Safety inspection track robot

Abstract

The invention relates to a safety inspection track robot. Comprising a box body, an explosion-proof control box and an explosion-proof storage battery are installed in the box body, a bottom pan-tilt, a gas detector and an indicator light are installed at the bottom of the box body, a supporting plate is installed at the top of the box body, and a walking driving device matched with an I-shaped rail is installed in the middle of the supporting plate. A bearing walking device is installed on one side of the walking driving device, a bearing walking cleaning device is installed on the other side of the walking driving device, and a temperature and humidity instrument and a gas analyzer are further installed on the side portion of the supporting plate. Ultrasonic sensors are installed in the middle of the front wall and the middle of the rear wall of the box body. Proximity switches matched with buffers on the I-shaped rails are installed in the middle of the front portion and the middle of the rear portion of the supporting plate. According to the safety inspection track robot provided by the invention, the safety of inspection activities is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of rail robots, and in particular relates to a safety inspection rail robot. Background Art

[0002] In scenarios such as coal transportation corridors, due to the various drawbacks of limited human inspections, inspection rail robots have been increasingly widely used. Inspection rail robots usually move along the I-shaped tracks installed on site and use various sensors configured on them to obtain inspection data. The I-shaped tracks determine the inspection path, which should be arranged at the locations that need to be inspected. Various sensors are configured on the rail-type inspection robots to effectively obtain inspection data, improve inspection efficiency, and ensure production operation safety.

[0003] In some scenarios, such as inspection scenarios involving flammable and explosive gases, the inspection track robot itself cannot become the source of explosion, which places stringent requirements on the structure of the inspection track robot. In summary, it is necessary to develop and design the structure of the inspection track robot to improve the safety of inspection activities. Summary of the invention

[0004] The purpose of the present invention is to provide a safe rail inspection robot to improve the safety of inspection activities.

[0005] The technical solution adopted by the present invention is: a safety inspection rail robot, including a box body, an explosion-proof control box and an explosion-proof battery are installed inside the box body, a bottom pan / tilt, a gas detector and an indicator light are installed at the bottom of the box body, a support plate is installed on the top of the box body, a walking drive device matching the I-shaped track is installed in the middle of the support plate, a load-bearing walking device is installed on one side of the walking drive device, and a load-bearing walking cleaning device is installed on the other side, and a temperature and humidity meter and a gas analyzer are also installed on the side of the support plate; ultrasonic sensors are installed in the middle of the front wall and the middle of the rear wall of the box body, and proximity switches matching the buffer on the I-shaped track are installed in the middle of the front and the middle of the rear of the support plate.

[0006] Preferably, the travel drive device includes a drive motor, a drive box, and an active drive wheel installed on the output shaft of the drive box, and also includes a swing frame installed on the supporting column and can swing elastically, and a detection transmission wheel is installed in the middle of the swing frame. The active drive wheel and the detection transmission wheel are respectively located on both sides of the middle plate of the I-rail and the wheel flanges are in friction contact with the middle plate.

[0007] Preferably, two supporting columns are arranged opposite to each other, one end of the swing frame is installed on the top of one of the supporting columns by a bearing, a groove is provided at the other end of the swing frame, and an elastic connecting piece is installed at the upper end of the other supporting column, and the elastic connecting piece is located in the groove of the swing frame.

[0008] Preferably, a commutator is also installed on the side of the drive box, the input shaft of the commutator is in a vertical state and is connected to the output shaft of the drive box by a chain, and the output shaft of the commutator is in a horizontal state and a friction wheel is installed on the output shaft.

[0009] Preferably, an encoder is also included, the housing of the encoder is fixedly connected to the swing frame, and the input shaft of the encoder is connected to the axle of the detection transmission wheel.

[0010] Preferably, the load-bearing walking device includes two first slide rails installed on the support plate, a first slider is provided on the first slide rail, a first base is installed between the two first sliders, a first swivel support is installed on the first base, two opposite first load-bearing brackets are installed on the first swivel support, and a first load-bearing wheel is installed on the inner side of the first load-bearing bracket.

[0011] Preferably, a first guide bracket is hingedly mounted on the first load-bearing bracket, a torsion spring is installed between the first guide bracket and the first load-bearing bracket, and a first guide wheel matched with the I-shaped track is installed on the first guide bracket.

[0012] Preferably, the load-bearing walking cleaning device includes two second slide rails installed on the support plate, a second slider is provided on the second slide rails, a second base is installed between the two second sliders, a second swivel support is installed on the second base, two opposite second load-bearing brackets are installed on the second swivel support and a second load-bearing wheel is installed on the inner side of the second load-bearing bracket; and also includes a cleaning component.

