Robot inspection channel automatic door combined with planned path

Abstract

The invention relates to the technical field of channel automatic doors, in particular to a robot inspection channel automatic door combined with a planned path. Comprising a stand column, and a hollow cross beam is arranged at the top end of the stand column; the motor is fixedly arranged in the hollow cross beam; the chain is arranged on a first chain wheel and a second chain wheel in a sleeving mode, the first chain wheel is fixedly arranged on an output shaft of the motor, and the second chain wheel is rotationally arranged in the hollow cross beam; when the inspection robot arrives at an entrance node, the controller controls the motor to rotate in a first direction, so that the movable door is opened; and when the inspection robot arrives at the exit node, the controller controls the motor to rotate in the second direction, so that the movable door is closed. Opening and closing of the moving door can be automatically controlled through the controller according to the position of the inspection robot, manpower resources are saved, and workers do not need to monitor the position of the inspection robot in real time and do not need to open or close the moving door any more.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic channel doors, and in particular to an automatic channel door for robot inspection combined with a planned path. Background Art

[0002] The inspection robot can complete the inspection task on the designated planned path. When the planned path passes through a dangerous area, such as power inspection, the area will be enclosed by a fence to prevent people from entering and a movable door will be set up for the inspection robot to pass through. When the inspection robot reaches an area near the fence, the movable door opens.

[0003] The existing method is to close or open the mobile door manually. For example, the staff obtains the position of the inspection robot through the monitor. When the inspection robot approaches the fence, the staff remotely controls the mobile door to open. After the inspection robot leaves the fence, the staff remotely closes the mobile door. However, this method requires the staff to monitor the inspection robot in real time, which wastes human resources. Summary of the invention

[0004] In view of this, the present invention provides an automatic door for a robot inspection channel combined with a planned path to solve the problem of requiring staff to monitor the inspection robot in real time and wasting human resources.

[0005] The present invention provides a robot inspection channel automatic door combined with a planned path, which is suitable for an inspection robot moving on the planned path, comprising:

[0006] A column, wherein a hollow crossbeam is arranged at the top of the column;

[0007] A motor, fixedly disposed in the hollow beam;

[0008] A chain is mounted on a first sprocket and a second sprocket, wherein the first sprocket is fixedly disposed on an output shaft of the motor, and the second sprocket is rotatably disposed in the hollow beam;

[0009] A pulley fixing member is arranged in the hollow cross beam, and an end side of the pulley fixing member is fixedly connected to the chain;

[0010] A movable door is arranged below the hollow beam, the bottom surface of the hollow beam is provided with an opening, the bottom end of the pulley fixing member passes through the opening and is connected to the top end of the movable door;

[0011] A controller is provided, wherein the controller sets an entry node and an exit node on a planned path of the inspection robot, and when the inspection robot reaches the entry node, the controller controls the output shaft of the motor to rotate in a first direction so that the moving door opens; when the inspection robot reaches the exit node, the controller controls the output shaft of the motor to rotate in a second direction so that the moving door closes, wherein the first direction and the second direction are opposite.

[0012] The column can support the hollow beam, and the motor can drive the chain to rotate through the first sprocket and the second sprocket, driving the pulley fixing to move, thereby moving the movable door. When the inspection robot reaches the entrance node, the controller controls the motor to rotate in the first direction, so that the movable door opens; when the inspection robot reaches the exit node, the controller controls the motor to rotate in the second direction, so that the movable door closes. The opening and closing of the movable door can be automatically controlled by the controller according to the position of the inspection robot, saving human resources, and no longer requiring staff to monitor the position of the inspection robot in real time and open or close the movable door.

[0013] In an optional implementation, it also includes:

[0014] A high-position rail is fixedly arranged in the hollow cross beam, and the high-position rail is located on one side of the chain and is arranged parallel to the chain;

[0015] A first pulley is rotatably disposed on the pulley fixing member, and the first pulley is slidably disposed on the high-position track;

[0016] There are two contact switches, which are arranged in the hollow crossbeam. The contact switches are located on the moving track of the pulley fixing member and the pulley fixing member is located between the two contact switches. When the pulley fixing member moves to the position of the contact switch, it contacts the contact switch.

