A single drive double guide hanging rail inspection robot suitable for curved track operation

Abstract

The application belongs to the technical field of robots, and discloses a single-drive double-guiding hanging rail inspection robot suitable for curved rail operation, which comprises a base, a hanging support, a mounting support, a driving assembly, a limiting elastic piece and a plurality of guiding assemblies, the hanging support is rotationally connected to the base, the mounting support is movably connected to the hanging support, the driving assembly is rotationally connected with the hanging support and the mounting support, the limiting elastic piece is used for pushing the driving wheel of the driving assembly to abut against the rail, and the guiding assembly is slidably matched with the rail. When the inspection robot operates, the friction between the driving wheel and the rail can be kept uniform, the overall energy consumption can be effectively reduced, the driving efficiency can be improved, the abrasion of the driving wheel can be reduced, the service life of the driving wheel can be effectively prolonged, the inspection robot can smoothly pass through rails with various curvatures, the adaptation flexibility of the inspection robot to rails with different curvatures can be improved, the overall structure is simple, and the manufacturing cost and difficulty of the inspection robot are effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a single-drive, dual-guided, rail-mounted inspection robot suitable for operation on curved tracks. Background Technology

[0002] Inspection robots are devices used in the industrial field to inspect material conveying structures such as conveyor belts. They can replace manual labor to perform long-distance uphill inspections, effectively reducing the labor intensity of workers.

[0003] In the existing technology, the inspection robot is suspended on a track, including a frame. The drive wheel is pressed against the track by spring pressure, and the drive wheel is rotated by a drive component, so that the robot can slide on the track. During the sliding process, the robot can perform the corresponding inspection work.

[0004] However, since the track is not straight, when the inspection robot passes through curved sections, the spring deforms due to the change in the direction of the force, which in turn changes the compressive force between the drive wheel and the track. Therefore, in order to ensure that the compressive force between the drive wheel and the track meets the operating requirements, the spring needs to be preset with a large compression amount. This results in a large compressive force between the drive wheel and the track when running on straight sections of the track, which leads to high energy consumption, low drive efficiency, and severe wear of the drive wheel. Moreover, the inspection robot also has difficulty passing through tracks with large curvature changes. Summary of the Invention

[0005] The purpose of this invention is to provide a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks. This invention solves the problems in the prior art where, in order to ensure smooth operation on curved sections of the track, the inspection robot experiences high pressure on the straight sections of the track and the drive wheels, resulting in high overall energy consumption, low drive efficiency, severe wear of the drive wheels, and inability to pass smoothly on tracks with large curvature variations.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A single-drive, dual-guided, rail-mounted inspection robot suitable for operation on curved tracks, comprising:

[0008] Base;

[0009] The suspension bracket is rotatably connected to the base along the width of the track;

[0010] The mounting bracket is movably connected to the suspension bracket;

[0011] A drive assembly is rotatably connected to the suspension bracket and the mounting bracket;

[0012] A limiting elastic element, one end of which is connected to the drive assembly and the other end of which is connected to the mounting bracket, so as to push the drive wheel of the drive assembly to abut against the track;

[0013] Multiple guide components, one end of which is rotatably connected to the base, and the other end is suspended from the track and slides in cooperation with the track.

[0014] Optionally, the suspension bracket includes:

[0015] A suspension plate, wherein the suspension plate is rotatably connected to the base via a rotating shaft, and the axis of the rotating shaft is parallel to the length direction of the track;

[0016] The suspension elastic element has one end abutting against the suspension plate and the other end abutting against the base.

[0017] Optionally, multiple suspension elastic elements are provided at circumferential intervals around the suspension plate.

[0018] Optionally, the mounting bracket includes:

[0019] The first mounting rod is rotatably connected to the suspension bracket;

[0020] A connecting shaft is provided on the first mounting rod and connected to the limiting elastic element;

[0021] The second mounting rod is rotatably connected at one end to the connecting shaft and at the other end to the drive assembly.

