Dual-drive track inspection robot and dual-drive control method

Abstract

The invention provides a dual-drive track inspection robot and a dual-drive control method. The inspection robot comprises a robot body, a first drive mechanism, a second drive mechanism, an adjusting mechanism and a main control unit. The adjusting mechanism adjusts the distance between the first driving mechanism and the second driving mechanism; the main control unit controls operation of the first driving mechanism and the second driving mechanism; the first driving mechanism and the second driving mechanism abut against the side faces of the web correspondingly. And the adjusting mechanism adjusts the holding force of the first driving mechanism and the second driving mechanism on the web, so that the robot body stably moves along the track under the control of the main control unit. The distance between the first driving mechanism and the second driving mechanism is adjusted through the adjusting mechanism to adjust the holding force of the first driving mechanism and the second driving mechanism to the web, it is ensured that the inspection robot can be well attached to the track under the complex working conditions, and the phenomena of slipping and slope slipping are effectively prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a dual-drive track inspection robot and a dual-drive control method. Background Art

[0002] There are many types of rail-mounted inspection robots on the market, which are widely used in power stations, coal mines and pipe corridors. This type of inspection robot has a simple structure and can walk and climb by installing drive wheels on both sides of the track to complete the inspection purpose. This type of robot is mostly driven by a single motor. The single-motor driven inspection robot is suitable for occasions with good on-site environment and small track slope. When inspecting in harsh, humid, and steeply inclined tunnels, it is easy to slip and slide when stopping on the uphill slope, which has an adverse effect on the inspection work.

[0003] Therefore, it is necessary to provide an inspection robot to solve the problems existing in the prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a dual-drive track inspection robot and a dual-drive control method, so as to at least solve the problem in the prior art that the inspection robot is prone to slipping and sliding downhill when stopping on an uphill slope.

[0005] In order to achieve the above-mentioned object, the present invention provides a dual-drive track inspection robot, which moves along an I-beam track, wherein the I-beam track includes a vertical web and two wing plates arranged on the upper and lower sides of the web and parallel to each other, and is characterized in that the dual-drive track inspection robot includes a robot body, a first drive mechanism, a second drive mechanism, an adjustment mechanism and a main control unit; the robot body is used to monitor the surrounding environment; the first drive mechanism is installed on the robot body; the second drive mechanism is installed on the robot body; the adjustment mechanism is installed on the robot body and is respectively connected to the first drive mechanism and the second drive mechanism, and the adjustment mechanism is used to adjust the distance between the first drive mechanism and the second drive mechanism; the main control unit is installed on the robot body and is connected to the first drive mechanism and the second drive mechanism, and the main control unit is used to control the operation of the first drive mechanism and the second drive mechanism; Wherein, the first driving mechanism and the second driving mechanism are symmetrically arranged on both sides of the web, and the first driving mechanism and the second driving mechanism are respectively pressed against the side surfaces of the web; the adjusting mechanism adjusts the clamping force of the first driving mechanism and the second driving mechanism on the web by adjusting the distance between the first driving mechanism and the second driving mechanism, so that under the control of the main control unit, the first driving mechanism and the second driving mechanism drive the robot body to move stably along the track.

[0006] Optionally, the robot body includes a shell and a detection component; the top cover of the shell is used to install the first drive mechanism and the second drive mechanism; the detection component is installed on the bottom plate of the shell to monitor the surrounding environment.

[0007] Optionally, the first driving mechanism comprises a first motor and a first pressing wheel assembly, the first motor is connected to and drives the first pressing wheel assembly to rotate; the first motor is located inside the housing, and the first pressing wheel assembly is located outside the housing and pressed against the side surface of the web; The second driving mechanism comprises a second motor and a second pressing wheel assembly, the second motor is connected to and drives the second pressing wheel assembly to rotate; the second motor is located inside the housing, and the second pressing wheel assembly is located outside the housing and pressed against the side surface of the web; Wherein, the adjustment mechanism adjusts the clamping force of the first pressure wheel assembly and the second pressure wheel assembly on the web by adjusting the distance between the first pressure wheel assembly and the second pressure wheel assembly.

[0008] Optionally, the first pressure wheel assembly includes a first driving shaft, a first driving wheel and a first pressure wheel bracket; A first driving shaft is connected to the first motor, and the first driving shaft is used to transmit the rotational power of the first motor; The first driving wheel is coaxially mounted on the top end of the first driving shaft, the first driving wheel abuts against the side surface of the web, and rotates under the drive of the first driving shaft and moves along the web; A first pressing wheel bracket is sleeved on the outer surface of the first driving shaft, and the first pressing wheel bracket is used to support the first driving shaft; The second pressing wheel assembly includes a second driving shaft, a second driving wheel and a second pressing wheel bracket; A second driving shaft is connected to the second motor, and the second driving shaft is used to transmit the rotational power of the second motor; The second driving wheel is coaxially mounted on the top end of the second driving shaft, the second driving wheel abuts against the side surface of the web, and rotates under the drive of the second driving shaft and moves along the web; The second pressure wheel bracket is sleeved on the outer surface of the second driving shaft, and the second pressure wheel bracket is used to support the second driving shaft.

