A robot patrol passage automatic door combined with a planned path

Abstract

The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection. The application relates to the technical field of automatic passage doors, in particular to a robot passage automatic door for path planning and inspection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic door of passage, and particularly relates to a robot inspection automatic door of passage combined with a planning path. BACKGROUND

[0002] The robot can complete the inspection task on the designated planning path, when the planning path passes through a dangerous area, such as power inspection, the area is surrounded by a fence to prevent people from entering and a moving door is set for the robot to pass through, and when the robot reaches the area close to the fence, the moving door is opened.

[0003] The existing way is to manually close or open the moving door, for example, a staff obtains the position of the robot through a monitor, when the robot is close to the fence, the staff remotely controls the moving door to open, and after the robot leaves the fence, the moving door is remotely closed. However, in this way, the staff needs to monitor the robot in real time, which wastes human resources. SUMMARY

[0004] Therefore, the present application provides a robot inspection automatic door of passage combined with a planning path to solve the problem of needing staff to monitor the robot in real time and wasting human resources.

[0005] The present application provides a robot inspection automatic door of passage combined with a planning path, which is suitable for a robot moving on a planning path, and comprises:

[0006] A stand column, a hollow beam is arranged at the top end of the stand column;

[0007] A motor is fixedly arranged in the hollow beam;

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

[0009] A pulley fixing piece is arranged in the hollow beam, and the end side of the pulley fixing piece is fixedly connected with the chain;

[0010] A moving 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 piece penetrates through the opening and is connected with the top end of the moving door;

[0011] A controller sets an entry node and an exit node on a planned path of the inspection robot, 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 movable door is opened, 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 movable door is closed, wherein the first direction and the second direction are opposite.

[0012] The post can support the hollow beam, the motor can drive the chain to rotate through the first sprocket and the second sprocket, drive the pulley fixing member to move, and then drive the movable door to move. When the inspection robot reaches the entry node, the controller controls the motor to rotate in a first direction so that the movable door is opened, when the inspection robot reaches the exit node, the controller controls the motor to rotate in a second direction so that the movable door is closed. The opening and closing of the movable door can be automatically controlled by the controller according to the position of the inspection robot, which saves human resources and no longer needs staff to monitor the position of the inspection robot and to open or close the movable door.

[0013] In an alternative embodiment, further comprising:

[0014] A high-level rail is fixedly arranged in the hollow beam, and the high-level rail is arranged on one side of the chain and parallel to the chain.

[0015] A first pulley is rotatably arranged on the pulley fixing member, and the first pulley is slidably arranged on the high-level rail.

[0016] Two contact switches are arranged in the hollow beam, the contact switches are arranged on the moving track of the pulley fixing member, and the pulley fixing member is arranged between the two contact switches, and the pulley fixing member is in contact with the contact switches when the pulley fixing member moves to the position of the contact switches.

[0017] The high-level rail can guide the movement of the first pulley, the first pulley is arranged on the pulley fixing member, the high-level rail can support the first pulley, reduce the force of the pulley fixing member on the chain, and protect the chain. The contact switches can limit the movement of the pulley fixing member, and then limit the movement range of the movable door, so that the movable door moves with the pulley fixing member between the two contact switches.

[0018] In an alternative embodiment, further comprising a tensioning assembly, the tensioning assembly comprises:

[0019] a tensioning adjusting member is slidably arranged on the side wall of the hollow beam, the second sprocket is rotatably arranged 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 tensioning fixing member is fixed on the side wall of the hollow beam and located on the side of the tensioning adjusting member away from the first sprocket, the tensioning fixing member has a second adjusting plate, the second adjusting plate is parallel to the first adjusting plate, and a gap is formed between the first adjusting plate and the second adjusting plate;

[0021] a tensioning bolt and a tensioning nut, the tensioning bolt penetrates the first adjusting plate and the second adjusting plate and is screwed 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 tensioning bolt and the tensioning nut can be adjusted by screwing the tensioning bolt or the tensioning nut, the gap between the first adjusting plate and the second adjusting plate can be adjusted due to the fact that the tensioning fixing member is fixed on the side wall of the hollow beam, and the chain can be tensioned by screwing the tensioning bolt or the tensioning nut when the chain is loose.

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

[0024] In an optional embodiment, the application further comprises:

[0025] at least one long waist hole is arranged on the tensioning adjusting member, and the extension direction of the long waist hole is the same as the extension direction of the chain;

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

[0027] an adjusting bolt penetrates the long waist hole and is screwed in the adjusting screw hole.