[0017] The high-position track can guide the movement of the first pulley. The first pulley is arranged on the pulley fixing member. The high-position track can support the first pulley, reduce the force of the pulley fixing member on the chain, and protect the chain. The contact switch can limit the movement of the pulley fixing member, thereby limiting the movement range of the movable door, so that the movable door follows the pulley fixing member to move between the two contact switches.

[0018] In an optional embodiment, a tensioning assembly is further included, and the tensioning assembly includes:

[0019] A tensioning adjusting member is slidably disposed on the side wall of the hollow crossbeam, the second sprocket is rotatably disposed on the tensioning adjusting member, the tensioning adjusting member has a first adjusting plate, the second sprocket is located between the first adjusting plate and the first sprocket, and the first adjusting plate is perpendicular to the extension direction of the chain;

[0020] A tension fixing member fixed on the side wall of the hollow crossbeam and located on a side of the tension adjusting member away from the first sprocket, wherein the tension fixing member has a second adjusting plate, the second adjusting plate is parallel to the first adjusting plate and there is a gap between the first adjusting plate and the second adjusting plate;

[0021] A tensioning bolt and a tensioning nut, wherein the tensioning bolt passes through the first adjusting plate and the second adjusting plate and is threadedly connected with the tensioning nut, and the first adjusting plate and the second adjusting plate are located between the nut of the tensioning bolt and the tensioning nut.

[0022] The distance between the nut of the tension bolt and the tension nut can be adjusted by tightening the tension bolt or the tension nut. Since the tension fixing piece is fixed on the side wall of the hollow beam, the gap between the first adjustment plate and the second adjustment plate can be adjusted. When the chain is loose, the chain can be tightened by tightening the tension bolt or the tension nut.

[0023] In an optional embodiment, the first adjustment plate is located on a side of the tension adjustment member away from the second sprocket, and the second adjustment plate is located on a side of the tension fixing member close to the second sprocket.

[0024] In an optional implementation, it also includes:

[0025] At least one long waist hole is provided on the tension adjusting member, and the extending direction of the long waist hole is the same as the extending direction of the chain;

[0026] An adjusting screw hole is arranged on the side wall of the hollow beam;

[0027] An adjusting bolt passes through the long waist hole and is screwed into the adjusting screw hole.

[0028] The adjusting bolt is arranged in the long waist hole to guide the movement of the tension adjusting member. When the tensioning bolt or the tensioning nut is tightened, the tension adjusting member can move in the extension direction of the chain, thereby maintaining the stability and consistency of the extension direction of the chain.

[0029] In an optional embodiment, the pulley fixing member and the first pulley are at least two groups, and at least one group is located between the two contact switches. The at least two pulley fixing members can be connected to the moving door to prevent stress concentration when the pulley fixing member is connected to the moving door, and the moving door can also be made more stable.

[0030] In an optional embodiment, there are at least three columns, namely, a first column, a second column, and a third column, which are sequentially distributed. A low-position track is arranged between the bottom ends of the first column and the second column, and the low-position track is parallel to the high-position track. A second pulley is slidably arranged on the low-position track, and the second pulley is rotatably arranged at the bottom end of the movable door. The low-position track and the second pulley can support and guide the movable door.

[0031] In an optional embodiment, the hollow cross beam is arranged at the top ends of the second column and the third column.

[0032] In an optional embodiment, it further includes two groups of crossbeam fixing components, which are respectively arranged at the top of the second column and the top of the third column, and the crossbeam fixing components include:

[0033] A mounting base, located at the top of the column, the mounting base having a first abutting surface abutting against the column and a second abutting surface fixedly connected to the hollow crossbeam;

[0034] a first mounting plate, wherein the column is located between the first mounting plate and the first abutting surface;

[0035] There are two first bolts, both of which are arranged through the first mounting plate and the first abutment surface. The column is located in the space formed by the two first bolts, the first mounting plate and the first abutment surface. A nut is screwed on the first bolt, and the first mounting plate and the first abutment surface are both located between the nut and the nut of the first bolt.

[0036] The second column and the third column are respectively arranged in the space formed by the two first bolts, the first mounting plate and the first abutment surface in the two groups of beam fixing assemblies. By tightening the first bolts and the nuts screwed on the first bolts, the second column and the third column can be clamped between the first mounting plate and the first abutment surface respectively, so that the two mounting bases can be fixed on the second column and the third column respectively, and the hollow beam is fixed at the top position of the second column and the third column.

