Inspection robot T-shaped track transfer system and method based on limiting track transfer unit

Abstract

The invention discloses an inspection robot T-shaped track transfer system and method based on a limiting track transfer unit. A track transfer track and a limiting track are arranged between a first horizontal fixed track and a second horizontal fixed track; the first horizontal fixed rail, the second horizontal fixed rail, the orbital transfer rail and the limiting rail are matched to achieve a horizontal rail in an initial state, the motion state of the orbital transfer rail is locked, the stability of the horizontal rail is guaranteed, meanwhile, the orbital transfer rail and the limiting rail are controlled to move through the driving mechanism, and the motion state of the orbital transfer rail is released. The orbital transfer track and the vertical fixed track are matched to form a vertical track during turning and orbital transfer of the T-shaped track, the motion state of the orbital transfer track is synchronously locked, it is guaranteed that the vertical track is stable, the inspection robot always keeps linear motion, clamping stagnation is not generated at the turning position of the T-shaped track, the turning radius is small, and the orbital transfer track can be used for narrow spaces and complex forked tracks.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a track changing technology of a patrol robot. Background Art

[0002] In narrow working environments such as building construction machines, it is difficult for workers to balance safety supervision and quality control while performing construction tasks, and a comprehensive inspection takes a long time, so track-type inspection robots are often used to move along the track for supervision. Most existing track-type inspection robots move in a straight line along a horizontal track. When faced with the need to turn and change tracks on a T-shaped track, an arc-shaped track change structure is usually used.

[0003] For example, a track changing device and a track changing system of a track-type inspection robot disclosed in Chinese patent publication number CN 212500414 U adopt a linear drive mechanism to realize the track changing operation of docking the horizontal track and the curved track of the inspection robot during the turning process.

[0004] However, the use of curved track changes in the turning and changing of T-shaped tracks has extremely high precision requirements. Once there is a slight error, it may cause the inspection robot to get stuck at the turn, requiring manual subsequent adjustments, which is inefficient. At the same time, the turning radius of the curved track change is large, and it occupies more space, which is not suitable for narrow working environments such as building construction machines. Therefore, the curved track change cannot be applied to complex forked tracks such as T-shaped tracks, and cannot meet the diverse movement paths of the inspection robot.

[0005] Therefore, how to effectively prevent the inspection robot from getting stuck at the turns of the T-shaped track, improve the track change efficiency, and be suitable for narrow spaces and complex forked tracks, and increase the diversification of the inspection robot's moving paths has become an urgent problem to be solved in this field. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of the present invention is to provide a T-shaped track changing system and method for an inspection robot based on a limit track changing unit, which can effectively prevent jamming at the turning points of the T-shaped track, has high track changing efficiency, and can meet the needs of narrow spaces and complex forked tracks.

[0007] In order to achieve the above-mentioned purpose, the present invention provides a T-track track changing system for an inspection robot based on a limit track changing unit, comprising a first horizontal fixed track and a second horizontal fixed track distributed in parallel, at least one track changing track and at least one limit track are arranged between the first horizontal fixed track and the second horizontal fixed track, in an initial state, the track changing track and the limit track are respectively abutted with the first horizontal fixed track and the second horizontal fixed track to form a horizontal track, and the first horizontal fixed track and the limit track are respectively abutted with the two ends of the track changing track to lock the motion state of the track changing track,

[0008] The track changing track and the position limiting track are respectively provided with a driving mechanism, and the driving mechanism is configured to control the movement of the position limiting track to release the movement state of the track changing track, and can also control the movement of the track changing track.

[0009] A vertical fixed rail is provided at one end of the first horizontal fixed rail that cooperates with the track-changing rail. The vertical fixed rail is vertically distributed to the first horizontal fixed rail and is configured so that the track-changing rail can move to abut against the vertical fixed rail to form a vertical rail and synchronously lock the movement state of the track-changing rail.

[0010] Furthermore, it also includes a beam positioning mechanism, which includes a vertical beam arranged above the vertical fixed rail, and a horizontal beam vertically distributed with respect to the vertical beam, wherein both ends of the horizontal beam are respectively arranged above the first horizontal fixed rail and the second horizontal fixed rail.

[0011] Furthermore, the horizontal beam and the vertical beam are respectively provided with suspension rods.