[0009] Optionally, the adjustment mechanism includes a first support, a second support, a first transverse plate, a second transverse plate and an adjustment screw; The first end of the first support is hinged to the first pressure wheel bracket through a first rotating pin, and the second end of the first support is fixedly installed on the top cover, and the first support is used to support the first pressure wheel bracket; the second end of the second support is hinged to the second pressure wheel bracket through a second rotating pin, and the second end of the second support is fixedly installed on the top cover, and the second support is used to support the second pressure wheel bracket; the first end of the first cross plate is fixed to the outer surface of the first pressure wheel bracket, and the second end of the first cross plate is provided with a first pin hole; the first end of the second cross plate is fixed to the outer surface of the second pressure wheel bracket, and the second end of the second cross plate is provided with a second pin hole; the adjusting screw passes through the first pin hole and the second pin hole; When the nut of the adjusting screw is tightened, the first transverse plate and / or the second transverse plate drives the first driving shaft and / or the second driving shaft to move toward the web, so that the first driving wheel and / or the second driving wheel are closer to the web, thereby shortening the distance between the first driving wheel and the second driving wheel.

[0010] Optionally, the dual-drive track inspection robot also includes two groups of load-bearing components, which are symmetrically arranged on both sides of the first drive mechanism and the second drive mechanism, and the first ends of the two groups of load-bearing components are hung on the upper surface of the lower wing plate of the track, and the second ends of the two groups of load-bearing components are fixed on the top cover.

[0011] Optionally, the load-bearing assembly includes two vertical plates, a load-bearing wheel group and a guide pressure wheel assembly; one of the vertical plates is fixed to the upper surface of the top cover, and the other vertical plate is rotatably mounted on the top cover through a rotating bearing seat; the load-bearing wheel group is mounted on the top ends of the two vertical plates and contacts the upper surface of the lower wing plate of the track; the first end of the guide pressure wheel assembly is fixed to the vertical plate, and the second end contacts the edge of the lower wing plate; the guide pressure wheel assembly is used to adjust the direction of the load-bearing wheel group according to the curvature of the edge of the lower wing plate.

[0012] Optionally, the dual-drive track inspection robot further includes an encoder roller assembly; a first end of the encoder roller assembly is mounted on the robot body, and a second end is in contact with the track.

[0013] The present invention also provides a dual-drive track inspection robot control method, which is applied to the dual-drive track inspection robot described in the present application, comprising: Step 1: The main control unit receives an external instruction and sends a speed control signal to the first drive mechanism and the second drive mechanism; the first drive mechanism and the second drive mechanism operate according to the speed control signal; Step 2, the main control unit monitors the actual position or angle information of the first driving mechanism and the second driving mechanism respectively, and calculates the position error or angle error between the first driving mechanism and the second driving mechanism, the position error is the difference between the position information of the first driving mechanism and the position information of the second driving mechanism, and the angle error is the difference between the angle information of the first driving mechanism and the angle information of the second driving mechanism; Step 3: The main control unit converts the position error or angle error into a speed compensation amount for the first drive mechanism and the second drive mechanism; Step 4: The main control unit superimposes the speed compensation amount on the original speed control signal, generates a new speed control signal, and sends it to the first drive mechanism and the second drive mechanism to achieve synchronous coordinated control of the first drive mechanism and the second drive mechanism.

[0014] The invention provides a dual-drive track inspection robot and a dual-drive control method, wherein the inspection robot moves along an I-beam track, the I-beam track includes a vertical web, and two wing plates arranged on the upper and lower sides of the web and parallel to each other, the inspection robot includes a robot body, a first drive mechanism, a second drive mechanism, an adjustment mechanism and a main control unit; the robot body is used to monitor the surrounding environment; the first drive mechanism is installed on the robot body; the second drive mechanism is installed on the robot body; the adjustment mechanism is installed on the robot body and is respectively connected to the first drive mechanism and the second drive mechanism, and the adjustment mechanism is used to adjust the distance between the first drive mechanism and the second drive mechanism; the main control unit is installed on the robot body and is connected to the first drive mechanism and the second drive mechanism, and the main control unit is used to control the operation of the first drive mechanism and the second drive mechanism; wherein the first drive mechanism and the second drive mechanism are symmetrically arranged on both sides of the web, and the first drive mechanism and the second drive mechanism are respectively pressed against the side surfaces of the web; the adjustment mechanism adjusts the clamping force of the first drive mechanism and the second drive mechanism on the web by adjusting the distance between the first drive mechanism and the second drive mechanism, so that under the control of the main control unit, the first drive mechanism and the second drive mechanism drive the robot body to move stably along the track. Therefore, the distance between the first drive mechanism and the second drive mechanism can be adjusted through the adjustment mechanism to adjust the clamping force of the first drive mechanism and the second drive mechanism on the web, ensuring that the inspection robot can maintain a good fit with the track under complex working conditions and effectively prevent slipping and sliding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1is a schematic diagram of an optional dual-drive track inspection robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the cooperation between a dual-drive rail inspection robot and a web plate, which can be selected according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a robot body of a dual-drive track inspection robot that can be selected according to an embodiment of the present invention.

