An inspection robot for a single-rail hoist track

Abstract

The present application provides an inspection robot for a single-rail hoisting track, which relates to the technical field of inspection robots and includes an inspection robot main body, an I-shaped hoisting track, a driving structure, and a cleaning structure. The two driving structures both include an upright frame, a motor, a suspension wheel, and a support wheel. The two cleaning structures both include a support arm, a cleaning seat, an erection sleeve, a support shaft column, a column seat, and a torsion spring. The technical key points are as follows: During the movement of the cleaning structure along with the inspection robot main body, by means of the torsion spring being in a tightened and energy-storing state, the erection sleeve rotates around the support shaft column, which is beneficial to the inspection robot main body driving the two cleaning structures to cross the curved section area of the I-shaped hoisting track, enabling the cleaning seat to adaptively rotate around its hinge point with the support arm, ensuring that the cleaning seat is stably attached to the inner wall of the I-shaped hoisting track, and not being affected by the movement trajectory of the inspection robot main body at the bottom of the I-shaped hoisting track, thereby ensuring the cleaning effect of the sand and gravel inside the I-shaped hoisting track.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and specifically to an inspection robot for a single-track crane rail. Background Art

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

[0003] The safety of coal mines is an important task closely related to coal mine workers and coal mine enterprise departments, and plays a crucial role in protecting the lives of personnel and the safety of national property. By using inspection robots to replace humans in conducting inspections inside coal mines, not only reduces the work intensity and risk coefficient of inspection personnel, but also the inspection efficiency of the robots is higher, which is more conducive to ensuring the safety of the internal staff in coal mines.

[0004] The patent document with the publication number CN221160352U, an inspection robot for a single-track crane rail, makes the mounting plate on the rail. The brush is installed on the mounting plate through the driving member, and the driving member drives the brush to rotate, so that the brush brushes the gravel falling on the guide rail out of the guide rail. At the same time, the larger gravel is pushed out of the guide rail through the push plate, thus avoiding the influence of gravel on the detection results of the inspection robot and enhancing the stability of the inspection robot.

[0005] The patent document with the publication number CN114909582A, a single-track crane rail inspection robot, moves on the rail by using a single-track crane as the power, carries a camera, an ultrasonic sensor, and an acceleration sensor, and develops a rail parameter identification and detection system, which can detect the rail parameters (Y-direction, Z-direction misalignment, straightness) and locate the defects, realizing the autonomous detection of rail misalignment defects and straightness, facilitating the staff to master the safety status of the transportation system, and being beneficial to improving the unmanned operation ability of mining enterprises and reducing personnel and property losses.

[0006] However, in the process of implementing the above technical solutions, the following technical problems are found in the above technical solutions:

[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] Among them, both of the two driving structures include an upright frame. At the bottom on one side of the upright frame, a motor is assembled and connected. One end of the motor shaft is drivingly connected to a suspension wheel. At the top on one side of the upright frame, a support wheel is provided. The suspension wheel is rollingly connected to the inner wall at the bottom of the I-shaped suspension rail, and the support wheel is rollingly connected to the inner wall at the top of the I-shaped suspension rail;

[0016] Both of the two cleaning structures include a support arm. One end of the support arm is hingedly connected to a cleaning seat. The other end of the support arm is integrally formed with an erection sleeve. A support shaft column is arranged inside the erection sleeve. A column seat is processed at one end of the support shaft column. A torsion spring is arranged between the outside of the support shaft column and the inside of the erection sleeve. The column seat is processed at a corner at the top of the camera. Both ends of the torsion spring are respectively connected to the column seat and the erection sleeve, so that the erection sleeve rotates around the support shaft column, and one side of the cleaning seat is controlled to support on the inner wall of the I-shaped suspension rail.

[0017] In a possible implementation manner, a first wheel shaft is installed inside the support wheel. A sliding seat is integrally formed on one side of the first wheel shaft. A threaded rod is threadedly connected inside the sliding seat. A limiting disc is processed at one end of the threaded rod. A clamping groove is processed in the middle of the upright frame; the limiting disc is movably connected to the inside of the clamping groove, and the sliding seat is slidably connected to the inside of the driving structure, and drives the support wheel to move to the side away from the suspension wheel through the first wheel shaft, so that the surfaces of the suspension wheel and the support wheel respectively support on the bottom and top inner walls of the I-shaped suspension rail.

[0018] In a possible implementation manner, a control nut and a control handwheel are threadedly connected to the outside of one end of the threaded rod, and the bottom surface of the control handwheel is attached to the top surface of the control nut.

