Inspection robot for monorail crane track

Abstract

The invention provides an inspection robot for a monorail crane rail, and relates to the technical field of inspection robots, the inspection robot comprises an inspection robot main body, an I-shaped hanger rail, driving structures and a removing structure, and the two driving structures each comprise a vertical frame, a motor, a suspension wheel and a supporting wheel; each of the two removing structures comprises a supporting arm, a removing seat, an erecting sleeve, a supporting shaft column, a column seat and a torsional spring; the technical key points are as follows: in the process that the clearing structures move along with the inspection robot main body, an erecting sleeve rotates around a supporting shaft column by virtue of a torsion spring in a screwing force storage state, so that when the inspection robot main body drives the two clearing structures to cross an I-shaped overhead rail curve area, a clearing seat adaptively rotates around a hinge point of the clearing seat and a supporting arm; and it is ensured that the clearing seat is stably attached to the inner wall of the I-shaped hanger rail and is not affected by the movement track of the inspection robot body at the bottom of the I-shaped hanger rail, and therefore the clearing effect of sand and gravel in the I-shaped hanger rail is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to an inspection robot for a monorail hanging track. Background Art

[0002] As a type of robot, the inspection robot has highly autonomous planning, self-organization and self-adaptation capabilities. It is suitable for working in complex unstructured environments. It integrates computer technology, information technology, communication technology, microelectronics technology and robotics technology, etc., to replace humans in dangerous and harsh environments (such as radiation, toxicity, etc.) and environments that humans cannot reach (such as outer space, underwater, etc.).

[0003] Coal mine safety is an important task closely related to coal mine workers and coal mine enterprise departments. It plays a vital role in protecting the lives of personnel and national property safety. By using inspection robots to replace manual inspections inside coal mines, not only the work intensity and risk factor of inspection personnel are reduced, but also the efficiency of robot inspections is higher, which is more conducive to ensuring the safety of workers inside coal mines.

[0004] The patent document with publication number CN221160352U discloses an inspection robot for a monorail hanging track. The mounting plate is placed on the track, and the brush is mounted on the mounting plate through the driving component. The driving component drives the brush to rotate so that the brush can brush the gravel that falls on the guide rail out of the guide rail. At the same time, the push plate can push larger gravel out of the guide rail, thereby avoiding the gravel affecting the inspection result of the inspection robot and enhancing the stability of the inspection robot.

[0005] The patent document with publication number CN114909582A discloses a monorail crane inspection robot that uses a monorail crane as power to move on the track. It carries a camera, an ultrasonic sensor, and an acceleration sensor to develop a track parameter recognition and detection system. It can detect track parameters (Y- and Z-direction misalignment, straightness) and locate defects, thereby realizing autonomous detection of track misalignment defects and straightness, making it convenient for staff to understand the safety status of the transportation system, which is beneficial to improving the unmanned operation capabilities of mining enterprises and reducing personnel and property losses.

[0006] However, in the process of implementing the above technical solution, it is found that the above technical solution has the following technical problems:

[0007] The existing monorail inspection robot uses a brush to clean the inside of the track during the inspection process to ensure the stability of the inspection robot's movement outside the track. However, in actual application, the inspection robot will move to the curved area during the movement, and the combination of the brush and the push plate is difficult to completely cover the surface of the track, which easily leads to cleaning residues and affects the cleaning effect. Summary of the invention

[0008] In order to overcome the shortcomings of the existing monorail hanging track inspection robot, in which the inspection robot will move to the curved area during the movement, the brush and the push plate are difficult to completely cover the surface of the track, and cleaning residues are likely to appear, which affects the cleaning effect. The embodiment of the present application provides an inspection robot for a monorail hanging track. The motor controls the rotation of the suspension wheel, so that the suspension wheel can rotate at the bottom inner wall of the I-beam hanging track, thereby driving the inspection robot body to move at the bottom of the I-beam hanging track. In the process of the cleaning structure moving with the inspection robot body, the torsion spring is in a tightened and force-accumulating state to make the mounting sleeve rotate around the support shaft column, driving the cleaning seat at one end of the support arm to extend into the interior of the I-beam hanging track. When crossing the curved area of ​​the I-beam hanging track, the cleaning seat adaptively rotates around the hinge point between it and the support arm, ensuring that the cleaning seat is stably fitted with the inner wall of the I-beam hanging track and is not affected by the trajectory of the inspection robot body moving at the bottom of the I-beam hanging track, thereby ensuring the cleaning effect of sand and gravel inside the I-beam hanging track.