[0016] Reference numerals: 10. Robot body; 11. Shell; 111. Top cover; 12. Detection component; 121. Radar ranging sensor; 122. Binocular PTZ camera; 123. 3D laser radar; 124. Multi-parameter sensor; 13. Power supply; 14. Display screen component; 15. WiFi antenna; 16. Voice, sound and light alarm component; 20. First driving mechanism; 21. First motor; 22. First pressure wheel component; 221. First driving shaft; 222. First driving wheel; 223. First pressure wheel bracket; 224. First coupling; 225. First bearing seat ; 30. Second driving mechanism; 31. Second motor; 32. Second pressure wheel assembly; 321. Second driving shaft; 322. Second driving wheel; 323. Second pressure wheel bracket; 324. Second bearing seat; 40. Adjusting mechanism; 41. First support; 42. First horizontal plate; 43. Adjusting screw; 44. Nut; 45. Rotating pin; 50. Main control unit; 60. Load-bearing assembly; 61. Vertical plate; 62. Load-bearing wheel group; 621. Load-bearing wheel; 63. Guide pressure wheel assembly; 64. Rotating bearing seat; 65. Rotating shaft; 70. Encoder roller assembly. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0018] like Figure 1 , Figure 2As shown, a dual-drive track inspection robot moves along an I-beam track. The I-beam track includes a vertical web and two wing plates arranged on the upper and lower sides of the web and parallel to each other. The dual-drive track inspection robot includes a robot body 10, a first drive mechanism 20, a second drive mechanism 30, an adjustment mechanism 40 and a main control unit 50; the robot body 10 is used to monitor the surrounding environment; the first drive mechanism 20 is installed on the robot body 10; the second drive mechanism 30 is installed on the robot body 10; the adjustment mechanism 40 is installed on the robot body 10 and is respectively connected to the first drive mechanism 20 and the second drive mechanism 30, and the adjustment mechanism 40 is used to adjust the distance between the first drive mechanism 20 and the second drive mechanism 30; the main control unit 50 is installed on the robot body 10 and is connected to the first drive mechanism 20 and the second drive mechanism 30, and the main control unit 50 is used to control the operation of the first drive mechanism 20 and the second drive mechanism 30; Among them, the first driving mechanism 20 and the second driving mechanism 30 are symmetrically arranged on both sides of the web, and the first driving mechanism 20 and the second driving mechanism 30 are respectively pressed against the side surfaces of the web; the adjusting mechanism 40 adjusts the clamping force of the first driving mechanism 20 and the second driving mechanism 30 on the web by adjusting the distance between the first driving mechanism 20 and the second driving mechanism 30, so that under the control of the main control unit 50, the first driving mechanism 20 and the second driving mechanism 30 drive the robot body 10 to move stably along the track.

[0019] Specifically, the dual-drive track inspection robot in the present application moves along an I-beam track. The I-beam track structure has high strength and good support, and is widely used in various industrial inspection scenarios. The structural feature of the I-beam track is that it includes a web and two wing plates located on the upper and lower sides of the web and parallel to each other. The robot body 10 mainly plays the role of detecting the surrounding environment, while the first drive mechanism 20 and the second drive mechanism 30 drive the robot body 10 to move along the track to achieve the purpose of inspection.

[0020] The robot body 10 in the present application is respectively installed with a first drive mechanism 20 and a second drive mechanism 30, which are symmetrically arranged on both sides of the web of the track and are in direct close contact with the side of the web, thereby improving the overall stability through physical double-sided support. In addition, by introducing an adjustment mechanism 40, the distance between the first drive mechanism 20 and the second drive mechanism 30 can be dynamically adjusted. According to the track conditions (such as the inclination angle, the degree of slipperiness) and the requirements of the inspection task, the distance between the first drive mechanism 20 and the second drive mechanism 30 can be adjusted by adjusting the adjustment mechanism 40 to adjust the clamping force of the first drive mechanism 20 and the second drive mechanism 30 on the web, thereby ensuring that the robot can maintain a good fit with the track under complex working conditions, and effectively preventing the occurrence of slipping and sliding.

[0021] In addition, the dual-drive design brings an additional advantage: even if one drive mechanism encounters an obstacle or failure, the other drive mechanism can still keep working, enhancing the robot's fault tolerance and continuous operation capabilities. The main control unit 50, as the "brain" of the entire system, is responsible for receiving sensor data, analyzing environmental conditions, and accurately controlling the coordinated work of the two drive mechanisms based on this, ensuring that the inspection robot can stably and efficiently perform inspection tasks along the preset track.

[0022] In a possible implementation, the robot body 10 includes a shell 11 and a detection component 12; the top cover 111 of the shell 11 is used to install the first drive mechanism 20 and the second drive mechanism 30; the detection component 12 is installed on the bottom plate of the shell 11 for monitoring the surrounding environment.