[0028] The adjusting bolt arranged in the long waist hole can guide the movement of the tensioning adjusting member, and the tensioning adjusting member can move in the extension direction of the chain when the tensioning bolt or the tensioning nut is screwed, so that the stability and consistency of the extension direction of the chain are maintained.

[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 with the moving door, so that stress concentration is prevented when the pulley fixing member is connected with the moving door, and the moving door is more stable.

[0030] In an optional embodiment, there are at least three upright posts, namely, a first upright post, a second upright post, and a third upright post, and a low track is provided between the bottom ends of the first upright post and the bottom ends of the second upright post. The low track is parallel to the high track, and a second pulley is slidably provided on the low track. The second pulley is rotatably provided at the bottom end of the movable door. The low track and the second pulley can support and guide the movable door.

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

[0032] In an optional embodiment, the crossbeam fixing assembly is further included, which is two groups and is respectively arranged at the top of the second column and the top of the third column. The crossbeam fixing assembly includes:

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

[0034] a first mounting plate, wherein the upright post 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] The second mounting plate and the third mounting plate, the column is located between the second mounting plate and the third mounting plate,

[0039] Second bolts, two, both arranged through the second mounting plate and the third mounting plate, the column is located in the space formed by the two second bolts, the second mounting plate and the third mounting plate, the second bolt is screwed with a nut, the second mounting plate and the third mounting plate are located between the nut and the second bolt;

[0040] Supporting table, fixedly arranged on the second mounting plate or the third mounting plate, the low rail is fixedly arranged on the supporting table.

[0041] The supporting table can support and fix the low 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 by tightening the second bolt and the nut screwed on the second bolt, the two supporting tables are respectively fixed on the first column and the second column, and then the low rail is respectively fixedly connected with the first column and the second column. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0043] Figure 1 The structure schematic diagram of the embodiment of the present application is shown in the figure.

[0044] Figure 2 The structure schematic diagram of the tensioning assembly of the embodiment of the present application is shown in the figure.

[0045] Figure 3 The schematic diagram of the motor position of the embodiment of the present application is shown in the figure.

[0046] Figure 4 The structure schematic diagram of the cross beam fixing assembly of the embodiment of the present application is shown in the figure.

[0047] Figure 5 The structure schematic diagram of the low rail fixing assembly of the embodiment of the present application is shown in the figure.

[0048] Figure 6 The structure top view of the embodiment of the present application is shown in the figure.

[0049] Explanation of reference signs:

[0050] 1, column; 2, hollow beam; 3, motor; 4, chain; 7, pulley fixing piece; 8, moving door; 11, high rail; 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, adjusting screw hole; 23, first column; 24, second column; 25, third column; 26, low rail; 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 table; 35, fence. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] The embodiments of the present application are described below in combination with Figures 1 to 6

[0053] According to the embodiments of the present application, a robot inspection passage automatic door combined with a planned path is provided, which is suitable for an inspection robot moving on a planned path, and comprises:

[0054] A column 1, and a hollow beam 2 is arranged at the top end of the column 1;

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

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

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

[0058] ​The mobile door 8 is arranged below the hollow beam 2, the bottom surface of the hollow beam 2 is provided with an opening, the bottom end of the pulley fixing member 7 penetrates through the opening and is connected with the top end of the mobile door 8.

[0059] 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 mobile door 8 is opened; 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 mobile door 8 is closed, wherein the first direction and the second direction are opposite.

[0060] The hollow beam 2 can be divided into a control chamber and a moving chamber by a partition, the motor 3 and the first sprocket are arranged in the control chamber, and the pulley fixing member 7 and the second sprocket are arranged in the moving chamber. The controller can include an electrical part arranged in the control chamber, 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 obtains the position of the positioner on the inspection robot in real time, when the inspection robot reaches the entry 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 inspection passage automatic doors can be arranged, so that the inspection robot can enter and exit from the inspection area, or one set of inspection passage automatic door can be arranged, and an entry node and an exit node are arranged on the planned path of entry and exit respectively.

[0061] The stand 1 can support the hollow beam 2, the motor 3 can drive the chain 4 to rotate through the first sprocket and the second sprocket, drive the pulley fixing member 7 to move, and then drive the mobile door 8 to move. When the inspection robot reaches the entry node, the controller controls the motor 3 to rotate in the first direction, so that the mobile 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 mobile door 8 is closed. According to the position of the inspection robot, the opening and closing of the mobile door 8 can be automatically controlled by the controller, which saves human resources, and the staff no longer needs to monitor the position of the inspection robot and perform the operation of opening or closing the mobile door 8 in real time.