[0019] In a possible implementation manner, the cleaning seat includes a U-shaped seat. Connection bars are processed at the top and bottom surfaces at one end of the U-shaped seat and at the top and bottom inner walls at the center. The same U-shaped bar is processed between the ends of the upper and lower connection bars. The hinge point between the cleaning seat and one end of the support arm is located inside the other end of the U-shaped seat, and the outer surface of the U-shaped bar is attached to the inner wall of the I-shaped suspension rail.

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

[0021] In a possible implementation, the driving part on the cleaning structure includes an erection seat. At the top of one end of the erection seat, a second wheel shaft is machined. An idler wheel is sleeved outside the second wheel shaft. The outer wall of the idler wheel is in contact with the surface of one side of the I-shaped suspension rail. When the inspection robot body moves at the bottom of the I-shaped suspension rail under the control of two driving structures, the idler wheel rotates outside the second wheel shaft.

[0022] In a possible implementation, two guiding slide rods are machined at one end of the erection seat. Springs are sleeved and connected outside both of the two guiding slide rods. A same fixed support is sleeved outside one ends of the two guiding slide rods. The fixed support is assembled to the top of the inspection robot body. The springs are supported between the fixed support and the erection seat.

[0023] In a possible implementation, two rollers are arranged at the bottom of the erection seat. Both of the two rollers extend from the inside of the erection seat to the bottom. The two roller support seats are horizontally erected on the top of the inspection robot body.

[0024] In a possible implementation, the cleaning part on the cleaning structure includes a cleaning pipe seat. A plurality of gussets are machined at the outer wall of the bottom of the cleaning pipe seat. A plurality of cleaning bristles are machined on the surfaces around the plurality of gussets and on the surfaces around the cleaning pipe seat. The plurality of cleaning bristles are distributed on the outer wall of the cleaning pipe seat and the gussets within the longitudinal plane where the cleaning structure is located.

[0025] The beneficial effects of this application are as follows:

[0026] First, in this solution, by controlling the suspension wheel to rotate with a motor, the suspension wheel can rotate at the inner wall of the bottom of the I-shaped suspension rail, thereby driving the inspection robot body to move at the bottom of the I-shaped suspension rail. During the process of the cleaning structure moving with the inspection robot body, the torsion spring is in a tightened and energy-stored 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 I-shaped suspension rail. When crossing the curved section of the I-shaped suspension rail, the cleaning seat adaptively rotates around its hinge point with the support arm to ensure stable contact between the cleaning seat and the inner wall of the I-shaped suspension rail, without being affected by the movement track of the inspection robot body at the bottom of the I-shaped suspension rail, thereby ensuring the cleaning effect of the sand and gravel inside the I-shaped suspension rail.

[0027] Second, in this solution, by moving four cleaning structures with the inspection robot body at the bottom of the I-shaped suspension rail, the erection seat is supported by the spring and is in contact with the surface of the I-shaped suspension rail, facilitating driving the idler wheel to rotate outside the second wheel shaft by means of the friction between the idler wheel and the I-shaped suspension rail, thereby driving a plurality of cleaning bristles to cut into the I-shaped suspension rail to sweep away dust, which is beneficial to ensuring the cleaning effect inside the I-shaped suspension rail and providing a flat track for the motor to control the rolling of the suspension wheel.

[0028] Thirdly, in this solution, by controlling the rotation of the threaded rod inside the sliding seat, the threaded connection between the threaded rod and the sliding seat is adjusted, so that the sliding seat slides upward inside the vertical frame. The support wheel can be supported on the top inner wall of the I-beam lifting rail by means of the first round shaft, avoiding slipping of the suspension wheel on the bottom inner wall of the I-beam lifting rail when the suspension wheel rotates under the control of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 FIG. 1 is a schematic diagram of the overall structure of an inspection robot for a single-rail crane track according to the present invention;

[0030] Figure 2 FIG. 2 is a schematic diagram of the connection structure between the I-beam lifting rail and the inspection robot main body of the inspection robot for a single-rail crane track according to the present invention;

[0031] Figure 3 FIG. 3 is a schematic diagram of an inspection robot for a single-rail crane track according to the present invention Figure 2 and an enlarged schematic diagram of part B therein;

[0032] Figure 4 FIG. 4 is a schematic diagram of the driving structure of an inspection robot for a single-rail crane track according to the present invention;

[0033] Figure 5 FIG. 5 is a schematic diagram of the cleaning structure of an inspection robot for a single-rail crane track according to the present invention;

[0034] Figure 6 FIG. 6 is a schematic diagram of an inspection robot for a single-rail crane track according to the present invention Figure 2 and an enlarged schematic diagram of part A therein;

[0035] Figure 7 FIG. 7 is a schematic diagram of the cleaning structure of an inspection robot for a single-rail crane track according to the present invention;

[0036] Figure 8 FIG. 8 is a schematic diagram of the connection structure between the support arm and the cleaning seat of the inspection robot for a single-rail crane track according to the present invention;

[0037] Figure 9 FIG. 9 is a schematic diagram of the inspection robot for a single-rail crane track according to the present invention in the working state.