[0037] In an optional embodiment, it further includes two sets of low-position rail fixing components, which are respectively arranged at the bottom end of the first column and the bottom end of the second column. The low-position rail fixing components include:

[0038] a second mounting plate and a third mounting plate, wherein the column is located between the second mounting plate and the third mounting plate,

[0039] There are two second bolts, both of which are arranged through the second mounting plate and the third mounting plate, the column is located in a space formed by the two second bolts, the second mounting plate and the third mounting plate, nuts are screwed on the second bolts, and the second mounting plate and the third mounting plate are located between the nuts and the nuts of the second bolts;

[0040] The support platform is fixedly arranged on the second mounting plate or the third mounting plate, and the low-position rail is fixedly arranged on the support platform.

[0041] The support platform can support and fix the low-level rail. The bottom end of the first column and the bottom end of the second column are respectively located in the space formed by the two second bolts, the second mounting plate and the third mounting plate. The first column and the second column can be clamped between the second mounting plate and the third mounting plate respectively by tightening the second bolts and the nuts screwed on the second bolts. The two support platforms are respectively fixed on the first column and the second column, so that the low-level ground rail is fixedly connected to the first column and the second column respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a schematic diagram of the structure of an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of a tensioning assembly according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the position of a motor according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of a beam fixing assembly according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of a low-position rail fixing assembly according to an embodiment of the present invention;

[0048] Figure 6 It is a top view of the structure of an embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1. Column; 2. Hollow beam; 3. Motor; 4. Chain; 7. Pulley fixing; 8. Sliding door; 11. High track; 12. First pulley; 13. Contact switch; 14. Tension adjusting piece; 15. First adjusting plate; 16. Tension fixing piece; 17. Second adjusting plate; 18. Tension bolt; 19. Tension nut; 20. Long waist hole; 21. Adjustment screw hole; 23. First column; 24. Second column; 25. Third column; 26. Low track; 27. Second pulley; 28. Mounting base; 29. ​​First mounting plate; 30. First bolt; 31. Second mounting plate; 32. Third mounting plate; 33. Second bolt; 34. Support platform; 35. Fence. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0052] Combine the following Figures 1 to 6 , describing an embodiment of the present invention.

[0053] According to an embodiment of the present invention, there is provided an automatic door for a robot inspection channel combined with a planned path, which is suitable for an inspection robot moving on a planned path, comprising:

[0054] A column 1, wherein a hollow crossbeam 2 is provided at the top of the column 1;

[0055] The motor 3 is fixedly arranged in the hollow cross beam 2; wherein, a motor fixing seat can also be fixedly arranged in the hollow cross beam 2, and the motor 3 is fixedly arranged on the motor fixing seat.

[0056] A chain 4 is mounted on a first sprocket and a second sprocket, wherein the first sprocket is fixedly disposed on the output shaft of the motor 3, and the second sprocket is rotatably disposed in the hollow beam 2;

[0057] The pulley fixing member 7 is arranged in the hollow cross beam 2, and the end side of the pulley fixing member 7 is fixedly connected to the chain 4; wherein, the chain 4 has a loose side and a tight side after being mounted on the first sprocket and the second sprocket, and the pulley fixing member 7 can be fixedly arranged on one of the loose side and the tight side. The pulley fixing member 7 in the present application is arranged on the tight side of the chain 4.

[0058] A movable door 8 is arranged below the hollow beam 2. An opening is arranged on the bottom surface of the hollow beam 2. The bottom end of the pulley fixing member 7 passes through the opening and is connected to the top end of the movable door 8.

[0059] A controller is provided, wherein the controller sets an entry node and an exit node on the planned path of the inspection robot. When the inspection robot reaches the entry node, the controller controls the output shaft of the motor 3 to rotate in a first direction so that the movable door 8 opens; when the inspection robot reaches the exit node, the controller controls the output shaft of the motor 3 to rotate in a second direction so that the movable door 8 closes, wherein the first direction and the second direction are opposite.