[0062] In one embodiment, further comprising:

[0063] A high rail 11 is fixedly arranged in the hollow beam 2, and the high rail 11 is arranged on one side of the chain 4 and parallel to the chain 4. The high rail 11 can be a rod, and specifically, the cross section can be circular, and the upper surface of the high rail 11 is used for sliding of the first pulley 12. The two ends of the high rail 11 can be fixedly arranged on the two oppositely arranged side walls in the moving chamber, or two support seats can be arranged in the moving chamber to support and fix the two ends of the high rail 11.

[0064] The first pulley 12 is rotatably arranged on the pulley fixing member 7, and the first pulley 12 is slidably arranged on the high rail 11.

[0065] The contact switch 13 is arranged in the hollow beam 2, and the contact switch 13 is arranged on the moving track of the pulley fixing member 7, and the pulley fixing member 7 is arranged between the two contact switches 13. When the pulley fixing member 7 moves to the position of the contact switch 13, the pulley fixing member 7 is in contact with the contact switch 13. The pulley fixing member 7 can be provided with a contact piece for contacting the contact switch 13.

[0066] The high rail 11 can guide the movement of the first pulley 12. The first pulley 12 is arranged on the pulley fixing member 7, and the first pulley 12 is supported by the high rail 11, so that the force of the pulley fixing member 7 on the chain 4 is reduced, and the chain 4 is protected. The contact switch 13 can limit the movement of the pulley fixing member 7, and further limit the movement range of the moving door 8, so that the moving door 8 moves between the two contact switches 13 along with the pulley fixing member 7.

[0067] In an embodiment, a tensioning assembly is further included, and the tensioning assembly includes:

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

[0069] The tensioning fixing member 16 is fixedly arranged on the side wall of the hollow beam 2 and located on the side of the tensioning adjusting member 14 away from the first sprocket. The tensioning fixing member 16 has a second adjusting plate 17, and the second adjusting plate 17 is parallel to the first adjusting plate 15, and the first adjusting plate 15 and the second adjusting plate 17 have a gap therebetween.

[0070] A tension bolt 18 and a tension nut 19, the tension bolt 18 penetrates the first adjusting plate 15 and the second adjusting plate 17 and is screwed with the tension nut 19, the first adjusting plate 15 and the second adjusting plate 17 are located between the nut of the tension bolt 18 and the tension nut 19.

[0071] The distance between the nut of the tension bolt 18 and the tension nut 19 can be adjusted by screwing the tension bolt 18 or the tension nut 19, and since the tension fixing member 16 is fixed on the side wall of the hollow beam 2, the gap between the first adjusting plate 15 and the second adjusting plate 17 can be adjusted, and when the chain 4 is loose, the chain 4 can be tightened by tightening the tension bolt 18 or the tension nut 19.

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

[0073] In one embodiment, further comprising:

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

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

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

[0077] The adjusting screw is provided in the long waist hole 20, which can guide the movement of the tension adjusting member 14, and when the tension bolt 18 or the tension nut 19 is screwed, 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 mobile door 8 can be connected to at least two pulley fixing members 7, which can prevent stress concentration when the pulley fixing member 7 is connected to the mobile door 8, and can also make the mobile door 8 more stable.

[0079] In one embodiment, the column 1 is at least three, respectively, the first column 23, the second column 24 and the third column 25 are sequentially distributed, the bottom end of the first column 23 and the bottom end of the second column 24 are provided with a low rail 26, the low rail 26 is parallel to the high rail 11, the low rail 26 and the high rail 11 are located in the same vertical plane, the second pulley 27 is slidably arranged on the low rail 26, and the second pulley 27 is rotatably arranged at the bottom end of the movable door 8. The low rail 26 and the second pulley 27 can support and guide the movable door 8. Among them, the first column 23 and the second column 24 can be provided with a fence 35, and if the fourth column is arranged on the side away from the second column 24 of the third column 25, the 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, the connecting piece can be fixed on the movable door 8, and the second pulley 27 can be rotatably arranged on the connecting piece. The second pulley 27 and the connecting piece are at least one group, and the second pulley 27 and the connecting piece are two groups in this application.

[0080] It can be set that the movement of the movable door 8 to 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 arranged at the top end of the second column 24 and the third column 25.