[0038] Reference numerals:

[0039] 1, I-beam lifting rail;

[0040] 2, cleaning structure; 201, support arm; 202, cleaning seat; 2021, U-shaped seat; 2022, U-shaped strip; 2023, connecting strip; 203, support shaft column; 204, torsion spring; 205, column seat; 206, erection sleeve;

[0041] 3. Driving structure; 301. Upright frame; 302. Motor; 303. Limit disc; 304. Slide base; 305. Threaded rod; 306. Control handwheel; 307. Support wheel; 308. Suspension wheel; 309. Control nut; 310. First wheel shaft;

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

[0043] 5. Inspection robot main body; 6. Camera; 7. Card slot. Specific implementation mode

[0044] The technical solutions in the embodiments of the present application are to solve the problems in the above background technology, and the general idea is as follows:

[0045] Embodiment 1:

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

[0047] As Figure 3 and Figure 4 shown, both of the two driving structures 3 include an upright frame 301. At the bottom on one side of the upright frame 301, a motor 302 is assembled and connected. One end of the motor 302 shaft is connected in a transmission manner with a suspension wheel 308. At the top on one side of the upright frame 301, a support wheel 307 is arranged, and a first wheel shaft 310 is installed inside the support wheel 307;

[0048] Among them, during the process of the motor 302 controlling the suspension wheel 308 to rotate, the suspension wheel 308 is in a rolling connection with the inner wall at the bottom of the I-beam crane rail 1, while the support wheel 307 is in a rolling connection with the inner wall at the top of the I-beam crane rail 1. The inspection robot main body 5 can be driven to move at the bottom of the I-beam crane rail 1 by means of the driving structure 3. At the same time, because the suspension wheel 308 supports at the inner wall at the bottom of the I-beam crane rail 1 and the support wheel 307 supports at the inner wall at the top of the I-beam crane rail 1, it can prevent the suspension wheel 308 from slipping at the inner wall at the bottom of the I-beam crane rail 1 due to the influence of greater resistance during rolling;

[0049] Secondly, in order to conveniently control the support wheel 307 to support at the inner wall at the top of the I-beam crane rail 1, as Figure 3 and Figure 4As shown, a sliding seat 304 is integrally formed on one side of the first-round shaft 310. A threaded rod 305 is connected to the inside of the sliding seat 304 in a threaded manner. A limiting disk 303 is processed at one end of the threaded rod 305. A clamping groove 7 is processed in the middle of the vertical frame 301. By controlling the threaded connection situation between the threaded rod 305 and the sliding seat 304, the sliding seat 304 is slidably connected to the inside of the driving structure 3, and the supporting wheel 307 is driven by the first-round shaft 310 to move away from the suspension wheel 308, so as to facilitate the surfaces of the suspension wheel 308 and the supporting wheel 307 to respectively support on the bottom and the top inner wall of the I-shaped hanging rail 1 according to actual requirements. The clamping groove 7 is T-shaped. In this state, the limiting disk 303 is movably connected to the inside of the clamping groove 7, which does not affect the rotation of the threaded rod 305 inside the sliding seat 304, and when the sliding seat 304 moves outside the threaded rod 305, the threaded rod 305 will not always be in a fixed height position;

[0050] Furthermore, in order to facilitate controlling the rotation of the threaded rod 305 inside the sliding seat 304 and enabling the sliding seat 304 to slide up and down inside the vertical frame 301, as Figure 4 shown, a control nut 309 and a control handwheel 306 are connected to the outside of one end of the threaded rod 305 in a threaded manner. By making the bottom surface of the control handwheel 306 fit with the top surface of the control nut 309, when using the control handwheel 306 to control the threaded rod 305 to rotate in one direction, the control nut 309 can be used for limiting to prevent the control handwheel 306 from rotating outside the threaded rod 305 (if when using the control handwheel 306 to control the threaded rod 305 to rotate in the other direction and it is easy for the control handwheel 306 to rotate outside the threaded rod 305, then control the control nut 309 to drive the threaded rod 305 to rotate and make the top of the control nut 309 support the bottom of the control handwheel 306).