[0060] The hollow crossbeam 2 can be divided into a control room and a mobile room by a partition, the motor 3 and the first sprocket are arranged in the control room, and the pulley fixing member 7 and the second sprocket are arranged in the mobile room. The controller may include an electrical part arranged in the control room, the electrical part is used to control the motor 3 to rotate, a positioner can be arranged on the inspection robot, and the positioner and the electrical part can be connected wirelessly, so that the electrical part can obtain the position of the positioner on the inspection robot in real time, when the inspection robot reaches the entrance node, the electrical part controls the motor 3 to rotate in the first direction, and when the inspection robot reaches the exit node, the electrical part controls the motor 3 to rotate in the second direction. It should be noted that, considering the entry and exit of the inspection robot, two sets of automatic doors of the inspection channel can be set, so that the inspection robot can enter and exit the inspection area, and one set of automatic doors of the inspection channel can also be set, and the entry node and the exit node are respectively set on the planned path of entry and exit.

[0061] The column 1 can support the hollow beam 2, and the motor 3 can drive the chain 4 to rotate through the first sprocket and the second sprocket, driving the pulley fixing member 7 to move, thereby moving the movable door 8. When the inspection robot reaches the entrance node, the controller controls the motor 3 to rotate in the first direction, so that the movable door 8 is opened; when the inspection robot reaches the exit node, the controller controls the motor 3 to rotate in the second direction, so that the movable door 8 is closed. According to the position of the inspection robot, the opening and closing of the movable door 8 can be automatically controlled by the controller, saving human resources, and no longer requiring staff to monitor the position of the inspection robot in real time and open or close the movable door 8.

[0062] In one embodiment, it further includes:

[0063] The high-level rail 11 is fixedly arranged in the hollow cross beam 2, and is located on one side of the chain 4 and is arranged parallel to the chain 4; the high-level rail 11 can be rod-shaped, and specifically, the cross section can be circular, and the upper surface thereof is provided for the first pulley 12 to slide. The two ends of the high-level rail 11 can be fixedly arranged on two opposite side walls in the moving room, and two support seats can also be arranged in the moving room to support and fix the two ends of the high-level rail 11 respectively.

[0064] A first pulley 12 is rotatably disposed on the pulley fixing member 7, and the first pulley 12 is slidably disposed on the high-position track 11;

[0065] There are two contact switches 13, which are arranged in the hollow cross beam 2. The contact switches 13 are located on the moving track of the pulley fixing member 7 and the pulley fixing member 7 is located between the two contact switches 13. When the pulley fixing member 7 moves to the position where the contact switch 13 is located, it contacts the contact switch 13. A contact sheet can be arranged on the pulley fixing member 7 for contacting the contact switch 13.

[0066] The high-position rail 11 can guide the movement of the first pulley 12. The first pulley 12 is arranged on the pulley fixing member 7. The high-position rail 11 can support the first pulley 12, reduce the force of the pulley fixing member 7 on the chain 4, and protect the chain 4. The contact switch 13 can limit the movement of the pulley fixing member 7, thereby limiting the movement range of the movable door 8, so that the movable door 8 follows the pulley fixing member 7 to move between the two contact switches 13.

[0067] In one embodiment, a tensioning assembly is further included, wherein the tensioning assembly includes:

[0068] A tensioning adjusting member 14 is slidably disposed on the side wall of the hollow cross beam 2, the second sprocket is rotatably disposed on the tensioning adjusting member 14, the tensioning adjusting member 14 has a first adjusting plate 15, the second sprocket is located between the first adjusting plate 15 and the first sprocket, and the first adjusting plate 15 is perpendicular to the extension direction of the chain 4;

[0069] A tension fixing member 16 is fixed on the side wall of the hollow cross beam 2 and is located on a side of the tension adjusting member 14 away from the first sprocket. The tension fixing member 16 has a second adjusting plate 17, and the second adjusting plate 17 is parallel to the first adjusting plate 15 and there is a gap between the first adjusting plate 15 and the second adjusting plate 17;

[0070] A tensioning bolt 18 and a tensioning nut 19 , wherein the tensioning bolt 18 passes through the first adjustment plate 15 and the second adjustment plate 17 and is threadedly connected to the tensioning nut 19 , and the first adjustment plate 15 and the second adjustment plate 17 are located between the nut of the tensioning bolt 18 and the tensioning nut 19 .