[0012] Furthermore, the first end face and the second end face at both ends of the track change track respectively cooperate with the first horizontal fixed end face of the first horizontal fixed track and the first limiting end face of the limiting track, the first end face and the second end face are distributed at an angle, and the first horizontal fixed end face is adapted and parallel to the first end face, and the first limiting end face is adapted and parallel to the second end face.

[0013] Furthermore, the second limiting end face of the limiting track matches the second horizontal fixed end face of the second horizontal fixed track, the second limiting end face is parallel to the first limiting end face, and the second limiting end face is adapted and parallel to the second horizontal fixed end face.

[0014] Furthermore, the vertical fixed end surface of the vertical fixed track that cooperates with the track-changing track is configured to be compatible with the first end surface or the second end surface.

[0015] Furthermore, the position-limiting track is configured to have a parallelogram cross section, and the track-changing track is configured to have a trapezoidal cross section.

[0016] Furthermore, the driving mechanism includes fixed plates respectively arranged on the track change track and the limit track, the fixed plates are connected to a disc placed at the bottom of the horizontal beam through a connecting rod, a driving motor is provided on the horizontal beam, and the output shaft of the driving motor is connected to a gear assembly arranged on the disc.

[0017] Furthermore, the gear assembly includes a driving gear disposed at the bottom of the horizontal beam and connected to the output shaft, and a gear ring disposed on the disc and meshing with an outer ring of the driving gear.

[0018] In order to achieve the above-mentioned object, the present invention provides a T-track track changing method for an inspection robot based on a position limiting track changing unit, based on the T-track track changing system for an inspection robot based on a position limiting track changing unit, and the track changing method comprises:

[0019] S1: Install the first horizontal fixed rail, the second horizontal fixed rail, the track change rail and the limit rail as the horizontal rails in the initial state to lock the motion state of the track change rail, and install the vertical fixed rail at one end of the first horizontal fixed rail and the track change rail, and distribute it vertically with the first horizontal fixed rail;

[0020] S2: Control the movement of the limit track through the driving mechanism on the limit track to release the movement state of the track change track;

[0021] S3: Control the movement of the track changing track through the driving mechanism on the track changing track, so that the track changing track abuts against the vertical fixed track, and synchronously locks the movement state of the track changing track.

[0022] The invention provides a T-track track changing system and method for an inspection robot based on a position-limiting track changing unit. In an initial state, a first horizontal fixed track, a track changing track, a position-limiting track and a second horizontal fixed track are mutually abutted to form a horizontal track. At the same time, the first horizontal fixed track and the position-limiting track cooperate to lock the motion state of the track changing track, so that the track changing track is limited and cannot move, thereby ensuring the structural stability of the horizontal track, and the inspection robot can stably move in a straight line on the horizontal track. At the same time, the invention also provides a vertical fixed track vertically distributed with the first horizontal fixed track to form a T-track. When there is a turning demand, the inspection robot moves to the track changing track, controls the movement of the position-limiting track by a driving mechanism, releases the motion state of the track changing track, and enables the track changing track to move and abut against the vertical fixed track to form a vertical track, thereby realizing the turning and track changing of the T-track, and synchronously locks the motion state of the track changing track when abutting, so that the vertical track structure is stable, and the inspection robot can smoothly move in a straight line on the vertical track. Therefore, the inspection robot always maintains a straight line motion before and after the track changing, and will not get stuck at the turning part of the T-track.

[0023] Furthermore, the present invention directly realizes turning and track changing through the movement of the track changing track, does not require an additional curved track, can be used in a narrow space, and makes the track changing transition smooth, thereby improving the track changing efficiency. It can also synchronously realize locking and limiting through the abutment between the track changing track and other tracks before and after the track changing, thereby ensuring the structural stability of the track before and after the track changing.

[0024] At the same time, by adjusting the distribution number and length of the track change track and the limit track, the shape of the track change and the number of forked tracks can be adjusted, so that it is suitable for narrow spaces and complex forked tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] Figure 1 The overall structural diagram of the T-track track changing system of the inspection robot based on the position limiting track changing unit provided by the present invention;

[0027] Figure 2 A schematic diagram of the track changing structure of the T-shaped track changing system of the inspection robot based on the position limiting track changing unit provided by the present invention;

[0028] Figures 3 to 5 A schematic diagram of the track changing process of the T-shaped track changing system of the inspection robot based on the position limiting track changing unit provided by the present invention;

[0029] Figure 6 and Figure 7 It is a structural schematic diagram of the driving mechanism in the present invention;

[0030] Figure 8 and Fig. 9 It is a schematic diagram of another embodiment of the present invention.