[0009] At the same time, the four cleaning structures are moved with the inspection robot body at the bottom of the I-beam hanging rail, so that the mounting seat is supported by the spring and fits with the surface of the I-beam hanging rail, so that the friction between the limiting wheel and the I-beam hanging rail can be used to make the limiting wheel rotate outside the second wheel shaft, thereby driving multiple cleaning brushes to cut into the interior of the I-beam hanging rail to sweep away dust, which is beneficial to ensure the cleaning effect inside the I-beam hanging rail and provide a flat track for the motor to control the suspension wheel to roll.

[0010] The technical solution adopted by the embodiment of the present application to solve the technical problem is:

[0011] An inspection robot for a monorail hanging track comprises an inspection robot body, an I-shaped hanging track, a driving structure and a cleaning structure, wherein a camera is arranged at the bottom of the inspection robot body;

[0012] The I-shaped hanging rail is arranged on the top of the inspection robot body;

[0013] There are two drive structures, which are symmetrically arranged on both sides of the I-shaped hanging rail and connected to the top of the inspection robot body;

[0014] There are two cleaning structures, which are respectively located on both sides of the I-shaped hanging rail;

[0015] Wherein, the two driving structures both include a stand, a motor is assembled and connected to the bottom of one side of the stand, one end of the motor shaft is drivingly connected to a suspension wheel, a support wheel is arranged on the top of one side of the stand, the suspension wheel is rollingly connected to the inner wall at the bottom of the I-shaped hanging rail, and the support wheel is rollingly connected to the inner wall at the top of the I-shaped hanging rail;

[0016] The two cleaning structures each include a support arm, one end of the support arm being hingedly connected to a cleaning seat, the other end of the support arm being integrally formed with a mounting sleeve, a support shaft column being arranged inside the mounting sleeve, a column seat being processed at one end of the support shaft column, a torsion spring being arranged between the outside of the support shaft column and the inside of the mounting sleeve, the column seat being processed to a corner at the top of the camera, the two ends of the torsion spring being respectively connected to the column seat and the mounting sleeve, so that the mounting sleeve rotates around the support shaft column, and one side of the control cleaning seat is supported on the inner wall of the I-beam hanging rail.

[0017] In one possible implementation, a first wheel axle is installed inside the support wheel, a sliding seat is integrally formed on one side of the first wheel axle, a threaded rod is threadedly connected inside the sliding seat, a limiting disk is processed at one end of the threaded rod, and a slot is processed in the middle of the stand; the limiting disk is movably connected to the inside of the slot, the sliding seat is slidably connected to the inside of the driving structure, and the support wheel is driven to move toward the side away from the suspension wheel through the first wheel axle, so that the surface of the suspension wheel and the surface of the support wheel are respectively supported at the bottom and top inner walls of the I-beam hanging rail.

[0018] In a possible implementation, a control nut and a control hand wheel are externally threadedly connected to one end of the threaded rod, and a bottom surface of the control hand wheel fits with a top surface of the control nut.

[0019] In one possible implementation, the cleaning seat includes a U-shaped seat, and connecting strips are processed on the top and bottom surfaces of one end of the U-shaped seat and on the top and bottom inner walls of the center, and the same U-shaped strip is processed between one ends of the upper and lower connecting strips. The hinge point between the cleaning seat and one end of the support arm is located on the inner side of the other end of the U-shaped seat, and the outer surface of the U-shaped strip is in contact with the inner wall of the I-beam hanging rail.

[0020] In a possible implementation, two cleaning structures are provided on both sides of the I-beam hanging rail, and the cleaning structure is divided into a cleaning part located at the top and a driving part located at the bottom. The two cleaning structures located on both sides of the I-beam hanging rail are symmetrically arranged on both sides of the I-beam hanging rail, and the cleaning part extends into the interior of the I-beam hanging rail. The driving part is located at the bottom of both sides of the I-beam hanging rail, and one of the two cleaning structures located on one side of the I-beam hanging rail is located between the cleaning structure and the driving structure.