[0013] Preferably, a second guide bracket is hingedly mounted on the second load-bearing bracket, a torsion spring is installed between the second guide bracket and the second load-bearing bracket, and a second guide wheel matched with the I-shaped track is installed on the second guide bracket.

[0014] Preferably, the cleaning assembly includes a transmission box, the input shaft at the root of the transmission box is connected to the axle of the second guide wheel, and a cleaning roller brush acting on the I-rail is installed at the lower end of the output shaft at the end of the transmission box; a limiting roller cooperating with the I-rail is also installed above the end of the transmission box.

[0015] The advantages and positive effects of the present invention are:

[0016] The present invention provides a safety inspection rail robot, in which an explosion-proof control box and an explosion-proof battery are arranged in the box, which improves the explosion-proof characteristics of the inspection rail robot during operation, making it suitable for scenes with flammable and explosive gases, completing safety inspections, and improving the safety of inspection activities. The safety inspection rail robot of the present invention is equipped with a gas detector, a temperature and humidity meter, and a gas detector, so it has the functions of combustible gas detection, temperature and humidity detection, and multi-component gas analysis. By setting a bottom pan / tilt, it is allowed to install inspection components such as cameras and infrared imagers, thereby realizing a more comprehensive safety inspection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the external structure of the present invention, from an upper perspective;

[0018] Figure 2 is a schematic diagram of the external structure of the present invention, from a lower perspective;

[0019] Figure 3 is a schematic diagram of the internal structure of the present invention, from an upper perspective;

[0020] Figure 4 yes Figure 3 Structural schematic diagram of the medium load-bearing walking device;

[0021] Figure 5 yes Figure 3 The structural diagram of the traveling drive device;

[0022] Figure 6 yes Figure 3 Structural diagram of a medium load-bearing walking cleaning device;

[0023] Figure 7 yes Figure 1 Schematic diagram of the structure of the buffer and proximity switch.

[0024] In the figure:

[0025] 1. Box; 2. Bottom pan; 3. Support plate; 4. Side shield; 5. Load-bearing walking device; 5-1. First slide rail; 5-2. First slider; 5-3. First base; 5-4. First load-bearing bracket; 5-5. First load-bearing wheel; 5-6. First guide bracket; 5-7. First guide wheel; 5-8. First slewing support; 6. Travel drive device; 6-1. Drive motor; 6-2. Drive box; 6-3. Active drive wheel; 6-4. Detection drive wheel; 6-5. Commutator; 6-6. Friction wheel; 6-7. Encoder; 6-8. Support column; 6-9. Elastic connector; 6-10. Pendulum Moving frame; 7, load-bearing walking cleaning device; 7-1, second slide rail; 7-2, second slide block; 7-3, second base; 7-4, second load-bearing bracket; 7-5, second load-bearing wheel; 7-6, second guide bracket; 7-7, second guide wheel; 7-8, second slewing support; 7-9, transmission box; 7-10, cleaning roller brush; 7-11, limit roller; 8, buffer; 9, proximity switch; 10, side panel; 11, lifting ring; 12, gas detector; 13, indicator light; 14, ultrasonic sensor; 15, explosion-proof control box; 16, explosion-proof battery; 17, temperature and humidity meter; 18, gas analyzer. DETAILED DESCRIPTION

[0026] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0027] See also Figure 1 , Figure 2 and Figure 3 The safety inspection rail robot of the present invention comprises a box body 1, inside which an explosion-proof control box 15 and an explosion-proof battery 16 are installed. The explosion-proof control box 15 is composed of an explosion-proof box body and a control circuit board located inside the explosion-proof box body, and the explosion-proof battery 16 is composed of an explosion-proof box body and a battery located inside the explosion-proof box body. By constructing an explosion-proof structure for the control circuit board and the battery, the explosion-proof characteristics of the inspection rail robot are improved, making it suitable for use in scenarios containing flammable and explosive gases.

[0028] A bottom pan-tilt 2, a gas detector 12 and an indicator light 13 are installed at the bottom of the box 1, wherein the bottom pan-tilt 2 has the functions of rotation and pitching, and components such as a camera or an infrared imager can be installed on the bottom pan-tilt 2 to achieve a better safety inspection effect. The gas detector 12 is used to detect flammable and explosive gases, and the safety risk of the inspection area is assessed by detecting the content of flammable and explosive gases. The indicator light 13 is used to generate a prompt light, for example, a green light is emitted when the inspection condition is normal, and a flashing red light is emitted when an abnormal condition is detected.

