nozzle 610, so that the brush roller 510 can easily clean the dust on the track 2;

[0056] Step 4: When the inspection robot 1 moves on the track 2, since the second camera 16 is exposed, the lens of the second camera 16 is easily covered with dust when the inspection robot 1 moves. The first electric push rod 701 pushes the dust cleaning box 703 to the front of the lens of the second camera 16, and then the second water pump 704 is started to extract the cleaning liquid in the second water tank 702 and spray it on the lens of the second camera 16 through the cleaning nozzle on the telescopic water pipe 706. Then, the push plate 712 is pushed by the second electric push rod 711 so that the drying cotton 713 on the push plate 712 cleans the lens of the second camera 16, so that the second camera 16 can take clearer pictures.

[0057] Step 5: After the inspection robot 1 completes the inspection, it opens the baffle 615, discharges the dust collected in the first collection box 604 into the second collection box 19, and then cleans out the dust inside the second collection box 19, so as to facilitate dust disposal.

[0058] Working principle: The inspection robot drives the active bevel gear 515 through the motor 513 in the driving module 5, and the active bevel gear is meshed with the driven bevel gear 514, thereby driving the first rotating shaft 501 and the second rotating shaft 502 to rotate, and the end of the second rotating shaft 502 is fixed with a roller 503 adapted to the track 2. The rotation of the roller 503 enables the robot to move along the track 2. During the movement, the brush roller 510 is driven to rotate through the transmission system of the third rotating shaft 509 and the fourth gear 508. The bristles on the brush roller 510 clean the dust on the track 2, and the scraper 512 is arranged between the brush roller 510 and the roller 503 to prevent the cleaned dust from contacting the roller 503, and further scrape the dust on the track 2, and the first water pump 606 in the cleaning module 6 extracts the first water tank 60 1 is sprayed onto the track 2 in front of the brush roller 510 through the nozzle 610, helping the brush roller 510 to clean the track 2 more effectively; the dust generated during the cleaning process will fall into the first collecting box 604 installed inside the collecting tank 101, and the first collecting box 604 is extended to the top of the second collecting box 19 through the extension box 605, so as to facilitate the subsequent treatment of dust; and in the process of moving, the cleaning module 7 pushes the cleaning box 703 to the front of the second camera 16 through the first electric push rod 701, and the second water pump 704 extracts the cleaning liquid in the second water tank 702, and sprays it on the lens of the second camera 16 through the telescopic water pipe 706 and the cleaning nozzle, and then pushes the drying cotton 713 on the push plate 712 through the second electric push rod 711 to clean the lens, thereby ensuring the clarity of the second camera.

[0059] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A rail-mounted inspection robot, comprising a rail (2) and an inspection robot (1) for moving on the rail (2), Features: The inspection robot (1) comprises a box (103), and the box (103) is set in an L shape, a movable groove (100) is opened in the middle of the top of the box (103), a collecting groove (101) is opened in the front of the movable groove (100), a heat dissipation groove (102) is opened at the bottom of the box (103), a plurality of protective plates (8) are fixedly arranged inside the heat dissipation groove (102), and heat dissipation fins are fixedly arranged inside the box (103) on the top of the protective plates (8). (9), and a first fixing plate (10) is fixedly provided on the top of the heat dissipation fin (9), a driving module (5) is fixedly provided on the back of the box body (103), a cleaning module (6) is fixedly provided on the front lower part of the driving module (5) inside the box body (103), and a second camera (16) is fixedly provided on the front fixed middle part of the cleaning module (6) inside the box body (103), and a dust cleaning module (7) is fixedly provided on the right side of the second camera (16) inside the box body (103).

2. A rail inspection robot according to claim 1, Features: The driving module (5) comprises a first rotating shaft (501) rotatably fixed inside a housing (103), and the first rotating shaft (501) is rotatably fixed inside the housing (103) on both sides of the movable groove (100), and the two first rotating shafts (501) are both rotatably passed through the housing (103) to the inside of the movable groove (100), and the ends of the two first rotating shafts (501) are both fixed with a second rotating shaft (502) adapted to the track (2) inside the movable groove (100), and a fourth rotating shaft (511) is fixed at both ends inside the movable groove (100), and the fourth rotating shaft (511) is located in front of the first rotating shaft (501), and rollers (503) are rotatably fixed at the ends of the two fourth rotating shafts (511) facing each other.