[0022] Optionally, the suspension bracket includes:

[0023] Hanging board;

[0024] A first link is disposed on the suspension plate, and one end of the drive assembly is rotatably connected to the first link, and the other end is rotatably connected to the mounting bracket;

[0025] The second link is disposed on the suspension plate and is disposed opposite to the first link, and the second link is rotatably connected to the mounting bracket.

[0026] Optionally, the driving component includes:

[0027] The drive bracket has one end rotatably connected to the suspension bracket and the other end rotatably connected to the mounting bracket;

[0028] The driving component is disposed on the driving bracket;

[0029] The drive wheel is rotatably connected to the drive bracket and to the output end of the drive component, and the drive wheel abuts against the track.

[0030] Optionally, the drive bracket includes:

[0031] A first mounting plate, wherein the driving component is fixed to the first mounting plate;

[0032] The second mounting plate is disposed opposite to the first mounting plate, and the drive wheel is rotatably connected between the first mounting plate and the second mounting plate.

[0033] Optionally, multiple limiting elastic elements are distributed at intervals.

[0034] Optionally, it also includes:

[0035] An encoder is provided on one of the guide components.

[0036] Optionally, the guiding component includes:

[0037] A guide frame is rotatably connected to the base. Multiple side rollers and an upper roller are rotatably connected to the guide frame. Both the side rollers and the upper roller can slide with the track.

[0038] The beneficial effects of this invention are:

[0039] The entire inspection robot is suspended on a track by a guide assembly mounted on the base. During installation, a movable mounting bracket causes deformation of the limiting elastic element, while the drive assembly rotates closer to the suspension bracket. When the drive wheel aligns with the track, the mounting bracket is released, the limiting elastic element resets, and the mounting bracket resets as well. The mounting bracket then pushes the drive assembly closer to the track, causing the drive wheel to press against the track. The drive assembly then rotates, driving the drive wheel to rotate. The friction between the drive wheel and the track propels the entire inspection robot along the track. When traversing curved sections of the track, the change in the force direction on the drive wheel causes the suspension bracket to rotate relative to the base. Simultaneously, the guide assembly rotates to a certain extent, allowing the drive wheel to adapt to the curved sections of the track. This ensures that the clamping force between the drive wheel and the track does not change significantly, and therefore, the elastic deformation amplitude of the limiting elastic element also remains relatively constant. In operation, this inspection robot utilizes a rotating connection between its suspension bracket and base along the track width. The guide assembly also rotates, allowing both the suspension bracket and guide assembly to bend to a certain extent when traversing curved sections of the track. This ensures that the deformation of the limiting elastic element remains relatively constant, preventing significant changes in the compressive force between the drive wheel and the track in both straight and curved sections. This maintains uniform friction between the drive wheel and the track, effectively reducing overall energy consumption, improving drive efficiency, and minimizing drive wheel wear, thus extending their lifespan. Furthermore, because the suspension bracket and guide assembly bend with the track's curvature, the robot can smoothly traverse tracks with varying curvatures, enhancing its adaptability to different track curvatures. The integrated design of all components on the base results in a simple overall structure, effectively reducing manufacturing costs and complexity. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, suspended on the track in an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the structure of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks in this embodiment of the invention, when it is suspended through a curved section of the track;

[0042] Figure 3 This is a front view of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0043] Figure 4 This is a top view of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0044] Figure 5 This is a side view of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0045] Figure 6 This is a schematic diagram of the structure of the suspension bracket of the single-drive double-guided rail inspection robot suitable for operation on curved tracks in an embodiment of the present invention when it rotates;

[0046] Figure 7 This is a side view of the suspension bracket of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0047] Figure 8 This is a top view of the suspension bracket of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0048] Figure 9 This is a front view of the suspension bracket of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0049] Figure 10 This is a perspective view of the suspension bracket of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0050] Figure 11 This is a side view of the drive assembly of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0051] Figure 12 This is a front view of the encoder of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0052] Figure 13 This is a side view of the encoder of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0053] Figure 14 This is a front view of the guide assembly of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0054] Figure 15 This is a side view of the guide assembly of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0055] Figure 16 This is a top view of the guide assembly of a single-drive, dual-guide, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0056] Figure 17This is a front view of the side rollers of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks in an embodiment of the present invention.

