Gallery inspection robot

Abstract

The invention relates to a corridor inspection robot. Comprising a box internally provided with a control circuit board and a storage battery, the top of the box is provided with a supporting plate, the middle of the supporting plate is provided with a traveling driving device matched with an I-shaped rail to achieve traveling driving, and the front portion and the rear portion of the traveling driving device are each provided with a bearing device matched with the I-shaped rail to achieve bearing. A cleaning device for continuously cleaning the track surface on line is mounted on the bearing device at the front part and / or the rear part; ultrasonic sensors are installed in the middle of the front wall and the middle of the rear wall of the box body, a bottom holder capable of rotating is installed on the bottom wall of the box body, a first sensor pod and a second sensor pod are installed on the two sides of the bottom holder respectively and driven by the bottom holder in a pitching mode, and an indicator lamp is further installed on the bottom wall of the box body. A wireless charging assembly and a signal antenna are further installed on the side wall of the box body. According to the corridor inspection robot provided by the invention, the compactness degree of the structure is improved to adapt to a narrow space in a corridor, and the corridor inspection robot has the capability of carrying out continuous online cleaning on a track surface to ensure the smoothness of displacement.

Description

Technical Field

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

[0002] The coal transportation corridor is a corridor space used for coal transportation. The conveyor is installed in the corridor. The coal transportation corridor also serves to enclose the conveyor inside to prevent coal dust from spreading outward. Usually, the internal space of the coal transportation corridor is small and the environment is harsh, so it is not realistic to use manual inspection methods. Accordingly, it is a feasible and efficient inspection method to use rail-mounted inspection robots to automatically inspect special occasions such as conveyors, substations, and gas extraction pump stations in the corridor. By configuring various sensors on the rail-mounted inspection robot, it is possible to effectively obtain inspection data, improve inspection efficiency, and ensure production operation safety.

[0003] Track-type inspection robots usually move along the I-shaped tracks arranged in the coal transportation corridor. As mentioned above, the internal space of the coal transportation corridor is usually narrow, which requires the development and design of a compact inspection robot. In addition, due to the harsh environment and high dust content in the coal transportation corridor, dust will quickly fall on the I-shaped track, causing changes in the track surface, affecting the displacement of the inspection robot and even causing the inspection robot to be stuck and unable to move. In summary, it is necessary to develop and design the structure of the track robot. Summary of the invention

[0004] The purpose of the present invention is to provide a corridor inspection robot, which improves the compactness of the structure to adapt to the narrow space in the corridor and has the ability to perform continuous online cleaning of the track surface to ensure smooth displacement.

[0005] The technical solution adopted by the present invention is: a corridor inspection robot, including a box body with a control circuit board and a battery installed inside, a support plate installed on the top of the box body, a travel drive device for cooperating with an I-shaped track to realize walking drive installed in the middle of the support plate, load-bearing devices for cooperating with the I-shaped track to realize load-bearing are installed at the front and rear of the travel drive device, and a cleaning device for continuously online cleaning the track surface is installed on the front and / or rear load-bearing devices; an ultrasonic sensor is installed in the middle of the front wall and the middle of the rear wall of the box body, a rotatable bottom pan-tilt is installed on the bottom wall of the box body, a first sensor pod and a second sensor pod are respectively installed on both sides of the bottom pan-tilt and both are driven to pitch by the bottom pan-tilt, an indicator light is also installed on the bottom wall of the box body, and a wireless charging component and a signal antenna are also installed on the side walls of the box body.

[0006] Preferably, the travel drive device includes two sets of slide rails and sliders installed on the support plate, a drive box is installed between the sliders of the two sets of slide rails and sliders, the output shaft of the drive box is located at the upper part and a drive wheel is installed on the output shaft, a transmission box is also installed on the support plate, the output shaft of the transmission box is connected to the input shaft of the drive box by a telescopic transmission shaft, and a drive motor for outputting power to the transmission box is installed inside the box body; an elastic buffer component for providing elastic force to the drive box is also installed on the support plate.

[0007] Preferably, the elastic buffer assembly includes a slide bar mounted on the support plate, a slide seat is mounted on the slide bar, and a tension spring is mounted between the slide seat and the slide rail and the slide block of the slide block on this side.