[0023] Specifically, Figure 3 As shown, the housing 11 is the main structure of the robot body 10, and is made of high-strength, corrosion-resistant materials, which can effectively withstand various harsh conditions in the industrial environment, such as high temperature, low temperature, humidity, corrosive gases, etc., extending the service life of the inspection robot and ensuring the safety of internal electronic components and mechanical parts. The top cover 111 of the housing 11 is used as a mounting plate of the inspection robot for mounting most of the main structures.

[0024] The detection component 12 includes a radar ranging sensor 121 , a binocular pan-tilt camera 122 , a 3D laser radar 123 and a multi-parameter sensor 124 , which are installed on the housing 11 .

[0025] The radar ranging sensor 121 can measure the distance between the inspection robot and the surrounding environment (such as tracks, obstacles), provide accurate spatial positioning information to enhance the robot's environmental perception ability, and provide safe navigation for the inspection robot during movement to avoid collisions, especially when the track changes or encounters temporary obstacles. The binocular pan-tilt camera 122 realizes stereoscopic vision through two cameras, provides high-resolution, wide-angle video monitoring, and supports remote observation and recording. Installing the binocular pan-tilt camera 122 can enhance the visual monitoring capability of the inspection robot, allowing operators to clearly see the details of the inspection area and discover potential problems in a timely manner. The 3D laser radar 123 is used to generate a 3D map of the surrounding environment, provide accurate spatial layout and obstacle information, and facilitate autonomous navigation and obstacle avoidance. Installing the 3D laser radar 123 can significantly improve the environmental adaptability and autonomous navigation capabilities of the inspection robot, especially in low-light or complex environments, ensuring the accuracy and safety of the inspection path. The multi-parameter sensor 124 monitors various parameters in the environment, such as temperature, humidity, gas concentration, etc., and provides comprehensive environmental monitoring data, so that the inspection robot can identify potential safety hazards, such as fire, gas leakage, etc., and take timely measures to prevent accidents.

[0026] The housing 11 is also provided with a display assembly 14, which is used to provide a local display interface, display information such as the robot status, environmental monitoring data, and support touch screen operation. It is convenient for on-site operators to directly view the status and monitoring data of the inspection robot, and improve the intuitiveness and convenience of the inspection work. The communication between the inspection robot and the remote control center, i.e., the host computer, is realized through the WiFi antenna 15, which transmits data and control instructions, which can improve the flexibility and efficiency of the inspection work, while reducing the risk of on-site operation.

[0027] The power supply 13 is installed on the inner surface of the top cover 111. The power supply 13 is the basis for the operation of the robot and provides the necessary electrical energy for all electronic components and driving mechanisms. The power supply 13 is a battery pack or a rechargeable battery, as well as a power management system to ensure the stability and safety of the power supply. A voice, sound and light alarm component 16 is also installed on the outer shell 11. When an abnormal situation is detected or manual intervention is required, a warning is issued to the operator through sound and light signals, which can improve the safety of the inspection robot and ensure that relevant personnel can be notified in time in an emergency to reduce the risk of accidents. In addition, the main control unit 50 also communicates data with external modules through Ethernet ports, RS485 and other interfaces to achieve control and information reading. The inspection robot uses a combination of wired and wireless communication technologies to achieve more efficient data transmission, more precise control and more comprehensive environmental monitoring, which can improve the overall performance and reliability of the entire inspection system.

[0028] The power supply 13 and the main control unit 50 are fixed to the bottom surface of the top cover 111 by screws.

[0029] In a possible implementation, the first driving mechanism 20 includes a first motor 21 and a first pressing wheel assembly 22, the first motor 21 is connected to and drives the first pressing wheel assembly 22 to rotate; the first motor 21 is located inside the housing 11, and the first pressing wheel assembly 22 is located outside the housing 11 and pressed against the side of the web; The second driving mechanism 30 includes a second motor 31 and a second pressing wheel assembly 32. The second motor 31 is connected to and drives the second pressing wheel assembly 32 to rotate. The second motor 31 is located inside the housing 11, and the second pressing wheel assembly 32 is located outside the housing 11 and pressed against the side of the web. The adjustment mechanism 40 adjusts the clamping force of the first pressing wheel assembly 22 and the second pressing wheel assembly 32 on the web by adjusting the distance between the first pressing wheel assembly 22 and the second pressing wheel assembly 32 .

[0030] Specifically, in the first driving mechanism 20, the first pressing wheel assembly 22 is driven to rotate by the first motor 21, and the second driving mechanism 30 is driven to rotate by the second motor 31. The first pressing wheel assembly 22 and the second pressing wheel assembly 32 are symmetrically located on both sides of the web and are pressed against the web. When the first motor 21 and the second motor 31 respectively drive the first pressing wheel assembly 22 and the second pressing wheel assembly 32 to rotate, due to the close contact between the pressing wheel assembly and the web, the rotating pressing wheel assembly will generate a forward thrust or traction force on the side of the web, and the thrust is balanced with the reaction force of the web on the pressing wheel, so that the robot body 10 can move stably along the web under the action of friction. The first motor 21 and the second motor 31 are located inside the housing 11, so that the first motor 21 and the second motor 31 are protected in the internal structure, avoiding direct interference from the external environment.