[0057] Figure 18 This is a top view of the side rollers of a single-drive, double-guided, rail-mounted inspection robot suitable for operation on curved tracks, as described in this embodiment of the invention.

[0058] In the picture:

[0059] 1. Base; 11. Fixing plate;

[0060] 2. Suspension bracket; 21. Suspension plate; 22. Suspension elastic element; 23. Rotary shaft; 24. First link; 25. Second link;

[0061] 3. Mounting bracket; 31. First mounting rod; 32. Connecting shaft; 33. Second mounting rod;

[0062] 4. Drive assembly; 41. Drive component; 42. Drive wheel; 43. First mounting plate; 44. Second mounting plate; 45. Rotary rod;

[0063] 5. Limiting elastic element;

[0064] 6. Guide assembly; 61. Side roller; 611. Side wheel; 612. Wheel seat; 613. Wheel axle; 614. Movable pin; 615. Compression spring; 62. Upper roller; 63. Guide seat; 64. Guide plate; 65. Fixed shaft;

[0065] 7. Track;

[0066] 8. Encoder; 81. Connecting arm. Detailed Implementation

[0067] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0068] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0069] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0070] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0071] This application discloses a single-drive, dual-guided, rail-mounted inspection robot (hereinafter referred to as "inspection robot") suitable for operation on curved tracks.

[0072] Reference Figures 1 to 5 The inspection robot includes a base 1, a suspension bracket 2, a mounting bracket 3, a drive assembly 4, a limiting elastic element 5, and multiple guide assemblies 6. The suspension bracket 2 is rotatably connected to the base 1 along the width direction of the track 7; the mounting bracket 3 is movably connected to the suspension bracket 2; the drive assembly 4 is rotatably connected to the suspension bracket 2 and the mounting bracket 3; one end of the limiting elastic element 5 is connected to the drive assembly 4 and the other end is connected to the mounting bracket 3 to push the drive wheel 42 of the drive assembly 4 against the track 7; one end of the guide assembly 6 is rotatably connected to the base 1, and the other end is suspended from the track 7 and slides with the track 7.

[0073] Specifically, the base 1 is flat, and a suspension bracket 2 is rotatably connected to its top wall in the direction of the width of the track 7. Therefore, when passing through the curved section of the track 7, the suspension bracket 2 can rotate relative to the width of the track 7. A mounting bracket 3 and a drive assembly 4 are mounted on the suspension bracket 2. One end of the drive assembly 4 is rotatably connected to the suspension bracket 2, and the other end is rotatably connected to the mounting bracket 3. The mounting bracket 3 can move relative to the suspension bracket 2, moving towards or away from it. A limiting elastic element 5 is provided between the drive assembly 4 and the mounting bracket 3 to limit the range of motion of the mounting bracket 3, ensuring that the drive wheel 42 of the drive assembly 4 driven by the mounting bracket 3 abuts against the track 7.

[0074] Multiple guide components 6 are spaced apart on the base 1, and the guide components 6 are distributed along the length of the track 7. The suspension bracket 2 is located between the guide components 6, or it can be located in front of or behind the guide components 6, etc., which is not limited in this application. In this embodiment, two guide components 6 are provided, and the suspension bracket 2 is located between the two guide components 6. Each guide component 6 can be rotatably connected to the base 1 through a structure such as a bearing, so that the guide component 6 can rotate relative to the base 1.