[0029] A support plate 3 is installed on the top of the box body 1, and a travel drive device 6 that cooperates with the I-rail is installed in the middle of the support plate 3. A load-bearing travel device 5 is installed on one side of the travel drive device 6, and a load-bearing travel cleaning device 7 is installed on the other side. A temperature and humidity meter 17 and a gas analyzer 18 are also installed on the side of the support plate 3.

[0030] Among them, the walking drive device 6 is used to generate a walking drive effect, so that the inspection track robot moves along the track. The load-bearing walking device 5 and the load-bearing walking cleaning device 7 are used to make the track bear the weight of the inspection robot. Under the driving action of the walking drive device 6, the load-bearing walking device 5 and the load-bearing walking cleaning device 7 both walk on the track. The load-bearing walking cleaning device 7 also has a continuous online cleaning function. By continuously cleaning the track surface to remove the deposited dust, the track surface is cleaned. This can improve the smoothness of the inspection track robot when it moves along the track, and avoid the problem of displacement jamming or even inability to shift due to dust deposited on the track.

[0031] Ultrasonic sensors 14 are installed in the middle of the front wall and the middle of the rear wall of the box body 1, and proximity switches 9 that cooperate with the buffer 8 on the I-shaped track are installed in the middle of the front and the middle of the rear of the support plate 3. The function of setting the ultrasonic sensor 14 is to determine whether the inspection starting point and the end point of the I-shaped track have been reached. Generally, positioning blocks are set at the inspection starting point and the end point of the I-shaped track. When the corridor inspection robot moves to the inspection starting point and the end point, the ultrasonic sensor 14 can detect the positioning block, and the detection signal is sent to the control circuit board. The inspection robot determines that it has reached the starting point or the end point and stops moving.

[0032] Figure 7 A schematic diagram of the matching structure of the buffer 8 and the proximity switch 9 is given in the figure. It can be seen that the buffer 8 includes a jacket and a buffer telescopic rod, on which a spring is sleeved. The buffer 8 is installed and fixed to a specific position on the track using a connecting seat. When the proximity switch 9 contacts the buffer 8, a signal is generated to the control circuit board. The inspection track robot then knows that it has reached the inspection starting point or the inspection ending point, and the walking drive device 6 stops running. At the same time, the buffer 8 plays an elastic buffering effect, causing the inspection track robot to gradually stop shifting in a buffering manner to avoid being subjected to hard impact.

[0033] In this embodiment, side panels 10 are installed on both sides of the top of the box body 1 to protect the travel drive device 6, the load-bearing travel device 5 and the load-bearing travel cleaning device 7 inside to prevent foreign matter from entering the inside and causing operating failures. A side shield 4 protruding outward is also provided in the middle of one of the side panels 10, and a temperature and humidity meter 17 and a gas analyzer 18 are located inside the side shield 4. A window is provided on the side shield 4, and the window allows airflow in and out without affecting the normal operation of the temperature and humidity meter 17 and the gas analyzer 18.

[0034] In this embodiment, lifting rings 11 are installed at the four corners of the support plate 3. The purpose of providing the lifting rings 11 is to use a crane to lift the robot when the inspection rail robot is installed on a high-position I-rail.

[0035] See also Figure 5 , we can see that:

[0036] The travel drive device 6 includes a drive motor 6-1, a drive box 6-2, and an active drive wheel 6-3 installed on the output shaft of the drive box 6-2. The drive motor 6-1 inputs power to the drive box 6-2, and the active drive wheel 6-3 rotates actively. It also includes a swing frame 6-10 installed on the support column 6-8 and can swing elastically. A detection transmission wheel 6-4 is installed in the middle of the swing frame 6-10. The active drive wheel 6-3 and the detection transmission wheel 6-4 are respectively located on both sides of the middle plate of the I-shaped track, and the wheel rims are in friction contact with the middle plate. Among them, the active drive wheel 6-3 cooperates with the I-shaped track through friction contact to realize the travel displacement of the inspection track robot along the track.

[0037] In this embodiment, an encoder 6-7 is also included, the housing of the encoder 6-7 is fixedly connected to the swing frame 6-10, and the input shaft of the encoder 6-7 is connected to the axle of the detection transmission wheel 6-4. The encoder 6-7 is provided to measure the distance traveled by the inspection track robot and determine the position on the I-track by measuring the rotation of the detection transmission wheel 6-4.