[0021] In one possible implementation, the driving part on the cleaning structure includes a mounting seat, a second axle is processed on the top of one end of the mounting seat, a limiting wheel is sleeved on the outside of the second axle, and the outer wall of the limiting wheel is in contact with the surface of one side of the I-beam hanging rail. When the inspection robot body is controlled by the two driving structures to move at the bottom of the I-beam hanging rail, the limiting wheel rotates outside the second axle.

[0022] In one possible implementation, two guide slides are processed at one end of the mounting seat, and the outsides of the two guide slides are both socket-connected with springs. The outsides of one end of the two guide slides are socket-connected with the same fixed support, and the fixed support is assembled to the top of the inspection robot body, and the spring is supported between the fixed support and the mounting seat.

[0023] In a possible implementation, two rollers are provided at the bottom of the mounting seat, and both of the two rollers extend from the inside of the mounting seat to the bottom, and the two rollers support the mounting seat to be horizontally mounted to the top of the inspection robot body.

[0024] In one possible implementation, the cleaning part on the cleaning structure includes a cleaning tube seat, and a plurality of angle plates are processed on the bottom outer wall of the cleaning tube seat, and a plurality of cleaning bristles are processed on the surfaces around the angle plates and the surfaces around the cleaning tube seat, and the plurality of cleaning bristles are distributed on the outer wall and the angle plates of the cleaning tube seat in the longitudinal plane where the cleaning structure is located.

[0025] The beneficial effects of this application are:

[0026] First, in this scheme, the suspension wheel is controlled to rotate by a motor, so that the suspension wheel can rotate at the bottom inner wall of the I-beam hanging rail, thereby driving the inspection robot body to move at the bottom of the I-beam hanging rail. In the process of the cleaning structure moving with the inspection robot body, the torsion spring is in a tightened and force-accumulating state, causing the erection sleeve to rotate around the support shaft column, driving the cleaning seat at one end of the support arm to extend into the interior of the I-beam hanging rail. When crossing the curved area of ​​the I-beam hanging rail, the cleaning seat adaptively rotates around the hinge point with the support arm to ensure that the cleaning seat is stably fitted with the inner wall of the I-beam hanging rail and is not affected by the trajectory of the inspection robot body moving at the bottom of the I-beam hanging rail, thereby ensuring the effect of cleaning sand and gravel inside the I-beam hanging rail.

[0027] Second, in this scheme, by making the four cleaning structures move with the inspection robot body at the bottom of the I-shaped hanging rail, the mounting seat is supported by the spring and fits the surface of the I-shaped hanging rail, so that the friction between the limiting wheel and the I-shaped hanging rail can be used to make the limiting wheel rotate outside the second wheel shaft, thereby driving multiple cleaning brushes to cut into the inside of the I-shaped hanging rail to sweep away dust, which is beneficial to ensure the cleaning effect of the inside of the I-shaped hanging rail and provide a flat track for the motor to control the suspension wheel to roll;

[0028] Third, in this solution, by controlling the rotation of the threaded rod inside the slide and adjusting the threaded connection between the threaded rod and the slide, the slide can slide toward the top inside the frame. The support wheel can be supported on the top inner wall of the I-beam hanging rail with the help of the first wheel axle to prevent the suspension wheel from slipping on the bottom inner wall of the I-beam hanging rail when it is rotated by the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of an inspection robot for a monorail hanging track of the present invention;

[0030] Figure 2 It is a schematic diagram of the connection structure of an inspection robot I-shaped hanging rail and an inspection robot body for a monorail hanging track of the present invention;

[0031] Figure 3 A patrol robot for a monorail hanging track of the present invention Figure 2 The enlarged schematic diagram of the middle part B;

[0032] Figure 4 It is a structural schematic diagram of a driving structure of an inspection robot for a monorail hanging track of the present invention;

[0033] Figure 5 It is a structural schematic diagram of a cleaning structure of an inspection robot for a monorail hanging track of the present invention;

[0034] Figure 6 A patrol robot for a monorail hanging track of the present invention Figure 2 The enlarged schematic diagram of the middle A part;

[0035] Figure 7 It is a structural schematic diagram of a cleaning structure of an inspection robot for a monorail hanging track of the present invention;

[0036] Figure 8 This is a schematic diagram of the connection structure of a support arm and a cleaning seat of an inspection robot for a monorail hanging track of the present invention;

[0037] Fig. 9 This is a structural schematic diagram of a patrol robot for a monorail hanging track in a working state according to the present invention.