[0031] The adjustment mechanism 40 can adjust the distance between the first pressure wheel assembly 22 and the second pressure wheel assembly 32, thereby achieving control of the web clamping force. In addition, through the adjustment mechanism 40, the inspection robot can adapt to webs of different thicknesses, so that the inspection robot can be widely used in various scenarios without the need to customize a special inspection robot for each specific task.

[0032] In a possible implementation, the first pressure wheel assembly 22 includes a first driving shaft 221, a first driving wheel 222 and a first pressure wheel bracket 223; the first driving shaft 221 is connected to the first motor 21, and the first driving shaft 221 is used to transmit the rotational power of the first motor 21; the first driving wheel 222 is coaxially installed on the top of the first driving shaft 221, the first driving wheel 222 abuts against the side of the web, and rotates under the drive of the first driving shaft 221 and moves along the web; the first pressure wheel bracket 223 is sleeved on the outer surface of the first driving shaft 221, and the first pressure wheel bracket 223 is used to support the first driving shaft 221; The second pressure wheel assembly 32 includes a second driving shaft 321, a second driving wheel 322 and a second pressure wheel bracket 323; the second driving shaft 321 is connected to the second motor 31, and the second driving shaft 321 is used to transmit the rotational power of the second motor 31; the second driving wheel 322 is coaxially installed on the top of the second driving shaft 321, the second driving wheel 322 is against the side of the web, and rotates under the drive of the second driving shaft 321 and moves along the web; the second pressure wheel bracket 323 is mounted on the outer surface of the second driving shaft 321, and the second pressure wheel bracket 323 is used to support the second driving shaft 321.

[0033] Specifically, the output shaft of the first motor 21 is connected to the first drive shaft 221 through the first coupling 224, and the first drive wheel 222 is coaxially installed at the top of the first drive shaft 221. When the first motor 21 is running, the rotational power is output to the first drive shaft 221 through the first coupling 224, and the first drive shaft 221 rotates to drive the first drive wheel 222 to rotate. Since the first pressure wheel assembly 22 and the second pressure wheel assembly 32 have the same structure, similarly, the output shaft of the second motor 31 is connected to the second drive shaft 321 through the second coupling, and the second drive wheel 322 is coaxially installed at the top of the second drive shaft 321. When the second motor 31 is running, the rotational power is output to the second drive shaft 321 through the second coupling, and the second drive shaft 321 rotates to drive the second drive wheel 322. The first drive wheel 222 and the second drive wheel 322 rotate under the drive of the corresponding motor, and friction is generated between the wheel surface of the first drive wheel 222 and the second drive wheel 322 and the surface of the web, and the friction drives the robot body 10 to move along the web. The first driving wheel 222 and the second driving wheel 322 are respectively located on both sides of the web and work independently, but the two work together to push the robot body 10 to move along the web. The adjustment mechanism 40 maintains close contact and appropriate friction between the driving wheel and the web. The adjustment mechanism 40 can adjust the pressing force of the driving wheel on the web according to factors such as the material and surface condition of the web. The appropriate pressing force helps to ensure that the driving wheel will not slip during movement and will not cause excessive wear on the surface of the web.

[0034] The first pressure wheel bracket 223 is mounted on the outer surface of the first driving shaft 221, and the first bearing seat 225 is installed above the first pressure wheel bracket 223. The second pressure wheel bracket 323 is mounted on the outer surface of the second driving shaft 321, and the second bearing seat 324 is installed above the second pressure wheel bracket 323 to provide stable support for the driving shaft and ensure that the driving shaft can remain stable and without deviation during rotation.

[0035] In a possible implementation, the adjustment mechanism 40 includes a first support 41, a second support, a first cross plate 42, a second cross plate and an adjusting screw 43; the first end of the first support 41 is hinged to the first pressure wheel bracket 223 through a first rotating pin 45, the second end of the first support 41 is fixedly mounted on the top cover 111, and the first support 41 is used to support the first pressure wheel bracket 223; the second end of the second support is hinged to the second pressure wheel bracket 323 through a second rotating pin, the second end of the second support is fixedly mounted on the top cover 111, and the second support is used to support the second pressure wheel bracket 323; the first end of the first cross plate 42 is fixed to the outer surface of the first pressure wheel bracket 223, and the second end of the first cross plate 42 is provided with a first pin hole; the first end of the second cross plate is fixed to the outer surface of the second pressure wheel bracket 323, and the second end of the second cross plate is provided with a second pin hole; the adjusting screw 43 passes through the first pin hole and the second pin hole; When the nut 44 of the adjusting screw 43 is tightened, the first transverse plate 42 and / or the second transverse plate drives the first driving shaft 221 and / or the second driving shaft 321 to move toward the web, so that the first driving wheel 222 and / or the second driving wheel 322 are closer to the web, thereby shortening the distance between the first driving wheel 222 and the second driving wheel 322.