[0038] In this embodiment, two supporting columns 6-8 are arranged opposite to each other, one end of the swing frame 6-10 is mounted on the top of one of the supporting columns 6-8 by a bearing, a groove is arranged at the other end of the swing frame 6-10, and an elastic connecting member 6-9 is mounted on the upper end of the other supporting column 6-8, and the elastic connecting member 6-9 is located in the groove of the swing frame 6-10. In this way, when the elastic connecting member 6-9 is disengaged from the groove of the swing frame 6-10, the swing frame 6-10 and its detection transmission wheel 6-4 can swing outward with the supporting column 6-8 as the center, and vice versa, when the swing frame 6-10 and its detection transmission wheel 6-4 swing inward and the elastic connecting member 6-9 is embedded in the groove of the swing frame 6-10, the wheel rim of the detection transmission wheel 6-4 is pressed against the middle plate of the I-shaped track, and the elastic connecting member 6-9 has a spring, thereby providing a certain elastic buffering effect on the detection transmission wheel 6-4, so that the detection transmission wheel 6-4 can maintain friction contact with the track stably and reliably with appropriate pressure.

[0039] In this embodiment, a commutator 6-5 is also installed on the side of the drive box 6-2, the input shaft of the commutator 6-5 is in a vertical state and is connected to the output shaft of the drive box 6-2 by a chain, the output shaft of the commutator 6-5 is in a horizontal state and a friction wheel 6-6 is installed on the output shaft, so that the rotating shaft of the friction wheel 6-6 is perpendicular to the rotating shaft of the active drive wheel 6-3. The purpose of setting the friction wheel 6-6 is that some tracks have branches, and when the inspection track robot moves on the track with branches, the friction wheel 6-6 cooperates with the transfer component set at the branch position to enable the inspection track robot to transfer the track.

[0040] See also Figure 4 , we can see that:

[0041] The load-bearing walking device 5 includes two first slide rails 5-1 installed on the support plate 3, a first slider 5-2 is provided on the first slide rails 5-1, a first base 5-3 is installed between the two first sliders 5-2, a first swivel support 5-8 is installed on the first base 5-3, two opposite first load-bearing brackets 5-4 are installed on the first swivel support 5-8, and a first load-bearing wheel 5-5 is installed on the inner side of the first load-bearing bracket 5-4, and the first load-bearing wheel 5-5 falls on the lower plate body of the I-rail, that is, falls on the track surface of the I-rail.

[0042] A first guide bracket 5-6 is hingedly mounted on the first load-bearing bracket 5-4, and a torsion spring is mounted between the first guide bracket 5-6 and the first load-bearing bracket 5-4. A first guide wheel 5-7 that matches the I-shaped rail is mounted on the first guide bracket 5-6. The first guide wheel 5-7 is in frictional contact with the middle plate of the I-shaped rail, and the torsion spring disposed between the first guide bracket 5-6 and the first load-bearing bracket 5-4 provides elastic force for the first guide wheel 5-7, so that the first guide wheel 5-7 can be stably and reliably pressed on the middle plate of the I-shaped rail.

[0043] See also Figure 4 , we can see that:

[0044] The load-bearing walking cleaning device 7 includes two second slide rails 7-1 installed on the support plate 3, a second slider 7-2 is provided on the second slide rails 7-1, a second base 7-3 is installed between the two second sliders 7-2, a second swivel support 7-8 is installed on the second base 7-3, two opposite second load-bearing brackets 7-4 are installed on the second swivel support 7-8, and a second load-bearing wheel 7-5 is installed on the inner side of the second load-bearing bracket 7-4.

[0045] A second guide bracket 7-6 is hingedly mounted on the second load-bearing bracket 7-4, and a torsion spring is mounted between the second guide bracket 7-6 and the second load-bearing bracket 7-4. A second guide wheel 7-7 that matches the I-shaped rail is mounted on the second guide bracket 7-6. The second guide wheel 7-7 is in frictional contact with the middle plate of the I-shaped rail, and the torsion spring disposed between the second guide bracket 7-6 and the second load-bearing bracket 7-4 provides elastic force for the second guide wheel 7-7, so that the second guide wheel 7-7 can be stably and reliably pressed on the middle plate of the I-shaped rail.

[0046] The cleaning assembly is also included, which is used to continuously clean the dust on the track surface during the driving process to improve the cleanliness of the track surface. The cleaning assembly includes a transmission box 7-9, the input shaft at the root of the transmission box 7-9 is connected to the axle of the second guide wheel 7-7, a cleaning roller brush 7-10 acting on the I-shaped track is installed at the lower end of the output shaft at the end of the transmission box 7-9, and a limiting roller 7-11 cooperating with the I-shaped track is also installed above the end of the transmission box 7-9.