[0038] Reference numerals:

[0039] 1. I-shaped hanging rail;

[0040] 2. Clearing structure; 201. Support arm; 202. Clearing seat; 2021. U-shaped seat; 2022. U-shaped bar; 2023. Connecting bar; 203. Support shaft column; 204. Torsion spring; 205. Column seat; 206. Erection sleeve;

[0041] 3. Driving structure; 301. Stand; 302. Motor; 303. Limiting plate; 304. Sliding seat; 305. Threaded rod; 306. Control hand wheel; 307. Support wheel; 308. Suspension wheel; 309. Control nut; 310. First wheel shaft;

[0042] 4. Cleaning structure; 401. Cleaning pipe seat; 402. Cleaning brush; 403. Angle plate; 404. Limiting wheel; 405. Second wheel shaft; 406. Roller; 407. Mounting seat; 408. Spring; 409. Guide slide rod; 410. Fixed support;

[0043] 5. Inspection robot body; 6. Camera; 7. Card slot. DETAILED DESCRIPTION

[0044] The technical solution in the embodiment of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:

[0045] Embodiment 1:

[0046] This embodiment introduces a specific structure of a patrol robot for a monorail hanging track. Figure 1-Figure 4 As shown, it includes an inspection robot body 5 with a camera 6 at the bottom, an I-shaped hanging rail 1 arranged on the top of the inspection robot body 5, two driving structures 3 symmetrically arranged on both sides of the I-shaped hanging rail 1 (connected to the top of the inspection robot body 5), and two cleaning structures 2 respectively located on both sides of the I-shaped hanging rail 1;

[0047] like Figure 3 and Figure 4 As shown, the two driving structures 3 each include a stand 301, a motor 302 is assembled and connected to the bottom of one side of the stand 301, one end of the rotating shaft of the motor 302 is drivingly connected to a suspension wheel 308, a support wheel 307 is arranged on the top of one side of the stand 301, and a first wheel shaft 310 is installed inside the support wheel 307;

[0048] In the process of the motor 302 controlling the suspension wheel 308 to rotate, the suspension wheel 308 is rollingly connected to the inner wall at the bottom of the I-shaped hanging rail 1, and the support wheel 307 is rollingly connected to the inner wall at the top of the I-shaped hanging rail 1, and the inspection robot body 5 can be driven to move at the bottom of the I-shaped hanging rail 1 by means of the driving structure 3. At the same time, because 208 is supported at the bottom inner wall of the I-shaped hanging rail 1, and the support wheel 307 is supported at the top inner wall of the I-shaped hanging rail 1, the suspension wheel 308 can be limited from slipping at the bottom inner wall of the I-shaped hanging rail 1 due to the large resistance when rolling;

[0049] Secondly, in order to facilitate the control of the support wheel 307, it is supported on the top inner wall of the I-shaped hanging rail 1, such as Figure 3 and Figure 4The first wheel shaft 310 is a schematic diagram showing a first embodiment of the present invention, wherein the ...

[0050] Furthermore, in order to facilitate the control of the rotation of the threaded rod 305 inside the slide 304, the slide 304 is made to slide up and down inside the stand 301, as shown in FIG. Figure 4 As shown, the external threaded connection of one end of the threaded rod 305 is connected with a control nut 309 and a control handwheel 306. By making the bottom surface of the control handwheel 306 fit with the top surface of the control nut 309, when the control handwheel 306 is used to control the threaded rod 305 to rotate in one direction, the control nut 309 can be used to limit the control handwheel 306 to prevent the control handwheel 306 from rotating outside the threaded rod 305 (if the control handwheel 306 is used to control the threaded rod 305 to rotate in another direction, the control handwheel 306 is likely to rotate outside the threaded rod 305, and the control nut 309 can be controlled to drive the threaded rod 305 to rotate so that the top support of the control nut 309 is aligned with the bottom of the control handwheel 306).