[0031] Reference numerals:

[0032] 1. First horizontal fixed track; 11. First horizontal fixed end surface;

[0033] 2. Second horizontal fixed rail; 12. Second horizontal fixed end surface;

[0034] 3. track change track; 31. first end surface; 32. second end surface;

[0035] 4. Limiting track; 41. First limiting end surface; 42. Second limiting end surface;

[0036] 5. Vertically fixed rail; 51. Vertically fixed end surface;

[0037] 6. Driving mechanism; 61. Fixing plate; 62. Connecting rod; 63. Disc; 64. Driving motor; 641. Output shaft; 65. Gear assembly; 651. Driving gear; 652. Gear ring;

[0038] 7. Crossbeam positioning mechanism; 71. Vertical beam; 72. Horizontal beam; 73. Suspension rod. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to specific diagrams.

[0040] Combination Figure 1 and Figure 2 , which shows an example of a T-track track changing system of an inspection robot based on a position limiting track changing unit provided by the present invention.

[0041] As can be seen from the figure, the T-track track changing system of the inspection robot based on the limit track changing unit in this example mainly includes a first horizontal fixed track 1 and a second horizontal fixed track 2 distributed in parallel, at least one track changing track 3 and at least one limit track 4 are arranged between the first horizontal fixed track 1 and the second horizontal fixed track 2, and a vertical fixed track 5 is arranged at one end of the first horizontal fixed track 1 that cooperates with the track changing track 3. The vertical fixed track 5 is vertically distributed with the first horizontal fixed track 1 to form a T-shaped track, and also includes a driving mechanism 6 respectively arranged on the track changing track 3 and the limit track 4, so that in the initial state, the track changing track 3 and the limit track 4 are respectively abutted and cooperated with the first horizontal fixed track 1 and the second horizontal fixed track 2 to form a horizontal track, and the limit track 4 and the first horizontal fixed track 1 cooperate to lock the motion state of the track changing track 3, thereby ensuring the structural stability of the horizontal track, so that the inspection robot can move stably in a straight line on the horizontal track.

[0042] Furthermore, when there is a need to turn the T-track, the driving mechanism 6 can control the movement of the limit track 4 to release the motion state of the track-changing track 4, and can also control the movement of the track-changing track 4 to abut against the vertical fixed track 5 to form a vertical track, thereby realizing the turning and track changing of the T-track, and synchronously locking the motion state of the track-changing track 3 to ensure that the track-changing track 3 and the vertical fixed track 5 remain firmly connected, so that the inspection robot always maintains linear motion before and after the track change, and will not get stuck at the turning point of the T-track. At the same time, the track changing system does not require an additional curved track, can be used in a small space, and makes the track change transition smooth, thereby improving the track change efficiency. It can also synchronously realize locking and limiting through the abutment of the track-changing track 3 with other tracks before and after the track change, thereby ensuring the structural stability of the track before and after the track change.

[0043] At the same time, by adjusting the distribution number and length of the track change track 3 and the limit track 4, the shape of the track change and the number of bifurcated tracks can be adjusted, so that it is suitable for narrow spaces and complex bifurcated tracks.

[0044] Specifically, the first horizontal fixed rail 1 and the second horizontal fixed rail 2 are arranged in parallel with a spacing, so that the track changing rail 3 and the limiting rail 4 can be placed between the first horizontal fixed rail 1 and the second horizontal fixed rail 2, and move between the first horizontal fixed rail 1 and the second horizontal fixed rail 2 to form a horizontal rail in an initial state or turn and change the rail to form a vertical rail, so as to realize the turning and changing of the T-shaped track.

[0045] Combination Figure 3 Furthermore, the first end face 31 and the second end face 32 at both ends of the track-changing track 3 respectively cooperate with the first horizontal fixed end face 11 of the first horizontal fixed track 1 and the first limiting end face 41 of the limiting track 4, and the second limiting end face 42 of the limiting track 4 cooperates with the second horizontal fixed end face 21 of the second horizontal fixed track 2, so that the first horizontal fixed track 1, the track-changing track 3, the limiting track 4 and the second horizontal fixed track 2 can abut and cooperate with each other to form a horizontal track in the initial state.