[0075] The entire inspection robot is suspended on the track 7 by a guide assembly 6 mounted on the base 1. During installation, the movable mounting bracket 3 causes the limiting elastic element 5 to deform, while the drive assembly 4 rotates closer to the suspension bracket 2. When the drive wheel 42 aligns with the track 7, the mounting bracket 3 is released, the limiting elastic element 5 resets, and the mounting bracket 3 resets as well. The mounting bracket 3 then pushes the drive assembly 4 closer to the track 7, causing the drive wheel 42 to press against the track 7. The drive assembly 4 then rotates, driving the drive wheel 42 to rotate. The friction between the drive wheel 42 and the track 7 allows the entire inspection robot to run on the track 7. When traversing a curved section of the track 7, the force direction on the drive wheel 42 changes, causing the suspension bracket 2 to rotate relative to the base 1 by the drive assembly 4. Simultaneously, the guide assembly 6 also rotates to a certain extent, allowing the drive wheel 42 to adapt to the curved section of the track 7. This ensures that the clamping force between the drive wheel 42 and the track 7 does not change significantly, and therefore the elastic deformation amplitude of the limiting elastic element 5 also remains relatively constant. In operation, this inspection robot utilizes the rotational connection between the suspension bracket 2 and the base 1 along the width of the track 7. The guide component 6 also rotates, allowing both the suspension bracket 2 and the guide component 6 to bend to a certain extent when traversing curved sections of the track 7. This ensures that the deformation of the limiting elastic element 5 remains relatively constant, preventing significant changes in the compressive force between the drive wheel 42 and the track 7 in both straight and curved sections. This maintains uniform friction between the drive wheel 42 and the track 7, effectively reducing overall energy consumption, improving drive efficiency, and minimizing wear on the drive wheel 42, thus extending its service life. Furthermore, because the suspension bracket 2 and guide component 6 bend with the curvature of the track 7, the robot can smoothly traverse tracks 7 with varying curvatures, enhancing its adaptability to tracks of different curvatures. The integrated design of all components on the base 1 results in a simple overall structure, effectively reducing manufacturing costs and complexity.

[0076] Reference Figures 6 to 8Optionally, the suspension bracket 2 includes a suspension plate 21 and a suspension elastic element 22. The suspension plate 21 is rotatably connected to the base 1 via a rotating shaft 23, and the axis of the rotating shaft 23 is parallel to the length direction of the track 7; one end of the suspension elastic element 22 abuts against the suspension plate 21, and the other end abuts against the base 1.

[0077] Specifically, a fixing plate 11 can be bolted to the top wall of the base 1. A connecting lug is provided on the fixing plate 11, and a corresponding connecting part is provided on the bottom wall of the suspension plate 21. The rotating shaft 23 passes through the connecting part and is rotatably connected to the connecting lug. The rotating shaft 23 is located in the middle of the width direction of the suspension plate 21 and extends along the length direction of the track 7. There can be only one shaft or multiple shafts spaced apart. In this embodiment, a rotating shaft 23 is provided at each end of the suspension plate 21 along the length direction of the track 7, so that the suspension plate 21 can rotate along the width direction of the track 7.

[0078] A suspension elastic element 22 is provided between the suspension plate 21 and the fixed plate 11, and the suspension elastic element 22 deforms in the vertical direction. Multiple suspension elastic elements 22 can be arranged at intervals around the circumference of the suspension plate 21. In this embodiment, the suspension elastic element 22 is a spring, and the suspension plate 21 is rectangular. A suspension elastic element 22 is provided at each of the four corners of the suspension plate 21 to restrict the rotation of the suspension plate 21.

[0079] When the suspension bracket 2 passes through the curved section of track 7, the suspension plate 21 can rotate accordingly in the width direction of track 7 based on the curvature of track 7. During rotation, the suspension plate 21 compresses one side of the suspension elastic element 22 and stretches the other side, ensuring uniform force distribution across the entire suspension plate 21. When the suspension bracket 2 is on the straight section of track 7, the suspension plate 21 automatically resets under the action of multiple suspension elastic elements 22. During the rotation of the suspension plate 21, the drive assembly 4 rotates synchronously, allowing the drive wheel 42 to adapt to both curved and straight sections of track 7. This ensures the inspection robot operates smoothly on the irregular track 7, improving operational reliability.