[0051] Embodiment 2:

[0052] Based on Example 1, this example introduces the specific structure of the cleaning structure 2, such as Figure 1 , Figure 2 , Figures 6 to 8 As shown, the two cleaning structures 2 each include a support arm 201, one end of the support arm 201 is hingedly connected to a cleaning seat 202, the other end of the support arm 201 is integrally formed with a mounting sleeve 206, a support shaft column 203 is disposed inside the mounting sleeve 206, one end of the support shaft column 203 is processed with a column seat 205, and a torsion spring 204 is disposed between the outside of the support shaft column 203 and the inside of the mounting sleeve 206;

[0053] Among them, by processing the column seat 205 to a corner at the top of the camera 6, the two ends of the torsion spring 204 are connected to the column seat 205 and the installation sleeve 206 respectively. After controlling the installation sleeve 206 to rotate around the support shaft column 203 to store force for the torsion spring 204, the cleaning seat 202 at one end of the support arm 201 can be extended into the interior of the I-shaped hanging rail 1, so that one side of the cleaning seat 202 is supported on the inner wall of the I-shaped hanging rail 1. When the inspection robot body 5 is driven by the two driving structures 3 and moves at the bottom of the I-shaped hanging rail 1, the support arm 201 can drive the cleaning seat 202 to move inside the I-shaped hanging rail 1, push away the accumulated sand and gravel, and provide a flat road surface for the suspension wheel 308 on the driving structure 3 to roll over;

[0054] like Figure 7 and Figure 8 As shown, the cleaning seat 202 includes a U-shaped seat 2021, and connecting strips 2023 are processed at the top and bottom surfaces of one end of the U-shaped seat 2021 and the top and bottom inner walls of the center, and the same U-shaped strip 2022 is processed between one ends of the upper and lower connecting strips 2023;

[0055] Among them, the hinge point between the cleaning seat 202 and one end of the support arm 201 is located on the inner side of the other end of the U-shaped seat 2021, and the outer surface of the U-shaped bar 2022 fits against the inner wall of the I-beam hanging rail 1. When the support arm 201 pushes the cleaning seat 202 to pass through the curved part on the I-beam hanging rail 1, on the one hand, with the help of the torsion spring 204 that is tightened by storing force, the mounting sleeve 206 is controlled to be outside the support shaft column 203, so that the support arm 201 presses the cleaning seat 202 against the inside of the I-beam hanging rail 1. On the other hand, the U-shaped seat 2021 on the cleaning seat 202 rotates around its hinge point with the support arm 201, so that the outer wall of at least one U-shaped bar 2022 fits against the inner wall of the I-beam hanging rail 1, thereby clearing obstacles at the straight and curved parts of the I-beam hanging rail 1 during the movement of the inspection robot body 5.

[0056] Embodiment 3:

[0057] Based on Example 1, this example introduces the specific structure of the I-shaped hanging rail 1. Figure 1 , Figure 2 , Figure 5 and Fig. 9 As shown, two cleaning structures 4 are arranged on both sides of the I-shaped hanging rail 1. The cleaning structure 4 is divided into a cleaning part located at the top and a driving part located at the bottom. The driving part on the cleaning structure 4 includes a mounting seat 407. A second wheel shaft 405 is processed on the top of one end of the mounting seat 407. The outer portion of the second wheel shaft 405 is sleeved with a limiting wheel 404.