[0071] The distance between the nut of the tensioning bolt 18 and the tensioning nut 19 can be adjusted by tightening the tensioning bolt 18 or the tensioning nut 19. Since the tensioning fixing piece 16 is fixed on the side wall of the hollow beam 2, the gap between the first adjustment plate 15 and the second adjustment plate 17 can be adjusted. When the chain 4 is loose, the chain 4 can be tightened by tightening the tensioning bolt 18 or the tensioning nut 19.

[0072] In one embodiment, the first adjustment plate 15 is located on a side of the tension adjustment member 14 away from the second sprocket, and the second adjustment plate 17 is located on a side of the tension fixing member 16 close to the second sprocket.

[0073] In one embodiment, it further includes:

[0074] At least one long waist hole 20 is provided on the tension adjustment member 14 , and the extension direction of the long waist hole 20 is the same as the extension direction of the chain 4 ; there are two long waist holes 20 in the present application, and each long waist hole 20 is correspondingly provided with an adjustment screw hole 21 .

[0075] An adjusting screw hole 21 is provided on the side wall of the hollow beam 2;

[0076] The adjusting bolt passes through the long waist hole 20 and is screwed into the adjusting screw hole 21. It should be noted that in order to adjust the gap between the first adjusting plate 15 and the second adjusting plate 17, the adjusting bolt should not fix the tension adjusting member 14 on the hollow beam 2.

[0077] The adjusting bolt is arranged in the long waist hole 20 to guide the movement of the tension adjusting member 14. When the tensioning bolt 18 or the tensioning nut 19 is tightened, the tension adjusting member 14 can move in the extension direction of the chain 4, thereby maintaining the stability and consistency of the extension direction of the chain 4.

[0078] In one embodiment, the pulley fixing member 7 and the first pulley 12 are at least two groups, and at least one group is located between the two contact switches 13. The at least two pulley fixing members 7 can be connected to the movable door 8 to prevent stress concentration when the pulley fixing member 7 is connected to the movable door 8, and the movable door 8 can also be made more stable.

[0079] In one embodiment, the number of the columns 1 is at least three, namely, the first column 23, the second column 24 and the third column 25, which are sequentially arranged. A low-level track 26 is arranged between the bottom end of the first column 23 and the bottom end of the second column 24. The low-level track 26 is parallel to the high-level track 11, and the low-level track 26 and the high-level track 11 are located in the same vertical plane. A second pulley 27 is slidably arranged on the low-level track 26, and the second pulley 27 is rotatably arranged at the bottom end of the movable door 8. The low-level track 26 and the second pulley 27 can support and guide the movable door 8. A fence 35 can be arranged between the first column 23 and the second column 24. If a fourth column is arranged on the side of the third column 25 away from the second column 24, a fence 35 is arranged between the third column 25 and the fourth column. The second pulley 27 can be rotatably connected to the bottom end of the movable door 8 through a connecting piece, and the connecting piece can be fixed on the movable door 8. The second pulley 27 can be rotatably set on the connecting piece. The second pulley 27 and the connecting piece are at least a group. In the present application, the second pulley 27 and the connecting piece are two groups.

[0080] It can be set that the movement of the movable door 8 toward the first column 23 is set as the opening of the movable door 8, and when the movable door 8 is opened, the movable door 8 is located between the first column 23 and the second column 24, and when the movable door 8 is located between the second column 24 and the third column 25, the movable door 8 is in a closed state. It should be noted that the second column 24 should not hinder the movement of the movable door 8.

[0081] In one embodiment, the hollow beam 2 is disposed at the top of the second column 24 and the third column 25 .

[0082] In one embodiment, it further includes two sets of beam fixing components, which are respectively arranged at the top of the second column 24 and the top of the third column 25. The beam fixing components include:

[0083] The mounting base 28 is located at the top of the column 1, and has a first abutting surface abutting against the column 1 and a second abutting surface fixedly connected to the hollow beam 2; wherein the first abutting surface can be a vertical surface, and the second abutting surface can be a horizontal surface.

[0084] A first mounting plate 29, wherein the column 1 is located between the first mounting plate 29 and the first abutting surface;

[0085] There are two first bolts 30, both of which are arranged to penetrate the first mounting plate 29 and the first abutment surface. The column 1 is located in the space formed by the two first bolts 30, the first mounting plate 29 and the first abutment surface. A nut is screwed on the first bolt 30, and the first mounting plate 29 and the first abutment surface are both located between the nut and the nut of the first bolt 30.