3. A rail inspection robot according to claim 2, Features: A second rotating shaft (502) is rotatably fixed to the lower part of the two first rotating shafts (501) inside the box body (103), and a driven bevel gear (514) is fixed to the opposite ends of the two second rotating shafts (502) at the lower part of the movable groove (100), and a support column (506) is rotatably fixed to the outer wall of the two second rotating shafts (502) on the side close to the movable groove (100), and the side wall of the support column (506) on the side close to the movable groove (100) is aligned with the side wall of the box body (103) close to the movable groove (100). The housing (103) is fixedly connected to the wall; a first gear (504) is fixedly provided on the outer wall of the middle part of the two first rotating shafts (501) inside the housing (103), and a second gear (505) meshing with the first gear (504) is fixedly provided on the outer wall of the two second rotating shafts (502); a motor (513) is fixedly provided on the inner wall of the back of the housing (103), and a driving bevel gear (515) is fixedly connected to the transmission shaft of the motor (513), and the driving bevel gear (515) is meshed with the two driven bevel gears (514).

4. A rail inspection robot according to claim 3, Features: A third rotating shaft (509) is rotatably fixed on both sides of the front part of the fourth rotating shaft (511) inside the movable groove (100), and the two third rotating shafts (509) are rotatably penetrated into the box body (103), and a fourth gear (508) is fixed on the outer wall of the third rotating shaft (509) inside the box body (103), and a third gear (507) is fixed on the outer wall of the movable groove (100) near the two first rotating shafts (501) inside the box body (103), and the third gear A rack belt (516) is connected between the outer wall of the third gear (507) and the fourth gear (508), and the inner wall of the rack belt (516) is meshed with the outer wall of the third gear (507) and the fourth gear (508). A brush roller (510) is fixed to the end of the third rotating shaft (509) inside the movable groove (100) by bolts, and a scraper (512) adapted to the track (2) is fixed between the brush roller (510) and the fourth rotating shaft (511) inside the movable groove (100).

5. A rail inspection robot according to claim 4, Features: A first water tank (601) is fixedly provided on the top of the first fixed plate (10) at the lower part of the movable groove (100) at the front of the driven bevel gear (514); a first liquid inlet pipe (602) is fixedly provided on the left side of the first water tank (601), and the first liquid inlet pipe (602) passes through the outside of the box body (103); a first pipe cover (603) is threadedly fixed to the end of the first liquid inlet pipe (602); a first water pump (606) is fixedly provided at the front part of the first water tank (601) at the top of the first fixed plate (10); a first water pipe (607) is fixedly connected to the water inlet end of the first water pump (606), and the first water pipe (607) extends to the inside of the first water tank (601); a three-way transfer pipe (608) is fixedly provided at the water outlet end of the first water pump (606), and the three-way transfer pipe (608) A second water pipe (609) is fixedly provided at both ends, and the two second water pipes (609) penetrate the box body (103) to the two sides of the movable groove (100), and nozzles (610) are fixedly provided at the ends of the two second water pipes (609), and the two nozzles (610) are located directly in front of the two brush rollers (510). A first collection box (604) is fixedly provided inside the collection groove (101), and the first collection box (604) is located below the two fourth rotating shafts (511), the scraper (512), the brush roller (510) and the nozzles (610). An extension box (605) is fixedly provided at the front bottom of the first collection box (604) inside the box body (103), and a baffle (615) is fixedly provided at the end of the extension box (605) by bolts; Solenoid valves (612) are installed on the outer walls of the two second water pipes (609), and a flow detector (611) is installed on the outer wall of the second water pipe (609) outside the two solenoid valves (612). An observation window (614) is installed on the side of the first water tank (601) away from the first water pump (606), and a first camera (613) is fixed in front of the observation window (614).

6. A rail inspection robot according to claim 5, Features: A second fixing plate (11) is fixedly provided in front of the first water pump (606) inside the box body (103), and a placement groove (12), a first installation groove (13) and a second installation groove (14) are provided inside the box body (103) in front of the second fixing plate (11), and an installation door (3) is installed in front of the placement groove (12); a second camera (16) is fixedly provided in the middle of the second fixing plate (11) inside the first installation groove (13), and an infrared sensor (17) and an ultrasonic sensor (18) are fixedly provided inside the first installation groove (13) on both sides of the second camera (16); a second collection box (19) is fixedly provided at the bottom of the second camera (16) at the top of the first fixing plate (10) inside the first installation groove (13), and the extension box (605) extends to the upper part of the second collection box (19) in front of the second camera (16).