[0058] Among them, the two cleaning structures 4 located on both sides of the I-shaped hanging rail 1 are symmetrically arranged on both sides of the I-shaped hanging rail 1, the driving part is located at the bottom of both sides of the I-shaped hanging rail 1, and one of the two cleaning structures 4 located on one side of the I-shaped hanging rail 1 is located between the cleaning structure 2 and the driving structure 3. By making the outer wall of the limiting wheel 404 fit with the surface of one side of the I-shaped hanging rail 1, when the inspection robot body 5 is controlled by the two driving structures 3 to move at the bottom of the I-shaped hanging rail 1, the friction between the limiting wheel 404 and the I-shaped hanging rail 1 can be used to make the limiting wheel 404 rotate outside the second wheel shaft 405, thereby providing the cleaning part arranged on the top of the driving part with the power required for cleaning;

[0059] Secondly, in order to ensure that the limiting wheel 404 is stably connected to the I-shaped hanging rail 1, the inspection robot body 5 can move stably at the bottom of the I-shaped hanging rail 1. Figure 5 As shown, one end of the mounting seat 407 is processed with two guide slide bars 409, and the outsides of the two guide slide bars 409 are both sleeve-connected with springs 408, and the outsides of one end of the two guide slide bars 409 are sleeve-connected with the same fixed support 410, and the fixed support 410 is assembled to the top of the inspection robot body 5, so that the spring 408 is supported between the fixed support 410 and the mounting seat 407, and the mounting seat 407 can be pushed to move to one side of the I-shaped hanging rail 1 with the help of the spring 408, so that the limiting wheel 404 on the top of the mounting seat 407 is stably fitted with the surface of the I-shaped hanging rail 1, and is not affected by the change in the width of the I-shaped hanging rail 1;

[0060] At the same time, in order to ensure the stability and smoothness of the mounting seat 407 when it is supported by two springs 408 and drives the limiting wheel 404 outside the second wheel shaft 405 to move toward the I-shaped hanging rail 1, as shown in FIG. Figure 5 As shown, two rollers 406 are provided at the bottom of the mounting seat 407. By making the two rollers 406 extend from the inside of the mounting seat 407 to the bottom, the two rollers 406 support the mounting seat 407 to be horizontally mounted to the top of the inspection robot body 5. When the mounting seat 407 is supported by the spring 408 to adjust the distance between itself and the I-shaped hanging rail 1, the rollers 406 can roll on the top of the inspection robot body 5 to avoid the guide slide bar 409 from sliding inside the fixed support 410.

[0061] In some examples, such as Figure 5 and Fig. 9 As shown, the cleaning portion on the cleaning structure 4 (the cleaning portion extends into the interior of the I-shaped hanging rail 1) includes a cleaning pipe seat 401, and a plurality of angle plates 403 are processed on the bottom outer wall of the cleaning pipe seat 401, and a plurality of cleaning bristles 402 are processed on the surfaces around the plurality of angle plates 403 and the surfaces around the cleaning pipe seat 401;

[0062] Among them, multiple cleaning bristles 402 are distributed on the outer wall of the cleaning pipe seat 401 and the angle plate 403 in the longitudinal plane where the cleaning structure 4 is located. After the cleaning pipe seat 401 is assembled to the top of the limiting wheel 404, the inspection robot body 5 can be used to move at the bottom of the I-beam hanging rail 1, driving the limiting wheel 404 to rotate outside the second wheel shaft 405, so that the multiple cleaning bristles 402 on the cleaning pipe seat 401 and the angle plate 403 are successively cut into the interior of the I-beam hanging rail 1 to carry out cleaning work and further remove obstructions inside the I-beam hanging rail 1.

[0063] Specifically, when the inspection robot for the monorail crane track is used for mining area inspection:

[0064] First, the threaded rod 305 is controlled to rotate inside the slide 304 by using the cooperation of the control hand wheel 306 and the control nut 309. The threaded connection between the threaded rod 305 and the slide 304 is adjusted to make the slide 304 slide toward the top inside the stand 301. The support wheel 307 is supported on the top inner wall of the I-shaped hanging rail 1 by means of the first wheel shaft 310, and the suspension wheel 308 is supported on the bottom inner wall of the I-shaped hanging rail 1 under the influence of gravity.