[0086] The second column 24 and the third column 25 are respectively arranged in the space formed by the two first bolts 30, the first mounting plate 29 and the first abutment surface in the two groups of beam fixing assemblies. By tightening the first bolts 30 and the nuts screwed on the first bolts 30, the second column 24 and the third column 25 can be clamped between the first mounting plate 29 and the first abutment surface respectively, so that the two mounting bases 28 can be fixed on the second column 24 and the third column 25 respectively, and then the hollow beam 2 is fixed at the top positions of the second column 24 and the third column 25.

[0087] In one embodiment, it further includes two sets of low-position rail fixing components, which are respectively arranged at the bottom end of the first column 23 and the bottom end of the second column 24. The low-position rail fixing components include:

[0088] The second mounting plate 31 and the third mounting plate 32, the column 1 is located between the second mounting plate 31 and the third mounting plate 32,

[0089] There are two second bolts 33, both of which are arranged on the second mounting plate 31 and the third mounting plate 32, and the column 1 is located in a space formed by the two second bolts 33, the second mounting plate 31 and the third mounting plate 32. Nuts are screwed on the second bolts 33, and the second mounting plate 31 and the third mounting plate 32 are located between the nuts and the nuts of the second bolts 33;

[0090] The support platform 34 is fixedly disposed on the second mounting plate 31 or the third mounting plate 32 , and the low-position rail 26 is fixedly disposed on the support platform 34 .

[0091] The support platform 34 can support and fix the low-level rail 26. The bottom end of the first column 23 and the bottom end of the second column 24 are respectively located in the space formed by the two second bolts 33, the second mounting plate 31 and the third mounting plate 32. The second bolts 33 and the nuts screwed on the second bolts 33 can be tightened so that the first column 23 and the second column 24 are respectively clamped between the second mounting plate 31 and the third mounting plate 32. The two support platforms 34 are respectively fixed on the first column 23 and the second column 24, so that the low-level ground rail is fixedly connected to the first column 23 and the second column 24 respectively.

[0092] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A robot inspection channel automatic door combined with a planned path, suitable for an inspection robot moving on a planned path, characterized in that: include: A column (1), wherein a hollow crossbeam (2) is arranged at the top of the column (1); A motor (3) is fixedly arranged in the hollow crossbeam (2); A chain (4) is sleeved on a first sprocket and a second sprocket, wherein the first sprocket is fixedly arranged on an output shaft of the motor (3), and the second sprocket is rotatably arranged in the hollow crossbeam (2); A pulley fixing member (7) is arranged in the hollow cross beam (2), and the end side of the pulley fixing member (7) is fixedly connected to the chain (4); A movable door (8) is arranged below the hollow crossbeam (2); an opening is arranged on the bottom surface of the hollow crossbeam (2); the bottom end of the pulley fixing member (7) passes through the opening and is connected to the top end of the movable door (8); A controller is provided, wherein the controller sets an entry node and an exit node on a planned path of the inspection robot, and when the inspection robot reaches the entry node, the controller controls the output shaft of the motor (3) to rotate in a first direction so that the movable door (8) opens; when the inspection robot reaches the exit node, the controller controls the output shaft of the motor (3) to rotate in a second direction so that the movable door (8) closes, wherein the first direction and the second direction are opposite.

2. The automatic door of the robot inspection channel combined with the planning path according to claim 1 is characterized in that: Also includes: A high-position rail (11) is fixedly arranged in the hollow crossbeam (2), and the high-position rail (11) is located on one side of the chain (4) and is arranged parallel to the chain (4); A first pulley (12) is rotatably mounted on the pulley fixing member (7), and the first pulley (12) is slidably mounted on the high-position track (11); There are two contact switches (13) arranged in the hollow crossbeam (2); the contact switches (13) are located on the moving track of the pulley fixing member (7) and the pulley fixing member (7) is located between the two contact switches (13); when the pulley fixing member (7) moves to the position where the contact switch (13) is located, it contacts the contact switch (13).