[0051] Embodiment 2:

[0052] Based on Embodiment 1, this embodiment introduces the specific structure of the cleaning structure 2, as Figure 1 、 Figure 2 、 Figures 6-8 shown, both cleaning structures 2 include a support arm 201. One end of the support arm 201 is hingedly connected with a cleaning seat 202. The other end of the support arm 201 is integrally formed with an erection sleeve 206. A support shaft column 203 is arranged inside the erection sleeve 206. A column seat 205 is processed at one end of the support shaft column 203. A torsion spring 204 is arranged between the outside of the support shaft column 203 and the inside of the erection sleeve 206;

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

[0054] As Figure 7 and Figure 8 shown, the cleaning seat 202 includes a U-shaped seat 2021. Connection bars 2023 are machined on the top and bottom surfaces at one end of the U-shaped seat 2021 and on the top and bottom inner walls at the center. The same U-shaped bar 2022 is machined between one ends of the upper and lower connection bars 2023;

[0055] Among them, the hinge point between the cleaning seat 202 and one end of the support arm 201 is located inside the other end of the U-shaped seat 2021. The outer surface of the U-shaped bar 2022 is in contact with the inner wall of the I-beam suspension rail 1. When the support arm 201 pushes the cleaning seat 202 through the curved part of the I-beam suspension rail 1, on the one hand, with the help of the torsion spring 204 tightened by storing energy, the erection sleeve 206 is controlled outside the support shaft column 203, so that the support arm 201 presses the cleaning seat 202 inside the I-beam suspension 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 is in contact with the inner wall of the I-beam suspension rail 1, thereby removing the obstacles at the straight and curved parts of the I-beam suspension rail 1 during the movement of the inspection robot main body 5.

[0056] Embodiment 3:

[0057] Based on Embodiment 1, this embodiment introduces the specific structure of the I-beam suspension rail 1. As Figure 1 、 Figure 2 、 Figure 5 and Figure 9 shown, two cleaning structures 4 are arranged on both sides of the I-beam suspension rail 1. The cleaning structure 4 is divided into a cleaning part at the top and a driving part at the bottom. The driving part on the cleaning structure 4 includes an erection seat 407. A second wheel shaft 405 is machined on the top of one end of the erection seat 407. A limit wheel 404 is sleeved outside the second wheel shaft 405;

[0058] Among them, the two cleaning structures 4 located on both sides of the I-shaped lifting rail 1 are symmetrically arranged on both sides of the I-shaped lifting rail 1. The driving part is located at the bottom on both sides of the I-shaped lifting rail 1. One of the two cleaning structures 4 on one side of the I-shaped lifting 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 on one side of the I-shaped lifting rail 1, when the inspection robot body 5 moves at the bottom of the I-shaped lifting rail 1 under the control of the two driving structures 3, the friction force between the limiting wheel 404 and the I-shaped lifting rail 1 can be utilized to make the limiting wheel 404 rotate outside the second wheel shaft 405, so as to provide the power required for cleaning for the cleaning part arranged on the top of the driving part;

[0059] Secondly, in order to ensure the stable connection between the limiting wheel 404 and the I-shaped lifting rail 1 and make the inspection robot body 5 move smoothly at the bottom of the I-shaped lifting rail 1, as Figure 5 shown, two guiding slide bars 409 are processed at one end of the erection seat 407. Springs 408 are sleeved and connected to the outside of the two guiding slide bars 409. The same fixed support 410 is sleeved on the outside of one end of the two guiding slide bars 409. By assembling the fixed support 410 to the top of the inspection robot body 5 and making the spring 408 support between the fixed support 410 and the erection seat 407, the spring 408 can be used to push the erection seat 407 to move towards one side of the I-shaped lifting rail 1, so that the limiting wheel 404 on the top of the erection seat 407 is stably attached to the surface of the I-shaped lifting rail 1 without being affected by the change in the width of the I-shaped lifting rail 1;

[0060] At the same time, in order to ensure the smoothness and smoothness of the erection seat 407 driven by the two springs 408 to drive the limiting wheel 404 outside the second wheel shaft 405 to move towards the I-shaped lifting rail 1, as Figure 5 shown, two rollers 406 are arranged at the bottom of the erection seat 407. By making the two rollers 406 extend from the inside of the erection seat 407 to the bottom, the two roller supports 407 are horizontally erected on the top of the inspection robot body 5. When the erection seat 407 is supported by the spring 408 to adjust the distance between itself and the I-shaped lifting rail 1, the rollers 406 can roll on the top of the inspection robot body 5 to prevent the guiding slide bar 409 from being blocked when sliding inside the fixed support 410;