[0065] Then, the motor 302 is used to control the rotation of the suspension wheel 308 (the two driving structures 3 are symmetrically arranged on both sides of the I-shaped hanging rail 1), so that the suspension wheel 308 rotates at the bottom inner wall of the I-shaped hanging rail 1, and the support wheel 307 rotates around the first wheel shaft 310 at the top inner wall of the I-shaped hanging rail 1, thereby driving the inspection robot body 5 to move at the bottom of the I-shaped hanging rail 1;

[0066] As the inspection robot body 5 moves at the bottom of the I-beam hanging rail 1, the cleaning structure 2 arranged at the two corners on one side of the top of the inspection robot body 5 moves synchronously. During its activity, the torsion spring 204 sleeved between the support shaft column 203 and the erection sleeve 206 is in a tightened and force-accumulating state. With the help of the torsion spring 204, the erection sleeve 206 is rotated around the support shaft column 203, driving the cleaning seat 202 at one end of the support arm 201 to extend into the interior of the I-beam hanging rail 1 (in this state, the U-shaped seat 2021 on the cleaning seat 202 is in a state of being hinged to one end of the support arm 201). When crossing the curved area of ​​the I-beam hanging rail 1, the cleaning seat 202 adaptively rotates around the hinge point between it and the support arm 201 to ensure that the part of the cleaning seat 202 with a cleaning function (i.e., the U-shaped strip 2022) can fit the inner wall of the I-beam hanging rail 1;

[0067] At the same time, with the help of spring 408 supported between the fixed support 410 and the mounting seat 407, the mounting seat 407 is pushed to move to one side of the I-beam hanging rail 1 and adapt to the change in the distance between the mounting seat 407 and the I-beam hanging rail 1, which is beneficial to make the limiting wheel 404 on the top of the mounting seat 407 stably fit with the surface of the I-beam hanging rail 1, and with the help of the friction between the limiting wheel 404 and the I-beam hanging rail 1 (in the process of the inspection robot body 5 and the bottom of the I-beam hanging rail 1 moving synchronously to drive the multiple cleaning structures 4), the limiting wheel 404 is rotated on the outside of the second wheel shaft 405, thereby driving the cleaning pipe seat 401 assembled to the top of the limiting wheel 404 to rotate, and the cleaning pipe seat 401 is jointly equipped with multiple cleaning bristles 402 with the help of multiple angle plates 403. In the process of rotating with the limiting wheel 404, the multiple cleaning bristles 402 cut into the interior of the I-beam hanging rail 1 to sweep away dust, which is beneficial to ensure the cleanliness of the interior of the I-beam hanging rail 1.

[0068] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.

Claims

1. A patrol robot for a monorail hanging track, characterized in that: include: The inspection robot body (5) has a camera (6) disposed at the bottom thereof; An I-shaped hanging rail (1) is arranged on the top of the inspection robot body (5); Two drive structures (3) are provided and are symmetrically arranged on both sides of the I-shaped hanging rail (1) and connected to the top of the inspection robot body (5); There are two cleaning structures (2), which are respectively located on both sides of the I-shaped hanging rail (1). Wherein, the two driving structures (3) both comprise a stand (301), the bottom of one side of the stand (301) is assembledly connected to a motor (302), one end of the rotating shaft of the motor (302) is drivingly connected to a suspension wheel (308), the top of one side of the stand (301) is provided with a support wheel (307), the suspension wheel (308) is rollingly connected to the inner wall at the bottom of the I-shaped hanging rail (1), and the support wheel (307) is rollingly connected to the inner wall at the top of the I-shaped hanging rail (1); The two cleaning structures (2) both include a support arm (201), one end of the support arm (201) is hingedly connected to a cleaning seat (202), the other end of the support arm (201) is integrally formed with a mounting sleeve (206), a support shaft column (203) is arranged inside the mounting sleeve (206), one end of the support shaft column (203) is processed with a column seat (205), a torsion spring (204) is arranged between the outside of the support shaft column (203) and the inside of the mounting sleeve (206), the column seat (205) is processed to a corner at the top of the camera (6), the two ends of the torsion spring (204) are respectively connected to the column seat (205) and the mounting sleeve (206), so that the mounting sleeve (206) rotates around the support shaft column (203), and one side of the cleaning seat (202) is controlled to be supported on the inner wall of the I-shaped hanging rail (1).

