Reconfigurable multi-section narrow space track inspection robot

Abstract

The reconfigurable multi-section narrow space track inspection robot comprises a driving bin, an electric appliance bin and an equipment bin, the driving bin, the electric appliance bin and the equipment bin are provided with bin doors on the left side and the right side of the whole bin, mounting holes are formed in the front side and the rear side of the whole bin, and the driving bin, the electric appliance bin and the equipment bin are detachably connected with a flexible transition bin through the mounting holes. The system has the beneficial effects that the problems that in the prior art, equipment is high in integration degree and compact in layout, the turning radius is small when the equipment is combined with a track, part of equipment similar to a multi-section cabin body turns, the radius is too large, carried equipment tends to be limited, and along with improvement of intellectualization, equipment updating is accelerated, and the equipment is difficult to carry are solved; in order to improve the updating rate of intelligent equipment, the problems that at present, traditional integrated equipment is basically replaced with a robot after being updated for one time, great modification is caused, the production cost is wasted, and the equipment is not continuous in the using process are solved.

Description

Technical Field

[0001] The present invention relates to the field of BBB technology, and in particular to a reconfigurable, multi-section, narrow-space track inspection robot. Background Art

[0002] At present, most of the rail-mounted inspection robots put into use in China are one-piece standard-time suspended rail robots.

[0003] The advantages of this approach are: the equipment is highly integrated and tightly laid out, and the turning radius of the equipment when combined with the track is small. The turning radius of some equipment similar to multi-section cabins is too large, which is too restrictive for the equipment carried. With the improvement of intelligence, the update of equipment is accelerated, and the update rate of intelligent equipment is increased. At present, the traditional one-piece integrated equipment is updated once, which basically means replacing a robot, resulting in major changes. This not only causes a waste of production costs, but also causes discontinuity in the use of equipment. Therefore, the company has designed a reconfigurable, multi-section, narrow-space track inspection robot based on this national condition. Summary of the invention

[0004] In view of the above problems existing in the prior art, the main purpose of the present invention is to provide a reconfigurable, multi-section, narrow-space track inspection robot.

[0005] The technical solution of the present invention is as follows: a reconfigurable, multi-section, narrow-space track inspection robot, including a drive compartment, an electrical compartment and an equipment compartment, wherein the drive compartment, the electrical compartment and the equipment compartment have hatches on the left and right sides of the entire compartment, installation holes are opened on the front and back sides, and are detachably connected to a flexible transition compartment through the installation holes, and installation holes are opened on both sides of the inner surfaces of the three compartments, the drive compartment is detachably connected to a drive chassis through the installation holes, and the electrical compartment and the equipment compartment are detachably connected with or without a drive chassis through the installation holes, and at the same time, specific parts of the three compartments are provided with preset holes for the installation of specific sensors, and elastic transition sections are arranged between the drive compartment, the electrical compartment and the equipment compartment, and are connected through the elastic transition sections, and the flexible transition compartment is arranged between the drive compartment, the electrical compartment and the equipment compartment and is located below the elastic transition section.

[0006] As a preferred embodiment, the driving chassis wheel train mounting frame is composed of two steel wheel train side plates, two supporting columns and two support plates. The one with gears on the left is the power part of the driving mechanism. This part is modular and can be installed on a bracket that is suitable for different tracks. A bottom auxiliary wheel train is installed at the bottom of the driving chassis, and a power wheel is installed on one side of the interior of the driving chassis. The position of the bottom auxiliary wheel train will vary for different tracks. The right side is a tensioning mechanism, which is used to make the power wheel close to the side wall of the track. Positioning and mounting holes are left on the support plates on the front and rear sides for the elastic transition joint to facilitate the connection of the elastic transition joint.

[0007] As a preferred embodiment, the undriven chassis wheel train frame is composed of two steel wheel train side plates, two supporting columns and two support plates. The left side is an inelastic wheel seat without spring tensioning, and the right side is an elastic wheel seat with spring tensioning. It is a tensioning mechanism, and its function is to make the inelastic wheel seat stick to the side wall of the track. Positioning and mounting holes are reserved on the support plates on the front and rear sides for the elastic transition joints to facilitate the connection of the elastic transition joints. A label reader is arranged at the bottom of the undriven chassis.