[0046] In order to enable the track-changing track 3 to remain limited in the initial state and ensure the structural stability of the horizontal track, the first end face 31 and the second end face 32 of the track-changing track 3 are distributed at an angle, and the first horizontal fixed end face 11 of the first horizontal fixed track 1 is adapted to and parallel to the first end face 31. At the same time, the first limiting end face 41 of the limiting track 4 is adapted to and parallel to the second end face 32. Therefore, the first horizontal fixed end face 11 and the first limiting end face 41 also constitute the same angle distribution as the first end face 31 and the second end face 32, so that the first end face 31 and the second end face 32 at both ends of the track-changing track 3 are respectively abutted and limited by the first horizontal fixed end face 11 and the first limiting end face 41, and the track-changing track 3 cannot move axially or rotate, thereby locking the motion state of the track-changing track 3.

[0047] Furthermore, the second limiting end face 42 of the limiting rail 4 is configured to be parallel to the first limiting end face 41, and the second limiting end face 42 is adapted to and parallel to the second horizontal fixed end face 21 of the second horizontal fixed rail 2, so that when the limiting rail 4 rotates in the first direction, the second limiting end face 42 will be limited by the second horizontal fixed end face 21 and cannot move, so as to fix the limiting rail 4, thereby allowing the first limiting end face 41 of the limiting rail 4 to further limit the track changing rail 3, locking the movement state of the track changing rail 3, so that the horizontal rail structure is stable, and the inspection robot can move stably in a straight line on the horizontal rail.

[0048] Combination Figure 4 When the limiting rail 4 rotates in the second direction, the second limiting end face 42 will not be limited by the second horizontal fixed end face 21, so that the limiting rail 4 can rotate in the second direction, from the initial horizontal state to the vertical state, and simultaneously drive the first limiting end face 41 to rotate away from the track changing rail 3, so that the second end face 32 of the track changing rail 3 is no longer abutted and limited by the first limiting end face 41, and can rotate in the first direction, thereby releasing the limitation of the track changing rail 3 by the limiting rail 4, releasing the movement state of the track changing rail 3, so that the track changing rail 3 can be released from the limitation when turning and changing tracks, and cooperate with the vertical fixed rail 5 to form a vertical track.

[0049] As a preferred setting, Figure 3 and Figure 4 As shown, the track-changing track 3 is configured with a trapezoidal cross-section, the limiting track 4 is configured with a parallelogram cross-section adapted to the track-changing track 3, and the first horizontal fixed track 1, the track-changing track 3, the limiting track 4 and the second horizontal fixed track 2 are fitted and abutted against each other, so that a relatively smooth and continuous transition can be maintained between the abutting end faces, thereby reducing friction and resistance caused by sudden changes in shape.

[0050] At the same time, the clockwise rotation of the limiting track 4 will be limited by the second horizontal fixed track 2, and cooperate with the first horizontal fixed track 1 to abut and limit the track changing track 3, lock the movement state of the track changing track 3, and ensure the structural stability of the horizontal track in the initial state.

[0051] Furthermore, the counterclockwise rotation of the limiting track 4 will not be limited by the second horizontal fixed track 2, so that the limiting track 4 rotates from the initial horizontal state to the vertical state and no longer abuts against the track-changing track 3, providing movement space for the track-changing track 3, thereby releasing the movement state of the track-changing track 3, allowing the track-changing track 3 to rotate clockwise and cooperate with the vertical fixed track 5 to form a vertical track, thereby realizing the turning and track changing of the T-shaped track.

[0052] In coordination therewith, the vertical fixed rail 5 is arranged at the first horizontal fixed end face 11 where the first horizontal fixed rail 1 cooperates with the track-changing rail 3, and is distributed vertically to the first horizontal fixed rail 1. At the same time, the setting position of the vertical fixed rail 5 and the distance between it and the first horizontal fixed end face 11 are configured to match the rotational deformation of the track-changing rail 3, so that the track-changing rail 3 can rotate to abut against the vertical fixed rail 5, thereby forming a vertical rail.