2. The inspection robot for a monorail hanging track according to claim 1, characterized in that: A first wheel shaft (310) is installed inside the supporting wheel (307); a sliding seat (304) is integrally formed on one side of the first wheel shaft (310); a threaded rod (305) is threadedly connected inside the sliding seat (304); a limiting disk (303) is processed at one end of the threaded rod (305); and a slot (7) is processed in the middle of the stand (301); The limiting plate (303) is movably connected to the inside of the slot (7), the sliding seat (304) is slidably connected to the inside of the driving structure (3), and drives the supporting wheel (307) to move to the side away from the suspension wheel (308) through the first wheel shaft (310), so that the surface of the suspension wheel (308) and the surface of the supporting wheel (307) are respectively supported on the bottom and top inner walls of the I-beam hanging rail (1).

3. The inspection robot for a monorail hanging track as claimed in claim 2, characterized in that: The external threaded connection at one end of the threaded rod (305) is provided with a control nut (309) and a control hand wheel (306), and the bottom surface of the control hand wheel (306) is fitted with the top surface of the control nut (309).

4. The inspection robot for a monorail hanging track according to claim 1, characterized in that: The cleaning seat (202) comprises a U-shaped seat (2021), and connecting strips (2023) are processed on the top and bottom surfaces of one end of the U-shaped seat (2021) and the top and bottom inner walls of the center, and the same U-shaped strip (2022) is processed between one ends of the upper and lower connecting strips (223); The hinge point between the cleaning seat (202) and one end of the support arm (201) is located on the inner side of the other end of the U-shaped seat (2021), and the outer surface of the U-shaped bar (2022) fits the inner wall of the I-shaped hanging rail (1).

5. The inspection robot for a monorail hanging track according to claim 1, characterized in that: Two cleaning structures (4) are arranged on both sides of the I-shaped hanging rail (1), and the cleaning structure (4) is divided into a cleaning part located at the top and a driving part located at the bottom; The two cleaning structures (4) located on both sides of the I-shaped hanging rail (1) are symmetrically arranged on both sides of the I-shaped hanging rail (1), the cleaning part extends into the interior of the I-shaped hanging rail (1), the driving part is located at the bottom of both sides of the I-shaped hanging rail (1), and one of the two cleaning structures (4) located on one side of the I-shaped hanging rail (1) is located between the cleaning structure (2) and the driving structure (3).

6. The inspection robot for a monorail hanging track as claimed in claim 5, characterized in that: The driving part on the cleaning structure (4) comprises a mounting seat (407), a second wheel shaft (405) is processed on the top of one end of the mounting seat (407), and a limiting wheel (404) is sleeved on the outside of the second wheel shaft (405); The outer wall of the limiting wheel (404) fits with the surface of one side of the I-shaped hanging rail (1), and when the inspection robot body (5) is controlled by the two driving structures (3) to move at the bottom of the I-shaped hanging rail (1), the limiting wheel (404) rotates outside the second wheel shaft (405).

7. The inspection robot for a monorail hanging track according to claim 6, characterized in that: One end of the mounting seat (407) is processed with two guide slide bars (409), the outsides of the two guide slide bars (409) are sleeve-connected with springs (408), and the outsides of one end of the two guide slide bars (409) are sleeve-connected with the same fixed support (410); The fixed support (410) is assembled to the top of the inspection robot body (5), and the spring (408) is supported between the fixed support (410) and the mounting seat (407).

8. The inspection robot for a monorail hanging track as claimed in claim 6, characterized in that: Two rollers (406) are arranged at the bottom of the mounting seat (407), and the two rollers (406) extend from the inside of the mounting seat (407) to the bottom, and the two rollers (406) support the mounting seat (407) to be horizontally mounted to the top of the inspection robot body (5).

9. The inspection robot for a monorail hanging track as claimed in claim 5, characterized in that: The cleaning portion on the cleaning structure (4) comprises a cleaning pipe seat (401), a plurality of angle plates (403) are processed on the bottom outer wall of the cleaning pipe seat (401), and a plurality of cleaning bristles (402) are processed on the surfaces around the plurality of angle plates (403) and the surfaces around the cleaning pipe seat (401); Wherein, the plurality of cleaning bristles (402) are distributed on the outer wall and the corner plate (403) of the cleaning pipe seat (401) in the longitudinal plane where the cleaning structure (4) is located.

Images