3. The automatic door of the robot inspection channel combined with the planning path according to claim 1 is characterized in that: Also included is a tensioning assembly, the tensioning assembly comprising: A tensioning adjusting member (14) is slidably arranged on the side wall of the hollow cross beam (2), the second sprocket is rotatably arranged on the tensioning adjusting member (14), the tensioning adjusting member (14) has a first adjusting plate (15), the second sprocket is located between the first adjusting plate (15) and the first sprocket, and the first adjusting plate (15) is perpendicular to the extension direction of the chain (4); a tension fixing member (16) fixed on the side wall of the hollow crossbeam (2) and located on a side of the tension adjusting member (14) away from the first sprocket, the tension fixing member (16) having a second adjusting plate (17), the second adjusting plate (17) being parallel to the first adjusting plate (15) and having a gap between the first adjusting plate (15) and the second adjusting plate (17); A tensioning bolt (18) and a tensioning nut (19), wherein the tensioning bolt (18) passes through the first adjusting plate (15) and the second adjusting plate (17) and is threadedly connected to the tensioning nut (19), and the first adjusting plate (15) and the second adjusting plate (17) are located between the nut of the tensioning bolt (18) and the tensioning nut (19).

4. The automatic door of the robot inspection channel combined with the planning path according to claim 3 is characterized in that: The first adjustment plate (15) is located on a side of the tension adjustment member (14) away from the second sprocket, and the second adjustment plate (17) is located on a side of the tension fixing member (16) close to the second sprocket.

5. The automatic door of the robot inspection channel combined with the planning path according to claim 3 is characterized in that: Also includes: At least one long waist hole (20) is provided on the tension adjusting member (14), and the extending direction of the long waist hole (20) is the same as the extending direction of the chain (4); An adjusting screw hole (21) is arranged on the side wall of the hollow crossbeam (2); An adjusting bolt passes through the long waist hole (20) and is screwed into the adjusting screw hole (21).

6. The automatic door of the robot inspection channel combined with the planning path according to claim 2 is characterized in that: The pulley fixing member (7) and the first pulley (12) are at least two groups, and at least one group is located between the two contact switches (13).

7. The automatic door of the robot inspection channel combined with the planning path according to claim 2 is characterized in that: The number of the columns (1) is at least three, namely a first column (23), a second column (24) and a third column (25) which are arranged in sequence. A low-position track (26) is arranged between the bottom end of the first column (23) and the bottom end of the second column (24). The low-position track (26) is parallel to the high-position track (11). A second pulley (27) is slidably arranged on the low-position track (26). The second pulley (27) is rotatably arranged at the bottom end of the movable door (8).

8. The automatic door of the robot inspection channel combined with the planning path according to claim 7 is characterized in that: The hollow cross beam (2) is arranged at the top ends of the second column (24) and the third column (25).

9. The automatic door of the robot inspection channel combined with the planning path according to claim 7 is characterized in that: It also includes two sets of crossbeam fixing components, which are respectively arranged at the top of the second column (24) and the top of the third column (25), and the crossbeam fixing components include: A mounting base (28) located at the top of the column (1), the mounting base (28) having a first abutting surface abutting against the column (1) and a second abutting surface fixedly connected to the hollow crossbeam (2); A first mounting plate (29), wherein the column (1) is located between the first mounting plate (29) and a first abutting surface; There are two first bolts (30), both of which are arranged to penetrate the first mounting plate (29) and the first abutting surface. The column (1) is located in a space formed by the two first bolts (30), the first mounting plate (29) and the first abutting surface. A nut is screwed onto the first bolt (30). The first mounting plate (29) and the first abutting surface are both located between the nut and the nut of the first bolt (30).

10. The automatic door of the robot inspection channel combined with the planning path according to claim 7, characterized in that: It also includes two sets of low-position rail fixing components, which are respectively arranged at the bottom end of the first column (23) and the bottom end of the second column (24). The low-position rail fixing components include: A second mounting plate (31) and a third mounting plate (32), wherein the column (1) is located between the second mounting plate (31) and the third mounting plate (32), There are two second bolts (33), both of which are arranged on the second mounting plate (31) and the third mounting plate (32); the column (1) is located in a space formed by the two second bolts (33), the second mounting plate (31) and the third mounting plate (32); nuts are screwed onto the second bolts (33); the second mounting plate (31) and the third mounting plate (32) are both located between the nuts and the nuts of the second bolts (33); A support platform (34) is fixedly arranged on the second mounting plate (31) or the third mounting plate (32), and the low-position rail (26) is fixedly arranged on the support platform (34).

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