[0080] Reference Figures 8 to 11 Optionally, the mounting bracket 3 includes a first mounting rod 31, a connecting shaft 32, and a second mounting rod 33. The first mounting rod 31 is rotatably connected to the suspension bracket 2; the connecting shaft 32 is disposed on the first mounting rod 31 and connected to the limiting elastic member 5; one end of the second mounting rod 33 is rotatably connected to the connecting shaft 32, and the other end is rotatably connected to the drive assembly 4.

[0081] Specifically, two first mounting rods 31 are arranged opposite each other, with their lower ends rotatably connected to the suspension plate 21 via connecting pins, and their upper ends connected to a connecting shaft 32. Two second mounting rods 33 are also arranged opposite each other, with their lower ends rotatably connected to the connecting shaft 32, and their upper ends rotatably connected to the drive assembly 4 via connecting pins. One end of the limiting elastic element 5 is connected to the drive assembly 4, and the other end is fixedly connected to the connecting shaft 32. Multiple limiting elastic elements 5 can also be provided; in this embodiment, the limiting elastic elements 5 are springs, and two are spaced apart along the axial direction of the connecting shaft 32.

[0082] When installing the inspection robot, the first mounting rod 31 and the second mounting rod 33 are rotated to partially fold them. The connecting shaft 32 moves away from the drive assembly 4 and pulls the limiting elastic element 5 to deform. The drive assembly 4 rotates downward synchronously, causing the drive wheel 42 to move down. When the drive wheel 42 aligns with the track 7, the first mounting rod 31 and the second mounting rod 33 are released. The limiting elastic element 5 resets, thereby pulling the connecting shaft 32 to reset. The connecting shaft 32 pushes the first mounting rod 31 and the second mounting rod 33 to gradually unfold, causing the drive assembly 4 to rotate towards the side closer to the track 7, so that the drive wheel 42 is pressed against the track 7.

[0083] Optionally, the suspension bracket 2 includes a first link 24 and a second link 25. The first link 24 is disposed on the suspension plate 21, one end of the drive assembly 4 is rotatably connected to the first link 24, and the other end is rotatably connected to the mounting bracket 3; the second link 25 is disposed on the suspension plate 21 and is disposed opposite to the first link 24, and the second link 25 is rotatably connected to the mounting bracket 3.

[0084] Specifically, both the first link 24 and the second link 25 are fixed to the top wall of the suspension plate 21 by bolts, and two of each of the first link 24 and the second link 25 are arranged opposite each other. The two second links 25 correspond one-to-one with the two first mounting rods 31, and the second links 25 and the first mounting rods 31 are rotatably connected by pins. The height of the second link 25 is less than that of the first link 24.

[0085] By setting the first link 24 and the second link 25, a space can be formed on the suspension plate 21 to install the drive assembly 4 and the mounting bracket 3. The height of the second link 25 is set to be less than that of the first link 24, so that after the mounting bracket 3 is installed on the second link 25, its height will not be much higher than that of the first link 24, thus ensuring that the position of the drive assembly 4 meets the corresponding requirements during installation.

[0086] Optionally, the drive assembly 4 includes a drive bracket, a drive element 41, and a drive wheel 42. One end of the drive bracket is rotatably connected to the suspension bracket 2, and the other end is rotatably connected to the mounting bracket 3; the drive element 41 is disposed on the drive bracket; the drive wheel 42 is rotatably connected to the drive bracket and connected to the output end of the drive element 41, and the drive wheel 42 abuts against the track 7.