[0008] Preferably, the load-bearing device comprises a load-bearing V-shaped bracket fixedly mounted on the support plate, and two opposite load-bearing wheels are mounted on the top of the load-bearing V-shaped bracket. The load-bearing wheels fall on the track surface of the I-shaped track and move in a rolling manner.

[0009] Preferably, the bottom of the load-bearing V-shaped bracket has a rotating shaft, a bearing seat is installed on the support plate and the bottom rotating shaft of the load-bearing V-shaped bracket is installed in the bearing seat, so that the load-bearing V-shaped bracket can swing.

[0010] Preferably, the load-bearing device also includes a guide mechanism, which includes a guide wheel bracket installed on the load-bearing V-shaped bracket, and guide wheels are installed at both ends of the guide wheel bracket. The two guide wheels are respectively located on both sides of the load-bearing wheel on this side, and the guide wheels contact the middle plate of the I-beam rail and roll.

[0011] Preferably, the cleaning device comprises a transmission box with a transmission assembly inside, the input shaft of the transmission box is connected to the outer end of the wheel axle of the load-bearing wheel, the transmission box has a vertical output shaft and a cleaning roller brush is installed at the lower end of the output shaft.

[0012] Preferably, a torsion spring is installed between the inner end of the transmission box and the load-bearing V-shaped bracket, and a roller brush limiter is installed on the inner side of the outer end of the transmission box. The roller brush limiter includes a limit bracket and a limit roller, and the limit roller contacts the lower surface of the top plate of the I-rail.

[0013] Preferably, an encoder is also included, the housing of the encoder is fixedly connected to one of the load-bearing V-shaped brackets, and the input shaft of the encoder is connected to the outer end of the axle of the load-bearing wheel.

[0014] Preferably, a first side protective cover and a second side protective cover are respectively installed on both sides of the top of the box body, and a channel for the I-shaped rail to fall into is formed between the two.

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

[0016] The present invention provides a corridor inspection robot with a compact structure. Its driving device, load-bearing device and cleaning device are all installed on the support plate at the top of the box body. It runs stably and reliably, occupies a small space, and is very suitable for the narrow space environment in the coal transportation corridor. The corridor inspection robot of the present invention is installed with two front and rear load-bearing devices on the top and a cleaning device is installed on at least one load-bearing device. When the inspection robot is moving along the I-shaped track, the cleaning device can continuously clean the track surface of the I-shaped track online to remove dust deposited on the track surface. Therefore, the smoothness of the inspection robot's movement and displacement can be improved by cleaning the track surface, avoiding the problem of jamming or even inability to shift. 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 It is a schematic diagram of the structure of the internal device of the present invention, from the front perspective;

[0020] Figure 4 It is a schematic diagram of the structure of the internal device of the present invention, from a rear perspective.

[0021] In the figure:

[0022] 1. Box body; 2. Signal antenna; 3. First side protective cover; 4. Channel; 5. Travel drive device; 5-1. Driving wheel; 5-2. Telescopic transmission shaft; 5-3. Transmission box; 5-4. Elastic buffer assembly; 5-5. Slide rail and slider; 5-6. Drive box; 6. Second side protective cover; 7. Load-bearing device; 7-1. Load-bearing V-shaped bracket; 7-2. Load-bearing wheel; 8. Cleaning device; 8-1. Transmission box; 8-2. Cleaning roller brush; 8-3. Roller brush limiter; 9. Support plate; 10. Ultrasonic sensor; 11. First sensor cabin; 12. Bottom gimbal; 13. Second sensor cabin; 14. Wireless charging assembly; 15. Indicator light; 16. Encoder. DETAILED DESCRIPTION

[0023] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0024] See also Figure 1 and Figure 2The corridor inspection robot of the present invention comprises a box body 1 in which a control circuit board and a battery are installed, a support plate 9 is installed on the top of the box body 1, a travel drive device 5 for cooperating with an I-shaped rail to realize walking drive is installed in the middle of the support plate 9, a load-bearing device 7 for cooperating with the I-shaped rail to realize bearing is installed at the front and rear of the travel drive device 5, and a cleaning device 8 for continuously cleaning the rail surface online is installed on the front and / or rear load-bearing device 7.