[0036] Specifically, the first support 41 and the second support are used to support the first pressure wheel bracket 223 and the second pressure wheel bracket 323 respectively. The first end of the first support 41 is hinged to the first pressure wheel bracket 223 through the rotating pin 45, and the second end is fixedly mounted on the top cover 111. The second support is also connected to the second pressure wheel bracket 323 in a similar manner and fixed to the top cover 111, so that the pressure wheel bracket can be swung and adjusted within a certain range. The swing of the pressure wheel assembly drives the rotation shaft and the driving wheel to adjust, so as to adjust the distance between the first driving wheel 222 and the second driving wheel 322, thereby adjusting the clamping force of the first driving wheel 222 and the second driving wheel 322 on the web.

[0037] The first end of the first transverse plate 42 and the first end of the second transverse plate are fixed to the outer surface of the first pressure wheel bracket 223 and the second pressure wheel bracket 323, respectively. The second end of the first transverse plate 42 and the second end of the second transverse plate are provided with a first pin hole and a second pin hole, respectively, for installing the adjusting screw 43. The adjusting screw 43 passes through the first pin hole and the second pin hole, and the part of the adjusting screw 43 located outside the first transverse plate 42 and the second transverse plate is installed with a nut 44, and the adjustment of the pressure wheel bracket and the driving shaft is achieved by tightening the nut 44. When the nut 44 close to the first transverse plate 42 is tightened, the first transverse plate 42 drives the first pressure wheel bracket 223 to move toward the web, and the first support 41 further drives the first driving shaft 221 to move, and the adjustment of the second driving wheel 322 is similar, so that the clamping force of the first driving wheel 222 and the second driving wheel 322 on the web is adjusted by adjusting the distance between the first driving wheel 222 and the second driving wheel 322.

[0038] In a possible embodiment, the dual-drive track inspection robot also includes two groups of load-bearing components 60, which are symmetrically arranged on both sides of the first drive mechanism 20 and the second drive mechanism 30, and the first ends of the two groups of load-bearing components 60 are hung on the upper surface of the lower wing plate of the track, and the second ends of the two groups of load-bearing components 60 are fixed on the top cover 111.

[0039] Specifically, two groups of load-bearing components 60 are symmetrically arranged on both sides of the first driving mechanism 20 and the second driving mechanism 30, and their main function is to support the entire driving mechanism and the robot body 10 connected to the load-bearing components 60. The symmetrical arrangement ensures the stability and balance of the inspection robot during operation. In addition, the first end of the load-bearing component 60 is hung on the upper surface of the lower wing plate of the track and rolls along the upper surface of the lower wing plate under the driving action of the driving mechanism, and the second end is fixed on the top cover 111, driving the robot body 10 to move along the track. The load-bearing component 60 provides a solid support foundation for the inspection robot, effectively disperses the weight of the inspection robot, avoids structural damage or deformation of the driving mechanism due to excessive force at a single point, and ensures the stability of the driving mechanism during long-term operation.

[0040] In a possible embodiment, the load-bearing assembly 60 includes two vertical plates 61, a load-bearing wheel group 62 and a guide pressure wheel assembly 63; one of the vertical plates 61 is fixed to the upper surface of the top cover 111, and the other vertical plate 61 is rotatably mounted on the top cover 111 through a rotating bearing seat 64; the load-bearing wheel group 62 is mounted on the top of the two vertical plates 61 and contacts the upper surface of the lower wing plate of the track; the first end of the guide pressure wheel assembly 63 is fixed to the vertical plate 61, and the second end contacts the edge of the lower wing plate; the guide pressure wheel assembly 63 is used to adjust the direction of the load-bearing wheel group 62 according to the curvature of the edge of the lower wing plate.

[0041] Specifically, one of the two vertical plates 61 is fixed on the upper surface of the top cover 111, and the other vertical plate 61 is rotatably mounted on the top cover 111 through a rotating bearing seat 64, which facilitates the installation and removal of the load-bearing assembly 60 on the track. Each load-bearing wheel group 62 includes two groups of load-bearing wheels 621, each group of load-bearing wheels 621 is connected to a vertical plate 61, and the two groups of load-bearing wheels 621 are symmetrically arranged on both sides of the web, and the wheel surface of the load-bearing wheel group 62 contacts the upper surface of the lower wing plate, ensuring the uniformity and stability of the load-bearing, and the rolling contact reduces the friction resistance and improves the moving efficiency. Each group of load-bearing components 60 includes four groups of guide pressure wheel assemblies 63, and each vertical plate 61 is provided with a group of guide pressure wheel assemblies 63 on the left and right sides, and each group of guide pressure wheel assemblies 63 is rotatably mounted on a group of vertical plates 61 through a rotating shaft 65. The guide pressure wheel assembly 63 can adjust the direction of the load-bearing wheel group 62 according to the curvature of the edge of the lower wing plate, ensuring that the inspection robot can also maintain a stable moving trajectory on a curved track.

[0042] In a possible implementation, the dual-drive track inspection robot further includes an encoder roller assembly 70 , a first end of which is mounted on the robot body 10 , and a second end of which is in contact with the track.