[0008] As a preferred embodiment, a bottom auxiliary wheel system is installed at the bottom of the undriven chassis wheel, and top support wheels are installed on both sides of the top of the undriven chassis, and the top support wheels on both sides are staggered. Both sides of the interior of the undriven chassis are symmetrically threaded with plug screws, and both sides of the interior of the undriven chassis are symmetrically rotatably connected with auxiliary wheels, and a spring tensioning assembly is provided on one side of the interior of the elastic wheel seat and between the two plug screws.

[0009] As a preferred embodiment, the elastic transition joint is composed of a spring positioner and a flexible link. The flexible link used in this equipment is a steel wire. The two sides of the outside of the flexible link are fixedly connected to a chassis connection mounting seat. Screws are welded at both ends of the flexible link. The screws pass through the center hole of the chassis connection mounting seat and are adjusted in length and tightness through a locking nut.

[0010] As a preferred embodiment, the flexible transition chamber is composed of an accordion cover flexible component and multiple groups of flexible joints. The flexible joints are composed of locking plugs and elastic wires. The required wires or power cables, coding cables, network cables, etc. between the cabins are connected through the flexible joints.

[0011] Compared with the prior art, the advantages and positive effects of the present invention are:

[0012] In the present invention, the robot as a whole can be split into a driving chassis, a non-driving chassis, a driving warehouse, an electrical warehouse, an equipment warehouse, an elastic transition section, and a flexible transition warehouse. At the same time, the robot as a whole can remove the driving warehouse, the electrical warehouse, the equipment warehouse, and the flexible transition warehouse to make a separate robot chassis component; at the same time, the driving chassis, the non-driving chassis, and the elastic transition section can also be removed to make a separate robot total warehouse body component; at the same time, a separate driving chassis or a non-driving chassis and a separate cabin can be made into a single warehouse component, and the internal components can be flexibly and diversely adjusted according to the required installation method to meet the needs of quick disassembly and replacement and later maintenance and updating of the equipment. At the same time, the equipment warehouse 7 leaves room for development of future expansion functions, and multiple sections of the box are pre-installed. We only need to follow the above method to change from three warehouses to four warehouses, and expand from four warehouses to five warehouses for upgrading and iteration, etc., which is convenient for rapid and reconfigurable adjustment of the equipment;

[0013] 1. This design not only solves the conventional and general use of rail robots, but also takes into account the applicability to some specific narrow spaces, and has universal applicability. The installation space of conventional equipment is 500 length*500 width*600 height. This type of equipment is obviously not suitable for use environments less than 800 height and 500 width. At this time, if an integrated device is used, the equipment needs to be redesigned according to the environment. In addition, the increased equipment length is also a test for turning and climbing. This design is not universally applicable for different use environments and is not conducive to the production finalization of the equipment. At present, a space environment adapted to 400*400 is adopted for the use environment. While taking into account the turning radius of the integrated robot, the turning radius can reach 500, the climbing radius is 500, and the climbing angle is 45°.

[0014] 2. When installing the equipment, it can be customized with multiple sections according to the factory and customer requirements. One section of the equipment is the drive compartment, one section is the electrical compartment, and one section is the equipment compartment. The drive compartment is mainly used to pass the movement of the whole machine, the electrical compartment is mainly used to control the function of the whole machine, and the equipment compartment is equipped with environmental equipment detectors. At the same time, the equipment has a standard 3-section cabin and can expand the space horizontally. When other specific functional devices need to be added, we only need to add an additional cabin to ensure the normal equipment update of the manufacturer. If there are specific equipment, we will add a cabin according to the situation. For equipment maintenance, we only need to remove the single section of the box that needs to be repaired for maintenance. This is convenient for staff to replace on-site, and even if on-site maintenance is not possible, it can be returned to the factory for maintenance. However, for traditional conventional robots, returning to the factory for maintenance is a relatively difficult task.