[0025] The inspection robot adopts two front and rear load-bearing devices 7 to be suspended under the I-rail. During operation, the travel drive device 5 generates a driving action, and the inspection robot travels and shifts along the path determined by the I-rail. During the travel and shifting process, the cleaning device 8 provides a continuous online cleaning function for the track surface, sweeping away the dust deposited on the track surface and making the track surface clean. In this way, the problem of jamming or even inability to shift can be avoided during the shifting process, thereby ensuring the smoothness of the shifting.

[0026] See also Figure 3 and Figure 4 , we can see that:

[0027] The travel drive device 5 includes two sets of slide rails and sliders 5-5 (the slide rails and sliders 5-5 are composed of slide rails and sliders) installed on the support plate 9, and a drive box 5-6 is installed between the sliders of the two sets of slide rails and sliders 5-5. The output shaft of the drive box 5-6 is located at the upper part and a drive wheel 5-1 is installed on the output shaft. As shown in the figure, wing plates are installed on both sides of the drive box 5-6 and the two wing plates are fixedly connected to the sliders on this side by bolts, so that the drive box 5-6 and its drive wheel 5-1 can reciprocate along the length direction of the slide rail. The rim of the drive wheel 5-1 is in friction contact with the middle plate body of the I-shaped track. When the drive wheel 5-1 is driven and rotated, the inspection track robot moves along the I-shaped track by friction.

[0028] A transmission box 5-3 is also installed on the support plate 9. The output shaft of the transmission box 5-3 is connected to the input shaft of the drive box 5-6 by a telescopic transmission shaft 5-2. A driving motor for outputting power to the transmission box 5-3 is installed inside the box body 1. The function of using the telescopic transmission shaft 5-2 for transmission is that when the drive box 5-6 moves along the length direction of the slide rail, the telescopic transmission shaft 5-2 automatically retracts to ensure the effective transmission of the driving effect. Structurally, the telescopic transmission shaft 5-2 includes an outer shaft and an inner shaft. The front end of the outer shaft is provided with an axial hole, and the rear end of the inner shaft is located in the axial hole and connected by a key. A driving gear is installed on the output shaft of the driving motor. A transmission gear set is installed in the transmission box 5-3, and the driving gear of the transmission gear set is exposed. The driving gear is meshed with the exposed part of the driving gear for transmission.

[0029] An elastic buffer component is also installed on the support plate 9 to provide elastic force for the drive box 5-6. The elastic buffer component provides elastic force for the drive box 5-6 in the length direction of the slide rail, so that the drive wheel 5-1 maintains a stable and reliable contact effect with the I-rail, ensuring the stability of the drive 5-4.

[0030] In this embodiment, the elastic buffer assembly 5-4 includes a sliding rod installed on the support plate 9, a sliding seat is installed on the sliding rod, and a tension spring is installed between the sliding seat and the sliding rail on this side and the slider of the slider 5-5, so that when the driving box 5-6 moves forward along the sliding rail, the tension spring is further stretched, and conversely, when 5-6 moves backward along the sliding rail, the tension spring is further contracted.

[0031] See also Figure 3 and Figure 4 , we can see that:

[0032] The load-bearing device 7 includes a load-bearing V-shaped bracket 7-1 fixed on the support plate 7, and two opposite load-bearing wheels 7-2 are installed on the top of the load-bearing V-shaped bracket 7-1. The load-bearing wheels 7-2 fall on the track surface of the I-shaped track and roll. The front and rear load-bearing devices 7 allow the I-shaped track to bear the weight of the corridor inspection robot. Since the load-bearing wheels 7-2 roll along the track surface of the I-shaped track, the load-bearing wheels 7-2 also serve as walking wheels.

[0033] In this embodiment, the bottom of the load-bearing V-shaped bracket 7-1 has a rotating shaft, a bearing seat is installed on the support plate 9, and the bottom rotating shaft of the load-bearing V-shaped bracket 7-1 is installed in the bearing seat, so that the load-bearing V-shaped bracket 7-1 can swing around the bottom rotating shaft. The function of this structure is that when the shape of the I-shaped track changes, the load-bearing V-shaped bracket 7-1 of the load-bearing device 7 can swing adaptively, thereby ensuring that the corridor inspection robot is provided with stable load-bearing and walking functions, and automatically adapts to the shape change of the I-shaped track.