7. The rail inspection robot according to claim 6, Features: A second water tank (702) is fixedly provided inside the second installation groove (14) on a side close to the second fixing plate (11); a first electric push rod (701) is fixedly provided on the right side of the front part of the second water tank (702) inside the second installation groove (14); a dust cleaning box (703) is fixedly provided at the output end of the first electric push rod (701); a second water pump (704) is fixedly provided inside the second installation groove (14) on a side close to the first installation groove (13); a water inlet end of the second water pump (704) is fixedly connected to a third water pipe (705); a water outlet end of the second water pump (704) is fixedly connected to a telescopic water pipe (706); and the telescopic water pipe (706) passes through the dust cleaning box (703) close to the first electric push rod (701) to the dust cleaning box (703). 3) inside the dust cleaning box (703), and extends from the inside of the dust cleaning box (703) to the outside of the side close to the second water tank (702), and the telescopic water pipe (706) is fixed to the upper part of the second water tank (702) through two positioning blocks (708), and a second electric push rod (711) is fixedly provided on the side of the dust cleaning box (703) away from the second water tank (702), and a push plate (712) is fixedly provided at the output end of the second electric push rod (711), and a drying cotton (713) is fixedly provided on the side of the push plate (712); a second liquid inlet pipe (709) is fixedly provided on the top of the second water tank (702), and the second liquid inlet pipe (709) extends to the outside of the box body (103), and a second pipe cover (710) is threadedly fixed to the end of the second liquid inlet pipe (709).

8. The rail inspection robot according to claim 7, Features: An empty slot compatible with the dust cleaning box (703) is provided between the first installation slot (13) and the second installation slot (14), and an empty slot compatible with the push plate (712) is provided on the side of the dust cleaning box (703) close to the second water tank (702), and a cleaning nozzle is fixedly provided at the end of the telescopic water pipe (706).

9. The rail inspection robot according to claim 8, Features: A control system (15) is fixedly provided on the top of the first fixing plate (10) below the motor (513).

10. The method for using the rail-hanging inspection robot according to claim 9, It is characterized in that The following steps are involved: Step 1: Install the inspection robot (1) on the track (2), start the motor (513), so that the motor (513) drives the active bevel gear (515) to rotate, thereby causing the two driven bevel gears (514) to rotate, thereby causing the second gear (505) to rotate, and the second gear (505) engages with the first gear (504), thereby driving the first gear (504) to rotate, so that the first gear (504) drives the roller (503) to rotate, thereby enabling the inspection robot (1) to move on the track (2); Step 2: When the inspection robot (1) is moving, since the third gear (507) and the first gear (504) are fixed on the same first rotating shaft (501), the third gear (507) also rotates when the first gear (504) rotates, and the third gear (507) is connected to the fourth gear (508) through the rack belt (516), so that the third gear (507) can drive the fourth gear (508) to rotate, thereby causing the brush roller (510) to rotate, so that the brush roller (510) cleans the dust on the track (2), and the scraper (512) provided between the brush roller (510) and the fourth rotating shaft (511) can prevent the dust cleaned by the brush roller (510) from contacting the roller (503), and can also scrape the dust on the track (2) again, so as to facilitate the movement of the inspection robot (1); Step 3: When the brush roller (510) is cleaning the track (2), the first water pump (606) starts to extract water from the first water tank (601) and sprays the water onto the track (2) in front of the brush roller (510) through the nozzle (610), so that the brush roller (510) can easily clean the dust on the track (2); Step 4: When the inspection robot (1) moves on the track (2), since the second camera (16) is exposed, the lens of the second camera (16) is easily covered with dust when the inspection robot (1) moves. The dust cleaning box (703) is pushed to the front of the lens of the second camera (16) by the first electric push rod (701), and then the cleaning liquid in the second water tank (702) is drawn by starting the second water pump (704) and sprayed on the lens of the second camera (16) through the cleaning nozzle on the telescopic water pipe (706). Then, the push plate (712) is pushed by the second electric push rod (711) so that the drying cotton (713) on the push plate (712) cleans the lens of the second camera (16), so that the second camera (16) can take clearer pictures. Step 5: When the inspection robot (1) completes the inspection, it opens the baffle (615) to discharge the dust collected in the first collection box (604) into the second collection box (19), and then cleans out the dust inside the second collection box (19), thereby facilitating the disposal of dust.

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