[0015] 3. Under the premise that the equipment has a multi-section cabinet, our company also proposes a reconstruction plan that is different from the current market for conventional equipment updates and maintenance replacements. In the specific case of a multi-section cabin, it highlights the classification according to the performance model of the whole machine. In addition to the drive compartment, electrical compartment, and equipment compartment, it also has a multi-section pre-function compartment for easy later updates and expanded use. The proposed reconstruction plan bids farewell to the traditional hardware and equipment replacement that requires an overall replacement of the equipment. If the equipment compartment cannot be replaced when updating the equipment, the pre-function compartment can be used to ensure iterativeness. At the same time, different performance modules and decompositions can ensure that the equipment will not affect other modules during the replacement process. The specific replaceability of the equipment cabinet is convenient for maintenance, which greatly improves the operation quality and use efficiency compared to traditional devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall appearance diagram of the robot of the present invention;

[0017] Figure 2 It is a top cross-sectional view of the chassis with transition section of the present invention;

[0018] Figure 3 It is a view of the non-driven chassis fuselage of the present invention;

[0019] Figure 4 It is a side sectional view of the transition section of the present invention;

[0020] Figure 5 It is a cross-sectional view of the flexible transition bin of the present invention;

[0021] Figure 6 It is a top sectional view of the non-driven chassis of the present invention.

[0022] Legend: 1. Drive compartment; 2. Drive chassis; 3. Elastic transition section; 4. Flexible transition compartment; 5. Electrical compartment; 6. Non-drive chassis; 601. Non-elastic wheel seat; 602. Elastic wheel seat; 603. Bottom auxiliary wheel system; 604. Top support wheel; 605. Plug screw; 606. Auxiliary wheel; 607. Spring tensioning assembly; 7. Equipment compartment; 8. Tag reader; 9. Chassis connection mounting base; 10. Flexible link; 11. Locking nut; 12. Spring positioner; 13. Flexible joint; 14. Organ cover flexible assembly. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described 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, not all of the embodiments.

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] like Figure 1-Figure 6 As shown, the present invention provides a technical solution: a reconfigurable, multi-section, narrow space track inspection robot, comprising a drive compartment 1, an electrical compartment 5 and an equipment compartment 7, wherein the drive compartment 1, the electrical compartment 5 and the equipment compartment 7 have hatches on the left and right sides of the entire compartment, installation holes are opened on the front and rear sides, and are detachably connected with a flexible transition compartment 4 through the installation holes, and installation holes are opened on both sides of the inner surfaces of the three compartments, the drive compartment 1 is detachably connected with a drive chassis 2 through the installation holes, the electrical compartment 5 and the equipment compartment 7 are detachably connected with or without a drive chassis 6 through the installation holes, and at the same time, specific parts of the three compartments are opened with preset holes for installing specific sensors, elastic transition sections 3 are arranged between the drive compartment 1, the electrical compartment 5 and the equipment compartment 7, and are connected through the elastic transition sections 3, and the flexible transition compartment 4 is arranged between the drive compartment 1, the electrical compartment 5 and the equipment compartment 7 and is located below the elastic transition section 3.

[0027] In this embodiment, the robot as a whole can be disassembled into a driving chassis 2, a non-driving chassis 6, a driving warehouse 1, an electrical warehouse 5, an equipment warehouse 7, an elastic transition section 3, and a flexible transition warehouse 4. At the same time, the robot as a whole can remove the driving warehouse 1, the electrical warehouse 5, the equipment warehouse 7, and the flexible transition warehouse 4 to make a separate robot chassis component; at the same time, the driving chassis 2, the non-driving chassis 6, and the elastic transition section 3 can also be removed to make a separate robot total warehouse body component; at the same time, a separate driving chassis 2 or a non-driving chassis 6 and a separate cabin can be made into a single cabin component, and the internal components can be flexibly and diversely adjusted according to the required installation method to meet the needs of quick disassembly and replacement and subsequent maintenance and updating of the equipment. At the same time, the equipment warehouse 7 leaves room for development of future expansion functions, and is pre-installed with multiple-section boxes. We only need to follow the above method to change from three warehouses to four warehouses, and expand from 4 warehouses to 5 warehouses for upgrading and iteration, etc., to facilitate rapid and reconfigurable adjustment of the equipment.