Claims

1. A safety inspection track robot, characterized by: The invention comprises a box (1), an explosion-proof control box (15) and an explosion-proof storage battery (16) are installed inside the box (1), a bottom pan / tilt (2), a gas detector (12) and an indicator light (13) are installed at the bottom of the box (1), a support plate (3) is installed at the top of the box (1), a travel drive device (6) matched with an I-shaped track is installed in the middle of the support plate (3), a load-bearing travel device (5) is installed on one side of the travel drive device (6), and a load-bearing travel cleaning device (7) is installed on the other side, and a temperature and humidity meter (17) and a gas analyzer (18) are also installed on the side of the support plate (3); an ultrasonic sensor (14) is installed in the middle of the front wall and the middle of the rear wall of the box (1), and a proximity switch (9) matched with a buffer (8) on the I-shaped track is installed in the middle of the front part and the middle of the rear part of the support plate (3).

2. The safety inspection rail robot according to claim 1, characterized in that: The travel drive device (6) comprises a drive motor (6-1), a drive box (6-2), and an active drive wheel (6-3) mounted on an output shaft of the drive box (6-2), and also comprises a swing frame (6-10) mounted on a support column (6-8) and capable of elastic swinging, a detection drive wheel (6-4) being mounted in the middle of the swing frame (6-10), the active drive wheel (6-3) and the detection drive wheel (6-4) being respectively located on both sides of a middle plate of an I-shaped track, and the wheel rims are in frictional contact with the middle plate.

3. The safety inspection rail robot according to claim 2, characterized in that: Two supporting columns (6-8) are arranged opposite to each other, one end of the swing frame (6-10) is mounted on the top of one of the supporting columns (6-8) by means of a bearing, a groove is arranged at the other end of the swing frame (6-10), an elastic connecting member (6-9) is mounted on the upper end of the other supporting column (6-8), and the elastic connecting member (6-9) is located in the groove of the swing frame (6-10).

4. The safety inspection rail robot according to claim 3, characterized in that: A commutator (6-5) is also installed on the side of the drive box (6-2); the input shaft of the commutator (6-5) is in a vertical state and is connected to the output shaft of the drive box (6-2) by a chain; the output shaft of the commutator (6-5) is in a horizontal state and a friction wheel (6-6) is installed on the output shaft.

5. The safety inspection rail robot according to claim 4, characterized in that: It also includes an encoder (6-7), the housing of the encoder (6-7) is fixedly connected to the swing frame (6-10), and the input shaft of the encoder (6-7) is connected to the axle of the detection transmission wheel (6-4).

6. The safety inspection rail robot according to claim 5, characterized in that: The load-bearing walking device (5) comprises two first slide rails (5-1) mounted on a support plate (3), a first slider (5-2) being provided on the first slide rails (5-1), a first base (5-3) being mounted between the two first sliders (5-2), a first slewing support (5-8) being mounted on the first base (5-3), two first load-bearing brackets (5-4) being mounted opposite to each other on the first slewing support (5-8), and a first load-bearing wheel (5-5) being mounted on the inner side of the first load-bearing bracket (5-4).

7. The safety inspection rail robot according to claim 6, characterized in that: A first guide bracket (5-6) is also hingedly mounted on the first load-bearing bracket (5-4), a torsion spring is mounted between the first guide bracket (5-6) and the first load-bearing bracket (5-4), and a first guide wheel (5-7) matched with the I-shaped track is mounted on the first guide bracket (5-6).

8. The safety inspection rail robot according to claim 7, characterized in that: The load-bearing walking cleaning device (7) comprises two second slide rails (7-1) mounted on a support plate (3), a second slider (7-2) being arranged on the second slide rails (7-1), a second base (7-3) being mounted between the two second sliders (7-2), a second swivel support (7-8) being mounted on the second base (7-3), two second load-bearing brackets (7-4) being mounted opposite to each other on the second swivel support (7-8), and a second load-bearing wheel (7-5) being mounted on the inner side of the second load-bearing bracket (7-4); and also comprises a cleaning assembly.

9. The safety inspection rail robot according to claim 8, characterized in that: A second guide bracket (7-6) is also hingedly mounted on the second load-bearing bracket (7-4), a torsion spring is mounted between the second guide bracket (7-6) and the second load-bearing bracket (7-4), and a second guide wheel (7-7) matched with the I-shaped track is mounted on the second guide bracket (7-6).

10. The safety inspection rail robot according to claim 9, characterized in that: The cleaning component comprises a transmission box (7-9), an input shaft at the root of the transmission box (7-9) is connected to the wheel shaft of the second guide wheel (7-7), a cleaning roller brush (7-10) acting on the I-shaped track is installed at the lower end of the output shaft at the end of the transmission box (7-9), and a limiting roller (7-11) cooperating with the I-shaped track is also installed above the end of the transmission box (7-9).

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