[0053] In order to enable the track-changing track 3 to maintain a limited position when turning and changing tracks, and to ensure the structural stability of the vertical track, the vertical fixed end face 51 of the vertical fixed track 5 that cooperates with the track-changing track 3 is configured to be compatible with the first end face 31 or the second end face 32 of the track-changing track 3, so that when the track-changing track 3 abuts against the vertical fixed track 5, the vertical fixed end face 51 can synchronously abut the limited first end face 31 or the second end face 32, lock the movement state of the track-changing track 3, prevent the track-changing track 3 from continuously rotating and causing the vertical track to deviate, thereby ensuring the structural stability of the vertical track.

[0054] In some embodiments, the vertical fixed rail 5 is arranged on one side of the first horizontal fixed rail 1, and corresponds to the mating end face of the track-changing rail 3 after rotation. The vertical fixed end face 51 of the vertical fixed rail 5 is configured to adapt to the first end face 31 or the second end face 32 of the track-changing rail 3, so that the track-changing rail 3 can turn and change tracks to one side of the first horizontal fixed rail 1, so that the horizontal rail and the vertical rail form a T-shaped track distributed along one side of the first horizontal fixed rail 1, which is suitable for narrow spaces.

[0055] As an example, Figure 4 As shown, the vertical fixed rail 5 is arranged on the first side of the first horizontal fixed rail 1, and the vertical fixed end face 51 of the vertical fixed rail 5 is adapted to the second end face 32 of the track-changing rail 3, so that when the track-changing rail 3 rotates to abut against the vertical fixed rail 5, the vertical fixed end face 51 synchronously abuts against the limiting second end face 32, locking the movement state of the track-changing rail 3, and the inspection robot can turn to the first side of the first horizontal fixed rail 1 to move.

[0056] like Figure 5 As shown, if the vertical fixed rail 5 is set on the second side of the first horizontal fixed rail 1, the vertical fixed end face 51 of the vertical fixed rail 5 is configured to adapt to the first end face 31 of the track-changing rail 3, so that when the track-changing rail 3 rotates to abut against the vertical fixed rail 5, the vertical fixed end face 51 synchronously abuts against the limiting first end face 31, locking the movement state of the track-changing rail 3, and the inspection robot can turn to the second side of the first horizontal fixed rail 1 to move.

[0057] In other embodiments, the vertical fixed rails 5 can also be synchronously arranged on both sides of the first horizontal fixed rail 1, and the vertical fixed rails 5 on both sides are respectively configured to adapt to the first end face 31 and the second end face 32 of the track-changing rail 3, so that the track-changing rail 3 can be synchronously abutted and limited with the vertical fixed rails 5 on both sides to form a longer vertical rail, so that the horizontal rail and the vertical rail form two T-shaped rails distributed along both sides of the first horizontal fixed rail 1.

[0058] The first horizontal fixed rail 1, the second horizontal fixed rail 2 and the vertical fixed rail 5 thus formed can cooperate with the track changing rail 3 and the limit rail 4 to form various forms of complex forked rails according to specific applications. Turning and track changing can be achieved through the rotation of the track changing rail 3. The turning radius is small and the track changing efficiency is high. At the same time, the inspection robot maintains linear motion before and after turning and track changing, and will not get stuck at the turning.

[0059] Recombination Figure 1 and Figure 2 In order to position the track changing system and control the movement range of the track changing track 3 and the limit track 4, the track changing system also includes a beam positioning mechanism 7, and the beam positioning mechanism 7 includes a vertical beam 71 and a horizontal beam 72. The vertical beam 71 and the horizontal beam 72 can cooperate to position the first horizontal fixed track 1, the second horizontal fixed track 2 and the vertical fixed track 5, and can also cooperate with the driving mechanism 6 to accurately control the movement state of the track changing track 3 and the limit track 4.

[0060] Specifically, the vertical beam 71 is arranged above the vertical fixed rail 5, the horizontal beam 72 is distributed perpendicular to the vertical beam 71, and the two ends of the horizontal beam 72 are respectively arranged above the first horizontal fixed rail 1 and the second horizontal fixed rail 2, so as to position the vertical fixed rail 5, the first horizontal fixed rail 1 and the second horizontal fixed rail 2 to prevent the fixed rails from offset.

[0061] Furthermore, the vertical beam 71 and the horizontal beam 72 are respectively provided with a suspension rod 73, through which the vertical fixed track 5, the first horizontal fixed track 1 and the second horizontal fixed track 2 can be hoisted and fixed as a whole, thereby improving the installation efficiency of the track.