[0082] In one embodiment, it further comprises a beam fixing assembly, which is two groups, respectively arranged at the top end of the second column 24 and the top end of the third column 25, and the beam fixing assembly comprises:

[0083] The mounting base 28 is located at the top end of the column 1, and the mounting base 28 has a first abutting surface abutting with the column 1 and a second abutting surface fixedly connected with 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] The first mounting plate 29 is located between the column 1 and the first abutting surface;

[0085] The first bolt 30 is two, which are both arranged through the first mounting plate 29 and the first abutting surface, and the column 1 is located in the space formed by the two first bolts 30, the first mounting plate 29 and the first abutting surface. The first bolt 30 is screwed with a nut, and the first mounting plate 29 and the first abutting surface are 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 abutting surface in the two groups of beam fixing assemblies, and the second column 24 and the third column 25 are clamped between the first mounting plate 29 and the first abutting surface by tightening the first bolts 30 and the nuts screwed on the first bolts 30, so that the two mounting bases 28 are respectively fixed on the second column 24 and the third column 25, and the hollow beam 2 is fixed and arranged at the top end of the second column 24 and the third column 25.

[0087] In an embodiment, low rail fixing assemblies are further included, two groups of low rail fixing assemblies are respectively arranged at the bottom end of the first column 23 and the bottom end of the second column 24, and the low rail fixing assemblies 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] The second bolt 33 is two, both of which are arranged through the second mounting plate 31 and the third mounting plate 32, the column 1 is located in the space formed by the two second bolts 33, the second mounting plate 31 and the third mounting plate 32, the second bolt 33 is screwed with a nut, and the second mounting plate 31 and the third mounting plate 32 are located between the nut and the nut of the second bolt 33;

[0090] The support table 34 is fixedly arranged on the second mounting plate 31 or the third mounting plate 32, and the low rail 26 is fixedly arranged on the support table 34.

[0091] The support table 34 can support and fix the low 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 first column 23 and the second column 24 are clamped between the second mounting plate 31 and the third mounting plate 32 by tightening the second bolt 33 and the nut screwed on the second bolt 33, and the two support tables 34 are respectively fixed on the first column 23 and the second column 24, so that the low rail is respectively fixedly connected with the first column 23 and the second column 24.

[0092] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. An automatic door for a robot inspection channel 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 provided at the top of the column (1); A motor (3) is fixedly arranged in the hollow beam (2); A chain (4) is mounted on a first sprocket and a second sprocket, wherein the first sprocket is fixedly arranged on the output shaft of the motor (3), and the second sprocket is rotatably arranged in the hollow beam (2); A pulley fixing member (7) is arranged in the hollow crossbeam (2), and an end side of the pulley fixing member (7) is fixedly connected to the chain (4); A movable door (8) is arranged below the hollow beam (2), the bottom surface of the hollow beam (2) is provided with an opening, 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, 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) is opened; 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) is closed, wherein the first direction and the second direction are opposite; Also included is a tensioning assembly, the tensioning assembly comprising: a tensioning adjusting member (14) slidably arranged on a side wall of the hollow 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; 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 beam (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 a gap being provided 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).

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: The first adjustment plate (15) is located on a side of the tensioning adjustment member (14) away from the second sprocket, and the second adjustment plate (17) is located on a side of the tensioning fixing member (16) close to the second sprocket.

4. The automatic door of the robot inspection channel combined with the planning path according to claim 1 is characterized in that: Also includes: 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); An adjusting screw hole (21) is provided on the side wall of the hollow beam (2); An adjusting bolt passes through the long waist hole (20) and is screwed into the adjusting screw hole (21).

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

6. 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 sequentially distributed. A low-level track (26) is provided 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). A second pulley (27) is slidably provided on the low-level track (26). The second pulley (27) is rotatably provided at the bottom end of the movable door (8).

7. The automatic door of the robot inspection channel combined with the planning path according to claim 6 is characterized in that: The hollow crossbeam (2) is arranged at the top ends of the second column (24) and the third column (25).

8. The automatic door of the robot inspection channel combined with the planning path according to claim 6 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). The crossbeam fixing components include: A mounting base (28) is located at the top of the column (1), and the mounting base (28) has a first abutting surface abutting against the column (1) and a second abutting surface fixedly connected to the hollow beam (2); A first mounting plate (29), wherein the column (1) is located between the first mounting plate (29) and the first abutting surface; There are two first bolts (30), both of which are arranged through 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).

9. The automatic door of the robot inspection channel combined with the planning path according to claim 6 is 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); a nut is screwed onto the second bolt (33); the second mounting plate (31) and the third mounting plate (32) are both located between the nut and the nut of the second bolt (33); The 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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