[0028] Example 2

[0029] like Figure 1-Figure 6As shown, the drive chassis 2 is mounted with a wheel train frame consisting of two steel wheel train side plates, two support columns and two support plates. The left part with a gear is the power part of the drive mechanism, which is modular and can be installed on a bracket adapted to different tracks. The bottom of the drive chassis 2 is installed with a bottom auxiliary wheel train 603, and a power wheel is installed on one side of the inner side of the drive chassis 2. The position of the bottom auxiliary wheel train 603 varies for different tracks. The right side is a tensioning mechanism, which is used to make the power wheel close to the side wall of the track. Elastic tension is applied to the support plates on the front and rear sides. The transition section 3 is provided with a positioning and mounting hole to facilitate the connection of the elastic transition section 3. The wheel system frame of the non-driven chassis 6 is composed of two steel wheel system side plates, two support columns and two support plates. The left side is a non-elastic wheel seat 601 without spring tensioning, and the right side is an elastic wheel seat 602 with spring tensioning. It is a tensioning mechanism, and its function is to make the non-elastic wheel seat 601 stick to the side wall of the track. Positioning and mounting holes are left on the support plates on the front and rear sides for the elastic transition section 3 to facilitate the connection of the elastic transition section 3. A label reader 8 is set at the bottom of the non-driven chassis 6. A bottom auxiliary wheel system 603 is installed at the bottom of the 6 wheels, and top support wheels 604 are installed on both sides of the top of the non-driven chassis 6. The top support wheels 604 on both sides are staggered. Both sides of the interior of the non-driven chassis 6 are symmetrically threaded with plug screws 605. Both sides of the interior of the non-driven chassis 6 are symmetrically rotatably connected with auxiliary wheels 606. A spring tensioning component 607 is arranged on one side of the interior of the elastic wheel seat 602 and between the two plug screws 605. The elastic transition section 3 is composed of a spring positioner 12 and a flexible link 10. The flexible link 10 used in this equipment is a steel wire, and the two sides of the outside of the flexible link 10 are fixedly connected to the chassis connection mounting seat 9, and screws are welded at both ends of the flexible link 10. The screws pass through the center hole of the chassis connection mounting seat 9 and are adjusted in length and tightness by locking nuts 11. The flexible transition chamber 4 is composed of an accordion cover flexible component 14 and multiple groups of flexible joints 13. The flexible joints 13 are composed of locking plugs and elastic wires. The wires or power lines, coding lines, network cables, etc. between the cabins are connected through the flexible joints 13;

[0030] In this embodiment,

[0031] Working principle of elastic transition joint 3: After connecting elastic transition joint 3 to driving chassis 2 and non-driving chassis 6 respectively, elastic transition joint 3 can have full freedom (up and down, left and right, front and back, compression, bending, torsion, bending) in a small range, which can ensure the smooth operation of the equipment during movement. During the production process, the load-bearing wheels or installation positions of the equipment may not be located at the same center between a single chassis, and there will be a certain distortion between the equipment. Therefore, elastic transition joint 3 needs to have a certain degree of anti-distortion. The equipment runs on the guide rail. The difference in guide rail installation will produce some height differences up and down, left and right, and non-parallel distortion of the guide rail. In addition, the compression spring can be used for a certain buffering in the emergency stop of the equipment. When the spring is compressed during cornering, it will also produce a certain bending. The compression spring is assembled through the elastic transition joint 3 structure, and has a good full degree of freedom within a certain range. At the same time, it is not lacking in rigidity, which can well meet the use requirements;

[0032] Working principle of flexible transition chamber 4:

[0033] The figure only shows method 1: here, the bellows cover flexible component 14 and the flexible joint 13 are divided into two parts, and preset plugs are respectively provided at the front and rear of the three functional compartments, and the flexible joints 13 of each functional compartment are connected and sealed by the bellows cover. The flexible transition compartment 4 has the function of the elastic transition section 3 in part of the function, and the elastic transition section 3 mainly acts on the mechanical structure, and the flexible transition compartment 4 mainly acts on the electrical module;

[0034] Other methods Method 2: The accordion cover flexible component 14 and the flexible joint 13 are made into a whole through a transition plate, and then the joint made inside the bin body is connected to the flexible joint 13;

[0035] Other method method 3: cancel the flexible joint 13, make the joints in the cabin into elastic joints and connect them inside the accordion cover, and then connect the accordion cover from the outside after the connection;

[0036] Working principle:

[0037] like Figure 1-Figure 6As shown, the working principle of the elastic transition joint 3 is: after the elastic transition joint 3 is connected to the driving chassis 2 and the non-driving chassis 6 respectively, the elastic transition joint 3 can have full freedom (up and down, left and right, front and back, compression, bending, torsion, bending) in a small range, which can ensure the smooth operation of the equipment during movement. During the production process, the load-bearing wheels or installation positions of the equipment may not be located at the same center between the single chassis, and there will be a certain distortion between the equipment. Therefore, the elastic transition joint 3 needs to have a certain degree of anti-distortion. The equipment runs on the guide rail. The difference in the installation of the guide rail will cause some height differences up and down, left and right, and non-parallel distortion of the guide rail. In addition, the compression spring can be used for a certain buffering in the emergency stop of the equipment. When the spring is compressed during the bend, it will also produce a certain bending. The compression spring is assembled through the elastic transition joint 3 structure, and has a good full degree of freedom within a certain range. At the same time, it is not lacking in rigidity, which can well meet the use requirements.

[0038] Working principle of flexible transition chamber 4:

[0039] The figure only shows method 1: here, the bellows cover flexible component 14 and the flexible joint 13 are divided into two parts, and preset plugs are respectively provided at the front and rear of the three functional compartments, and the flexible joints 13 of each functional compartment are connected and sealed by the bellows cover. The flexible transition compartment 4 has the function of the elastic transition section 3 in part of the function, and the elastic transition section 3 mainly acts on the mechanical structure, and the flexible transition compartment 4 mainly acts on the electrical module;

[0040] Other methods Method 2: The accordion cover flexible component 14 and the flexible joint 13 are made into a whole through a transition plate, and then the joint made inside the bin body is connected to the flexible joint 13;

[0041] Other method method 3: cancel the flexible joint 13, make the joints in the cabin into elastic joints and connect them inside the accordion cover, and then connect the accordion cover from the outside after the connection;

[0042] The robot as a whole can be disassembled into a driving chassis 2, a non-driving chassis 6, a driving warehouse 1, an electrical warehouse 5, an equipment warehouse 7, an elastic transition section 3, and a flexible transition warehouse 4. At the same time, the robot as a whole can remove the driving warehouse 1, the electrical warehouse 5, the equipment warehouse 7, and the flexible transition warehouse 4 to make a separate robot chassis component; at the same time, the driving chassis 2, the non-driving chassis 6, and the elastic transition section 3 can also be removed to make a separate robot total warehouse body component; at the same time, a separate driving chassis 2 or a non-driving chassis 6 and a separate cabin can be made into a single warehouse component, and the internal components can be flexibly and diversely adjusted according to the required installation method to meet the needs of quick disassembly and replacement and later maintenance and updating of the equipment. At the same time, the equipment warehouse 7 leaves room for development of future expansion functions, and is pre-installed with multiple sections. We only need to follow the above method to change from three warehouses to four warehouses, and from four warehouses to five warehouses for upgrading and iteration, etc., which is convenient for the rapid and reconfigurable adjustment of the equipment, and greatly improves the operation quality and use efficiency compared with traditional devices.