[0087] Specifically, the drive bracket is long and narrow, with one end rotatably connected to two first connecting rods 24 and the other end rotatably connected to the second mounting rod 33. The drive component 41 is a motor, which is fixed on the drive bracket. The drive wheel 42 is rotatably connected inside the drive bracket, and the top of the drive wheel 42 extends out of the drive bracket to abut against the bottom wall of the track 7.

[0088] Optionally, the drive bracket includes a first mounting plate 43 and a second mounting plate 44. The drive component 41 is fixed to the first mounting plate 43; the second mounting plate 44 is disposed opposite to the first mounting plate 43, and the drive wheel 42 is rotatably connected between the first mounting plate 43 and the second mounting plate 44.

[0089] Specifically, one end of the first mounting plate 43 is rotatably connected to the first connecting rod 24, and the other end is rotatably connected to the second mounting rod 33. One end of the second mounting plate 44 is rotatably connected to another first connecting rod 24, and the other end of the second mounting plate 44 is rotatably connected to another second mounting rod 33. The middle portion of the first mounting plate 43 is bent downwards, and multiple bolt holes are provided in the bent portion. The driving member 41 is located in the bent portion and is fixed by bolts passing through the bolt holes. A rotating rod 45 is provided at the bent portion of the first mounting plate 43, and the rotating rod 45 is also rotatably connected to the second mounting plate 44. The limiting elastic member 5 is connected to the rotating rod 45. The driving wheel 42 is rotatably connected to the side of the second mounting plate 44 closest to the second mounting plate 44, and the axis of the driving wheel 42 corresponds to the output end of the driving member 41.

[0090] During the installation of the inspection robot, the mounting bracket 3 directly drives the first mounting plate 43 and the second mounting plate 44 to rotate, thereby driving the drive component 41 and the drive wheel 42 to move synchronously. After the installation is completed, the mounting bracket 3 resets, thereby pushing the first mounting plate 43 and the second mounting plate 44 to reset, so that the drive component 41 and the drive wheel 42 can be smoothly driven to approach the track 7, and the drive wheel 42 can then abut against the bottom wall of the track 7.

[0091] Reference Figure 12 and Figure 13 Optionally, the inspection robot includes an encoder 8. The encoder 8 is disposed on one of the guide components 6.

[0092] Specifically, a connecting arm 81 is fixed to one of the guide components 6, and the fixing method can be bolt connection, welding, bonding, or snap-fit. The connecting arm 81 can be bent, and an encoder 8 is set at the end of the connecting arm 81 away from the guide component 6. The encoder 8 can detect the running distance of the inspection robot in real time.

[0093] Reference Figures 14 to 18 Optionally, the guide assembly 6 includes a guide frame. The guide frame is rotatably connected to the base 1, and a plurality of side rollers 61 and upper rollers 62 are rotatably connected to the guide frame. Both the side rollers 61 and the upper rollers 62 can slide in engagement with the track 7.

[0094] Specifically, the guide frame includes a guide seat 63 and two opposing guide plates 64. The guide seat 63 is rotatably connected to the base 1 via bearings, and the guide plates 64 are fixed to the top wall of the guide seat 63. Multiple fixing shafts 65 are also provided between the two guide plates 64 to fix them together, forming a space between the two guide plates 64 for the track 7 to pass through. Multiple side rollers 61 and multiple upper rollers 62 are provided on the upper side of the guide plates 64. The upper rollers 62 and the side rollers 61 are distributed on the opposite sides of the two guide plates 64. The side rollers 61 can abut against the side wall of the track 7, while the upper rollers 62 abut against the top wall of the track 7. In this embodiment, four side rollers 61 and two upper rollers 62 are provided.

[0095] The side roller 61 includes a side wheel 611, a wheel seat 612, a wheel axle 613, multiple movable pins 614, and a compression spring 615. The wheel seat 612 is fixed to the guide plate 64. The wheel axle 613 passes through the wheel seat 612 and extends along the height direction of the track 7. The side wheel 611 is sleeved on the wheel axle 613 and located inside the wheel seat 612. The position of the side wheel 611 is restricted by retaining springs on both sides of the wheel axle 613. Through holes are opened at both ends of the wheel axle 613, and the movable pins 614 pass through the through holes. The compression springs 615 are sleeved on the movable pins 614.