[0062] In order to control the movement state of the track changing track 3 and the limit track 4, the driving mechanism 6 is respectively arranged on the track changing track 3 and the limit track 4, and is connected and cooperated with the horizontal beam 72 in the corresponding area of ​​the track changing track 3 and the limit track 4, so that the horizontal beam 72 positions the track changing track 3 and the limit track 4 through the driving mechanism 6, and the driving mechanism 6 controls the movement of the track changing track 3 and the limit track 4, so that the horizontal beam 72 and the driving mechanism 6 can cooperate to position and control the track changing track 3 and the limit track 4.

[0063] Combination Figure 6 and Figure 7 The driving mechanism 6 includes a fixed plate 61 respectively arranged on the track changing track 3 and the limiting track 4. The fixed plate 61 is connected to a disc 63 placed at the bottom of the horizontal beam 72 through a connecting rod 62. The disc 63 is preferably arranged at the center position corresponding to the track changing track 3 and the limiting track 4, so that the driving mechanism 6 can drive the track changing track 3 and the limiting track 4 to rotate around their own center position to improve the track changing accuracy.

[0064] Furthermore, a drive motor 64 is provided on the horizontal beam 72, and an output shaft 641 of the drive motor 64 passes through the horizontal beam 72 and is connected to a gear assembly 65 arranged on the disc 63, so that the rotation of the drive motor 64 can drive the gear assembly 65 to rotate, and synchronously drive the disc 63 and the connecting rod 62 to rotate, thereby driving the track change track 3 and the limit track 4 to rotate synchronously through the fixed plate 51.

[0065] Among them, the gear assembly 65 includes a driving gear 651 and a gear ring 652. The driving gear 651 is placed at the bottom of the horizontal beam 72 and connected to the output shaft 641. The gear ring 652 is arranged on the disc 63 and meshes with the outer ring of the driving gear 651, so that the driving motor 64 can drive the driving gear 651 to rotate synchronously through the output shaft 641. When the driving gear 651 rotates, it can synchronously drive the gear ring 652 to rotate, thereby driving the track change track 3 and the limit track 4 to rotate synchronously.

[0066] The driving mechanism 6 thus formed cooperates with the horizontal beam 72 to stably and accurately transmit the power of the driving motor 64 to the track changing track 3 and the limit track 4, making the track changing action more efficient and accurate.

[0067] Preferably, in order to facilitate the disassembly and assembly of the driving mechanism 6 and the horizontal beam 72, the track changing rail 3 and the limiting rail 4, the fixing plate 61 and the disc 63 are both provided with a plurality of bolts, and the fixing plate 61 is fixedly connected to the top ends of the track changing rail 3 and the limiting rail 4 by the plurality of bolts, and the disc 63 is fixedly connected to the horizontal beam 72 by the plurality of bolts, so as to realize the fixed connection between the driving mechanism 6 and the horizontal beam 72, the track changing rail 3 and the limiting rail 4, which is not only simple and easy, but also convenient for disassembly and assembly and maintenance. When the driving mechanism 6 needs to be replaced or repaired, it can be easily disassembled by loosening the bolts, which greatly reduces the maintenance cost and time.

[0068] Furthermore, the track change system can be adjusted to a variety of structural forms according to specific applications.

[0069] In this example, only one track change track 3 and one limit track 4 are set between the first horizontal fixed track 1 and the second horizontal fixed track 2 to form a T-shaped track, so as to realize a turning track change of the inspection robot. Figure 3 and Figure 4 shown.

[0070] In other embodiments, a plurality of track changing tracks 3 and position limiting tracks 4 that cooperate with each other may be arranged between the first horizontal fixed track 1 and the second horizontal fixed track 2, and a plurality of vertical fixed tracks 5 that cooperate with the track changing tracks 3 may be arranged to form a plurality of T-shaped tracks, so as to realize multiple turning and track changing of the inspection robot. Figure 8 and Fig. 9 shown.

[0071] Therefore, by adjusting the distribution number and length of the track-changing rails 3 and the limit rails 4, the track-changing system can be adapted to a variety of narrow spaces and complex bifurcated rails according to specific applications.

[0072] Thus, the T-track track changing system of the inspection robot based on the position limiting track changing unit provided by the present invention is formed.