[0043] Specifically, the first end of the encoder roller assembly 70 is mounted on the robot body 10, and the second end is in contact with the track. As the robot body 10 moves on the track, the roller will roll accordingly, and the rotation of the roller will be converted into an electrical signal through the sensor mechanism inside the encoder roller assembly 70. After processing, the electrical signal can accurately reflect the position information of the robot body 10 on the track, thereby achieving position feedback and precise positioning. In addition, by monitoring the movement state of the roller in real time, the main control unit 50 and the host computer can accurately adjust the movement speed and direction of the robot to ensure that the inspection robot can move according to the predetermined trajectory.

[0044] The present application also provides a dual-drive track inspection robot control method, which is applied to the dual-drive track inspection robot in the present application, comprising: Step 1: The main control unit 50 receives an external instruction and sends a speed control signal to the first drive mechanism 20 and the second drive mechanism 30; the first drive mechanism 20 and the second drive mechanism 30 operate according to the speed control signal; Step 2, the main control unit 50 monitors the actual position or angle information of the first drive mechanism 20 and the second drive mechanism 30 respectively, and calculates the position error or angle error between the first drive mechanism 20 and the second drive mechanism 30, the position error is the difference between the position information of the first drive mechanism 20 and the position information of the second drive mechanism 30, and the angle error is the difference between the angle information of the first drive mechanism 20 and the angle information of the second drive mechanism 30; Step 3, the main control unit 50 converts the position error or angle error into a speed compensation amount for the first driving mechanism 20 and the second driving mechanism 30; Step 4: The main control unit 50 adds the speed compensation amount to the original speed control signal to generate a new speed control signal and sends it to the first drive mechanism 20 and the second drive mechanism 30 to achieve synchronous coordinated control of the first drive mechanism 20 and the second drive mechanism 30.

[0045] Specifically, in step 1, the main control unit 50 of the dual-drive rail inspection robot is the core of the entire control system and is responsible for receiving instructions from the outside such as the host computer. The instructions usually contain information about the tasks that the robot needs to perform, such as moving speed, target position, etc. After receiving these instructions, the main control unit 50 will calculate the speed control signals that the first drive mechanism 20 and the second drive mechanism 30 should have according to the preset algorithm or logic, and send these signals to the corresponding drive mechanisms.

[0046] Step 2: After the main control unit 50 sends the speed control signal, the system enters the real-time monitoring stage. The main control unit 50 monitors the actual position or angle information of the first drive mechanism 20 and the second drive mechanism 30 respectively. The actual position or angle information is usually obtained by sensors installed on the drive mechanism. After obtaining this information, the main control unit 50 calculates and obtains the position error or angle error between the two drive mechanisms, which reflects the deviation of the two drive mechanisms in terms of synchronization.

[0047] Step 3, after obtaining the position error or angle error, the main control unit 50 uses a preset algorithm or control strategy to convert the error into a speed compensation amount for the first drive mechanism 20 and the second drive mechanism 30. The purpose of the speed compensation amount is to adjust the speed of the two drive mechanisms to reduce or eliminate the synchronization error between them. After the main control unit 50 calculates the position error Δx, the main control unit 50 will calculate the speed adjustment amount Δv required for the first drive mechanism 20 or the second drive mechanism 30 according to the preset PID (proportional-integral-derivative) control algorithm. This adjustment amount Δv is the speed compensation amount.

[0048] Step 4: After obtaining the speed compensation amount, the main control unit 50 will superimpose the speed compensation amount on the original speed control signal to generate a new speed control signal. The new speed control signal will be sent to the corresponding drive mechanism to achieve synchronous and coordinated control of them. In this way, the main control unit 50 can adjust the speed of the two drive mechanisms in real time to keep them running synchronously, thereby avoiding the problem of the two drive mechanisms competing with each other, driving the robot body 10 to move stably and complete the inspection work.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-drive track inspection robot moves along an I-beam track, the I-beam track comprising a vertical web and two wing plates arranged on the upper and lower sides of the web and parallel to each other, characterized in that: The dual-drive track inspection robot comprises: The robot body is used to monitor the surrounding environment; A first driving mechanism, mounted on the robot body; A second driving mechanism is mounted on the robot body; an adjusting mechanism, mounted on the robot body and connected to the first driving mechanism and the second driving mechanism respectively, the adjusting mechanism being used to adjust the distance between the first driving mechanism and the second driving mechanism; A main control unit, mounted on the robot body and connected to the first drive mechanism and the second drive mechanism, the main control unit being used to control the operation of the first drive mechanism and the second drive mechanism; Wherein, the first driving mechanism and the second driving mechanism are symmetrically arranged on both sides of the web, and the first driving mechanism and the second driving mechanism are respectively pressed against the side surfaces of the web; the adjusting mechanism adjusts the clamping force of the first driving mechanism and the second driving mechanism on the web by adjusting the distance between the first driving mechanism and the second driving mechanism, so that under the control of the main control unit, the first driving mechanism and the second driving mechanism drive the robot body to move stably along the track.

2. The dual-drive rail inspection robot according to claim 1, characterized in that: The robot body comprises: A housing, a top cover of which is used to mount the first driving mechanism and the second driving mechanism; The detection component is installed on the bottom plate of the shell and is used to monitor the surrounding environment.