[0061] In some examples, as Figure 5 and Figure 9 shown, the cleaning part on the cleaning structure 4 (the cleaning part extends into the I-shaped lifting rail 1) includes a cleaning pipe seat 401. A plurality of gussets 403 are processed on the outer wall at the bottom of the cleaning pipe seat 401. A plurality of cleaning bristles 402 are processed on the surfaces around the plurality of gussets 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] Meanwhile, it is supported between the fixed support 410 and the erection seat 407 by means of a spring 408, pushing the erection seat 407 to move towards one side of the I-shaped lifting rail 1 and adapting to the distance change between the erection seat 407 and the I-shaped lifting rail 1, which is beneficial to stably fitting the limiting wheel 404 at the top of the erection seat 407 with the surface of the I-shaped lifting rail 1. By means of the friction force between the limiting wheel 404 and the I-shaped lifting rail 1 (during the process that the inspection robot main body 5 drives multiple cleaning structures 4 to move synchronously with the bottom movement of the I-shaped lifting rail 1), the limiting wheel 404 rotates outside the second wheel shaft 405, thereby driving the cleaning pipe seat 401 assembled on the top of the limiting wheel 404 to rotate. The cleaning pipe seat 401 is configured with multiple cleaning brush hairs 402 by means of a plurality of gussets 403. During the rotation with the limiting wheel 404, the multiple cleaning brush hairs 402 cut into the inside of the I-shaped lifting rail 1 to sweep away dust, which is beneficial to ensuring the cleanliness inside the I-shaped lifting rail 1.

[0068] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope 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); The cleaning structure (2) is provided with two and is respectively located on both sides of the I-shaped hanging rail (1) The two driving structures (3) each comprise a stand (301), the bottom of one side of the stand (301) being assembled and connected to a motor (302), one end of the rotating shaft of the motor (302) being drivingly connected to a suspension wheel (308), the top of one side of the stand (301) being provided with a support wheel (307), the suspension wheel (308) being rollingly connected to the inner wall at the bottom of the I-shaped hanging rail (1), and the support wheel (307) being rollingly connected to the inner wall at the top of the I-shaped hanging rail (1); The two cleaning structures (2) each comprise a support arm (201), one end of the support arm (201) being hingedly connected to a cleaning seat (202), the cleaning seat (202) comprising a U-shaped seat (2021), the top and bottom surfaces of one end of the U-shaped seat (2021) and the top and bottom inner walls of the center being processed with connecting strips (2023), the same U-shaped strip (2022) being processed between one end of the upper and lower connecting strips (223), the cleaning seat (202) and the support arm (201) being connected to each other. ) has a hinge point at one end located on the inner side of the other end of the U-shaped seat (2021), the outer surface of the U-shaped bar (2022) fits the inner wall of the I-shaped hanging rail (1), 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), and a torsion spring (204) is arranged between the outside of the support shaft column (203) and the inside of the mounting sleeve (206); 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 driving part on the cleaning structure (4) comprises a mounting seat (407), a second wheel axle (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 axle (405); the cleaning part on the cleaning structure (4) comprises 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). The surfaces around the plurality of angle plates (403) and the surfaces around the cleaning pipe seat (401) are processed with a plurality of cleaning bristles (402); one end of the mounting seat (407) is processed with two guide slide bars (409); the exteriors of the two guide slide bars (409) are sleeve-connected with springs (408); the exteriors of one end of the two guide slide bars (409) are sleeve-connected with the same fixed support (410); and the plurality of cleaning bristles (402) are distributed on the outer wall of the cleaning pipe seat (401) and the angle plates (403) in the longitudinal plane where the cleaning structure (4) is located; The column seat (205) is processed to a corner of the top of the camera (6), and the two ends of the torsion spring (204) are respectively connected to the column seat (205) and the erection sleeve (206), so that the erection sleeve (206) rotates around the support shaft column (203) to control one side of the cleaning seat (202) to be supported on the inner wall of the I-shaped hanging rail (1); 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 parts extend into the interior of the I-shaped hanging rail (1), the driving parts are 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).

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 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).

5. The inspection robot for a monorail hanging track according to claim 1, characterized in that: 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).

6. The inspection robot for a monorail hanging track as claimed in claim 5, 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).

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