[0073] The present invention also provides a T-track track changing method of an inspection robot based on a position-limiting track changing unit, and a T-track track changing system of an inspection robot based on a position-limiting track changing unit formed by the above-mentioned scheme.

[0074] The track change method includes:

[0075] S1: Install the first horizontal fixed rail 1, the second horizontal fixed rail 2, the track changing rail 3 and the limiting rail 4 as horizontal rails in the initial state to lock the movement state of the track changing rail 3, and at the same time install the vertical fixed rail 5 at one end of the first horizontal fixed rail 1 that cooperates with the track changing rail 3, and distribute it vertically with the first horizontal fixed rail 1.

[0076] The first horizontal fixed rail 1, the second horizontal fixed rail 2 and the vertical fixed rail 5 can be synchronously hoisted to the rail through the hoist rod 73 on the crossbeam positioning mechanism 7, and then the track changing rail 3 and the limit rail 4 are placed between the first horizontal fixed rail 1 and the second horizontal fixed rail 2. The driving mechanism 6 is respectively arranged on the track changing rail 3 and the limit rail 4 and connected to the horizontal beam 72, so that the limit rail 4 and the first horizontal fixed rail 1 are respectively abutted and limited at both ends of the track changing rail 3, locking the movement state of the track changing rail 3, and ensuring the structural stability of the horizontal rail.

[0077] The inspection robot can move in a straight line on a horizontal track.

[0078] S2: The limiting rail 4 is controlled to move by the driving mechanism 6 on the limiting rail 4 to release the moving state of the track-changing rail 3 .

[0079] When there is a need to turn and change tracks, the driving motor 64 in the driving mechanism 6 corresponding to the limiting track 4 rotates in the second direction, and drives the driving gear 651 to rotate synchronously through the output shaft 641. When the driving gear 651 rotates, it can synchronously drive the gear ring 652 to rotate, thereby driving the limiting track 4 to rotate synchronously in the second direction through the linkage between the gear ring 652, the disc 63 and the connecting rod 62.

[0080] Therefore, the limiting track 4 rotates in the second direction, from the initial horizontal state to the vertical state, and simultaneously drives the first limiting end face 41 to rotate away from the track changing track 3, so that the second end face 32 of the track changing track 3 is no longer abutted and limited by the first limiting end face 41, so that the track changing track 3 is released from the limit and the motion state of the track changing track 3 is released.

[0081] S3: Control the track-changing track 3 to move by the driving mechanism 6 on the track-changing track 3, so that the track-changing track 3 abuts against the vertical fixed track 5, and synchronously locks the movement state of the track-changing track 3.

[0082] The inspection robot moves to the track-changing track 3, and the driving motor 64 in the driving mechanism 6 corresponding to the track-changing track 3 rotates in the first direction, and drives the driving gear 651 to rotate synchronously through the output shaft 641. When the driving gear 651 rotates, it can synchronously drive the gear ring 652 to rotate, so that through the linkage between the gear ring 652, the disc 63 and the connecting rod 62, the track-changing track 3 is driven to rotate synchronously in the first direction until it abuts against the vertical fixed track 5.

[0083] At the same time, the vertical fixed end face 51 of the vertical fixed track 5 synchronously abuts against the limiting first end face 31 or the second end face 32 to lock the motion state of the track changing track 3 and prevent the track changing track 3 from continuously rotating, thereby ensuring the structural stability of the vertical track.

[0084] The inspection robot turns and changes tracks from the horizontal track to the vertical track for stable linear motion.

[0085] Thereby, the T-shaped track turning change of the track change track 3 is achieved.

[0086] The T-track track changing system and method of the inspection robot based on the position-limiting track changing unit provided by the present invention realizes the horizontal track in the initial state through the cooperation of the first horizontal fixed track 1, the second horizontal fixed track 2, the track changing track 3 and the position-limiting track 4, and locks the motion state of the track changing track 3 to ensure the stability of the horizontal track. At the same time, the movement of the track changing track 3 and the position-limiting track 4 is controlled by the driving mechanism 6, and the motion state of the track changing track 3 is released, so that the track changing track 3 and the vertical fixed track 5 cooperate to realize the vertical track when the T-track turns and changes tracks, and the motion state of the track changing track 3 is synchronously locked to ensure the stability of the vertical track. The inspection robot always maintains linear motion, will not get stuck at the turning point of the T-track, and has a small turning radius, so it can be used in narrow spaces and complex forked tracks.