3. The dual-drive rail inspection robot according to claim 2, characterized in that: The first driving mechanism comprises a first motor and a first pressing wheel assembly, wherein the first motor is connected to and drives the first pressing wheel assembly to rotate; the first motor is located inside the housing, and the first pressing wheel assembly is located outside the housing and pressed against the side surface of the web; The second driving mechanism comprises a second motor and a second pressing wheel assembly, the second motor is connected to and drives the second pressing wheel assembly to rotate; the second motor is located inside the housing, and the second pressing wheel assembly is located outside the housing and pressed against the side surface of the web; Wherein, the adjustment mechanism adjusts the clamping force of the first pressure wheel assembly and the second pressure wheel assembly on the web by adjusting the distance between the first pressure wheel assembly and the second pressure wheel assembly.

4. The dual-drive rail inspection robot according to claim 3, characterized in that: The first pressure wheel assembly comprises: a first driving shaft connected to the first motor, the first driving shaft being used to transmit the rotational power of the first motor; A first driving wheel is coaxially mounted on the top of the first driving shaft, the first driving wheel abuts against the side of the web, and is driven by the first driving shaft to rotate and move along the web; A first pressure wheel bracket, sleeved on the outer surface of the first driving shaft, the first pressure wheel bracket is used to support the first driving shaft; The second pressing wheel assembly comprises: a second driving shaft connected to the second motor, the second driving shaft being used to transmit the rotational power of the second motor; A second driving wheel is coaxially mounted on the top end of the second driving shaft, the second driving wheel abuts against the side surface of the web, and is driven by the second driving shaft to rotate and move along the web; The second pressure wheel bracket is sleeved on the outer surface of the second driving shaft, and the second pressure wheel bracket is used to support the second driving shaft.

5. The dual-drive rail inspection robot according to claim 4, characterized in that: The regulating mechanism comprises: A first support, wherein a first end of the first support is hinged to the first pressure wheel bracket through a first rotating pin, a second end of the first support is fixedly mounted on the top cover, and the first support is used to support the first pressure wheel bracket; A second support, wherein the second end of the second support is hinged to the second pressure wheel bracket through a second rotating pin, the second end of the second support is fixedly mounted on the top cover, and the second support is used to support the second pressure wheel bracket; A first transverse plate, wherein a first end of the first transverse plate is fixed to an outer surface of the first pressure wheel bracket, and a first pin hole is formed at a second end of the first transverse plate; A second transverse plate, wherein a first end of the second transverse plate is fixed to an outer surface of the second pressure wheel bracket, and a second pin hole is formed at a second end of the second transverse plate; an adjusting screw passing through the first pin hole and the second pin hole; When the nut of the adjusting screw is tightened, the first transverse plate and / or the second transverse plate drives the first driving shaft and / or the second driving shaft to move toward the web, so that the first driving wheel and / or the second driving wheel are closer to the web, thereby shortening the distance between the first driving wheel and the second driving wheel.

6. The dual-drive rail inspection robot according to claim 2, characterized in that: The dual-drive track inspection robot also includes: Two groups of load-bearing components are symmetrically arranged on both sides of the first driving mechanism and the second driving mechanism, the first ends of the two groups of load-bearing components are hung on the upper surface of the lower wing plate of the track, and the second ends of the two groups of load-bearing components are fixed on the top cover.

7. The dual-drive rail inspection robot according to claim 6, characterized in that: The load-bearing component comprises: Two vertical plates, one of which is fixed to the upper surface of the top cover, and the other of which is rotatably mounted on the top cover via a rotating bearing seat; A load-bearing wheel assembly is mounted on the top of the two vertical plates and contacts the upper surface of the lower wing plate of the track; A guide pressure wheel assembly, the first end of which is fixed on the vertical plate, and the second end of which is in contact with the edge of the lower wing plate of the track; the guide pressure wheel assembly is used to adjust the direction of the load-bearing wheel group according to the curvature of the edge of the lower wing plate of the track.

8. The dual-drive rail inspection robot according to claim 1, characterized in that: The dual-drive track inspection robot also includes: An encoder roller assembly has a first end mounted on the robot body and a second end in contact with the track.

9. A control method for a dual-drive rail inspection robot, characterized in that: The dual-drive track inspection robot according to any one of claims 1 to 8 comprises: Step 1: The main control unit receives an external instruction and sends a speed control signal to the first drive mechanism and the second drive mechanism; the first drive mechanism and the second drive mechanism operate according to the speed control signal; Step 2, the main control unit monitors the actual position or angle information of the first driving mechanism and the second driving mechanism respectively, and calculates the position error or angle error between the first driving mechanism and the second driving mechanism, the position error is the difference between the position information of the first driving mechanism and the position information of the second driving mechanism, and the angle error is the difference between the angle information of the first driving mechanism and the angle information of the second driving mechanism; Step 3: The main control unit converts the position error or angle error into a speed compensation amount for the first drive mechanism and the second drive mechanism; Step 4: The main control unit superimposes the speed compensation amount on the original speed control signal, generates a new speed control signal, and sends it to the first drive mechanism and the second drive mechanism to achieve synchronous coordinated control of the first drive mechanism and the second drive mechanism.

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