[0096] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A single drive double guide rail inspection robot suitable for running on a curved track, characterized in that, It includes: Base (1); Suspension bracket (2), rotatingly connected to the base (1) along the width direction of the track (7); Mounting bracket (3), movably connected to the suspension bracket (2); Drive assembly (4), rotatingly connected to the suspension bracket (2) and the mounting bracket (3); Limiting elastic member (5), one end connected to the drive assembly (4) and the other end connected to the mounting bracket (3), to push the drive wheel (42) of the drive assembly (4) against the track (7); A plurality of guide assemblies (6), one end rotatingly connected to the base (1) and the other end suspended from the track (7) and slidingly fitted with the track (7); The mounting bracket (3) includes: First mounting rod (31), rotatingly connected to the suspension bracket (2); Connecting shaft (32), provided on the first mounting rod (31) and connected with the limiting elastic member (5); Second mounting rod (33), one end rotatingly connected with the connecting shaft (32) and the other end rotatingly connected with the drive assembly (4); The drive assembly (4) includes: Drive bracket, one end rotatingly connected with the suspension bracket (2) and the other end rotatingly connected with the mounting bracket (3); Drive member (41), provided on the drive bracket; Drive wheel (42), rotatingly connected to the drive bracket and connected with the output end of the drive member (41), the drive wheel (42) abutting the track (7); The drive bracket includes: First mounting plate (43), the drive member (41) is fixed on the first mounting plate (43); Second mounting plate (44), oppositely arranged with the first mounting plate (43), the drive wheel (42) is rotatingly connected between the first mounting plate (43) and the second mounting plate (44); The middle part of the first mounting plate (43) is bent downward to form a bending part, the bending part is provided with a rotating rod (45), the rotating rod (45) is also rotatingly connected with the second mounting plate (44), and the limiting elastic member is connected with the rotating rod (45).

2. The single drive double guide rail inspection robot suitable for curved track operation according to claim 1, characterized in that, The suspension bracket (2) includes: Suspension plate (21), rotatingly connected with the base (1) through a rotating shaft (23), and the axis of the rotating shaft (23) is parallel to the length direction of the track (7); Suspension elastic member (22), one end abutting with the suspension plate (21) and the other end abutting with the base (1).

3. The single drive double guided overhead inspection robot suitable for curved track operation according to claim 2, characterized in that, The suspension elastic member (22) is arranged in plurality around the circumferential direction of the suspension plate (21).

4. The single drive double guided overhead inspection robot suitable for curved track operation according to claim 1, wherein, The suspension bracket (2) includes: Suspension plate (21); First connecting rod (24), provided on the suspension plate (21), one end of the drive assembly (4) rotatingly connected with the first connecting rod (24) and the other end rotatingly connected with the mounting bracket (3); Second connecting rod (25), provided on the suspension plate (21) and oppositely arranged with the first connecting rod (24), the second connecting rod (25) rotatingly connected with the mounting bracket (3).

5. The single drive double guided overhead inspection robot suitable for curved track operation according to any one of claims 1 to 4, characterized in that, The limiting elastic member (5) is arranged in plurality.

6. The single drive double guided overhead inspection robot suitable for curved track operation according to any one of claims 1 to 4, characterized in that, It also includes: Encoder (8), provided on one of the guide assemblies (6).

7. The single drive double guided overhead suspended inspection robot suitable for curved track operation according to claim 1, wherein, The guiding assembly (6) comprises: A guiding frame is rotatably connected to the base (1), and a plurality of side rollers (61) and an upper roller (62) are rotatably connected to the guiding frame, and the side rollers (61) and the upper roller (62) can be slidably matched with the track (7).

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