[0087] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A T-track track changing system for an inspection robot based on a position limiting track changing unit, characterized in that: The invention comprises a first horizontal fixed rail and a second horizontal fixed rail arranged in parallel, at least one track changing rail and at least one position limiting rail being arranged between the first horizontal fixed rail and the second horizontal fixed rail, in an initial state, the track changing rail and the position limiting rail are respectively abutted with the first horizontal fixed rail and the second horizontal fixed rail to form a horizontal rail, and the first horizontal fixed rail and the position limiting rail are respectively abutted with two ends of the track changing rail to lock the motion state of the track changing rail, The track changing track and the position limiting track are respectively provided with a driving mechanism, and the driving mechanism is configured to control the movement of the position limiting track to release the movement state of the track changing track, and can also control the movement of the track changing track. A vertical fixed rail is provided at one end of the first horizontal fixed rail that cooperates with the track-changing rail. The vertical fixed rail is vertically distributed to the first horizontal fixed rail and is configured so that the track-changing rail can move to abut against the vertical fixed rail to form a vertical rail and synchronously lock the movement state of the track-changing rail.

2. The inspection robot T-track change system based on the position limiting change unit according to claim 1 is characterized in that: It also includes a beam positioning mechanism, which includes a vertical beam arranged above the vertical fixed track, and a horizontal beam vertically distributed with respect to the vertical beam, wherein both ends of the horizontal beam are respectively arranged above the first horizontal fixed track and the second horizontal fixed track.

3. The inspection robot T-track track changing system based on the position limiting track changing unit according to claim 2 is characterized in that: Suspension rods are respectively provided on the horizontal beam and the vertical beam.

4. The inspection robot T-track change system based on the position limiting change unit according to claim 1 is characterized in that: The first end face and the second end face at both ends of the track change track respectively cooperate with the first horizontal fixed end face of the first horizontal fixed track and the first limiting end face of the limiting track, the first end face and the second end face are distributed at an angle, and the first horizontal fixed end face is adapted and parallel to the first end face, and the first limiting end face is adapted and parallel to the second end face.

5. The inspection robot T-track track changing system based on the position limiting track changing unit according to claim 4 is characterized in that: The second limiting end surface of the limiting track matches the second horizontal fixed end surface of the second horizontal fixed track, the second limiting end surface is parallel to the first limiting end surface, and the second limiting end surface is adapted and parallel to the second horizontal fixed end surface.

6. The inspection robot T-track track changing system based on the position limiting track changing unit according to claim 5 is characterized in that: The vertical fixed end surface of the vertical fixed rail matched with the track-changing rail is configured to match the first end surface or the second end surface.

7. The inspection robot T-track track changing system based on the position limiting track changing unit according to claim 6 is characterized in that: The position-limiting track is configured to have a parallelogram cross section, and the track-changing track is configured to have a trapezoidal cross section.

8. The inspection robot T-track change system based on the position limiting change unit according to claim 2 is characterized in that: The driving mechanism includes fixed plates respectively arranged on the track change track and the limit track, the fixed plates are connected to a disc placed at the bottom of the horizontal beam through a connecting rod, a driving motor is arranged on the horizontal beam, and the output shaft of the driving motor is connected to a gear assembly arranged on the disc.

9. The inspection robot T-track track changing system based on the position limiting track changing unit according to claim 8 is characterized in that: The gear assembly comprises a driving gear disposed at the bottom of the horizontal beam and connected to the output shaft, and a gear ring disposed on the disc and meshing with the outer ring of the driving gear.

10. A T-track change method for an inspection robot based on a position limiting track change unit, characterized in that: The track changing method is based on the T-track track changing system of the inspection robot based on the position limiting track changing unit according to any one of claims 1 to 9, and the track changing method comprises: S1: Install the first horizontal fixed rail, the second horizontal fixed rail, the track change rail and the limit rail as the horizontal rails in the initial state to lock the motion state of the track change rail, and install the vertical fixed rail at one end of the first horizontal fixed rail and the track change rail, and distribute it vertically with the first horizontal fixed rail; S2: Control the movement of the limit track through the driving mechanism on the limit track to release the movement state of the track change track; S3: Control the movement of the track changing track through the driving mechanism on the track changing track, so that the track changing track abuts against the vertical fixed track, and synchronously locks the movement state of the track changing track.

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