[0043] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A reconfigurable, multi-section, narrow space rail inspection robot, comprising a drive compartment (1), an electrical compartment (5) and an equipment compartment (7), characterized in that: The drive compartment (1), the electrical compartment (5) and the equipment compartment (7) have hatches on the left and right sides of the entire compartment, and installation holes are provided on the front and rear sides, and are detachably connected to a flexible transition compartment (4) through the installation holes. Installation holes are provided on both sides of the inner surfaces of the three compartments. The drive compartment (1) is detachably connected to a drive chassis (2) through the installation holes. The electrical compartment (5) and the equipment compartment (7) are detachably connected to a drive chassis (6) through the installation holes. At the same time, the three compartments have preset holes for installing specific sensors in specific parts. Elastic transition joints (3) are provided between the drive compartment (1), the electrical compartment (5) and the equipment compartment (7), and are connected through the elastic transition joints (3). The flexible transition compartment (4) is provided between the drive compartment (1), the electrical compartment (5) and the equipment compartment (7) and is located below the elastic transition joints (3).

2. A reconfigurable, multi-section, narrow space rail inspection robot according to claim 1, characterized in that: The drive chassis (2) is provided with a wheel train frame, which is composed of two steel wheel train side plates, two support columns and two support plates. The left side with a gear is the power part of the drive mechanism, which is modular and can be installed on a bracket adapted to different tracks. The bottom of the drive chassis (2) is provided with a bottom auxiliary wheel train (603). The inner side of the drive chassis (2) is provided with a power wheel. The position of the bottom auxiliary wheel train (603) varies for different tracks. The right side is a tensioning mechanism, which is used to make the power wheel close to the side wall of the track. Positioning and mounting holes are reserved on the support plates on the front and rear sides for the elastic transition joint (3) to facilitate the connection of the elastic transition joint (3).

3. The reconfigurable, multi-section, narrow space rail inspection robot according to claim 1, characterized in that: The wheel train frame of the non-driven chassis (6) is composed of two steel wheel train side plates, two support columns and two support plates. The left side is an inelastic wheel seat (601) without spring tensioning, and the right side is an elastic wheel seat (602) with spring tensioning. It is a tensioning mechanism, and its function is to make the inelastic wheel seat (601) stick to the side wall of the track. Positioning and mounting holes are reserved on the support plates on the front and rear sides for the elastic transition section (3) to facilitate the connection of the elastic transition section (3). A tag reader (8) is arranged at the bottom of the non-driven chassis (6).

4. The reconfigurable, multi-segment, narrow-space rail inspection robot according to claim 3, characterized in that: A bottom auxiliary wheel system (603) is installed at the bottom of the wheel of the non-driven chassis (6), and top support wheels (604) are installed on both sides of the top of the non-driven chassis (6), and the top support wheels (604) on both sides are staggered. The inside of the non-driven chassis (6) is symmetrically threaded with plug screws (605) on both sides, and the inside of the non-driven chassis (6) is symmetrically rotationally connected with auxiliary wheels (606) on both sides, and a spring tensioning assembly (607) is arranged on one side of the inside of the elastic wheel seat (602) and between the two plug screws (605).

5. The reconfigurable, multi-segment, narrow-space rail inspection robot according to claim 1, characterized in that: The elastic transition joint (3) is composed of a spring positioner (12) and a flexible link (10). The flexible link (10) used in this device is a steel wire. The two sides of the outside of the flexible link (10) are fixedly connected to a chassis connection mounting seat (9). Screws are welded at both ends of the flexible link (10). The screws pass through the center hole of the chassis connection mounting seat (9) and are adjusted in length and tightness by a locking nut (11).

6. The reconfigurable, multi-segment, narrow-space rail inspection robot according to claim 1, characterized in that: The flexible transition chamber (4) is composed of an accordion cover flexible component (14) and a plurality of groups of flexible joints (13), wherein the flexible joints (13) are composed of a locking plug and an elastic wire, and the required wires or power lines, coding lines, network cables, etc. between the chambers are connected through the flexible joints (13).

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