[0034] In this embodiment, the load-bearing device 7 also includes a guide mechanism, which includes a guide wheel bracket installed on the load-bearing V-shaped bracket 7-1, and guide wheels are installed at both ends of the guide wheel bracket. The two guide wheels are respectively located on both sides of the load-bearing wheel 7-2 on this side, and the guide wheels contact the middle plate of the I-shaped rail and roll. The function of setting the guide mechanism is to track the shape change of the I-shaped rail, so that the load-bearing V-shaped bracket 7-1 and its load-bearing wheel 7-2 can adjust their postures adaptively.

[0035] See also Figure 3 and Figure 4 , we can see that:

[0036] The cleaning device 8 includes a transmission box 8-1 with a transmission assembly inside. The input shaft of the transmission box 8-1 is connected to the outer end of the axle of the load-bearing wheel 7-2. The transmission box 8-1 has a vertical output shaft and a cleaning roller brush 8-2 ​​is installed at the lower end of the output shaft. Therefore, the power of the cleaning device 8 comes from the load-bearing wheel 7-2. During the rolling movement of the load-bearing wheel 7-2 along the I-shaped track, the axle of the load-bearing wheel 7-2 rotates at the same time. The rotation effect serves as the power input of the cleaning device 8. The transmission assembly inside the transmission box 8-1 transmits the rotation driving action to the output shaft, thereby driving the cleaning roller brush 8-2 ​​to rotate. The cleaning roller brush 8-2 ​​acts on the track surface and can continuously and effectively clean the dust deposited on the track surface to make the track surface clean.

[0037] In this embodiment, a torsion spring is installed between the inner end of the transmission box 8-1 and the load-bearing V-shaped bracket 7-1, and a roller brush limiter 8-3 is installed on the inner side of the outer end of the transmission box 8-1. The roller brush limiter 8-3 includes a limit bracket and a limit roller, and the limit roller contacts the lower surface of the top plate of the I-shaped track. Therefore, the cleaning device 8 is not rigidly installed, but a floating installation structure. The front end of the transmission box 8-1 can float up and down, and the torsion spring provides elastic force. The purpose of setting the roller brush limiter 8-3 is to track the shape change of the I-shaped track, so that the cleaning roller brush 8-2 ​​has a constant relative position relationship with the track surface, and ensure a stable cleaning effect on the track surface.

[0038] In this embodiment, an encoder 16 is also included. The housing of the encoder 16 is fixedly connected to one of the load-bearing V-shaped brackets 7-1, and the input shaft of the encoder 16 is connected to the outer end of the wheel axle of the load-bearing wheel 7-2. The encoder 16 is provided to measure the distance traveled by the corridor inspection robot and determine the position on the I-shaped track by measuring the rotation of the load-bearing wheel 7-2 (that is, the walking wheel).

[0039] Ultrasonic sensors 10 are installed in the middle of the front wall and the middle of the rear wall of the box 1. The ultrasonic sensors 10 are used 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 10 can detect the positioning blocks, 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.

[0040] A bottom pan-tilt 12 capable of rotating and revolving is installed on the bottom wall of the box 1. A first sensor pod 11 and a second sensor pod 13 are installed on both sides of the bottom pan-tilt 12, and both are driven to pitch by the bottom pan-tilt 12. Inspection sensors such as high-definition cameras and infrared cameras are installed in the first sensor pod 11 and the second sensor pod 13. Specifically, a pitch drive assembly is installed inside the bottom pan-tilt 12, and the pitch drive assembly includes a pitch shaft and a pitch drive motor. The output shaft of the pitch drive motor and the pitch shaft are driven by a bevel gear set. The first sensor pod 11 and the second sensor pod 13 are respectively fixed to the two ends of the pitch shaft.

[0041] An indicator light 15 is also installed on the bottom wall of the box 1, and a wireless charging component 14 and a signal antenna 2 are also installed on the side wall of the box 1. The indicator light 15 is used to generate indicator light, for example, it emits a green light when the inspection condition is normal, and emits a flashing red light when an abnormal condition is inspected. The wireless charging component 14 is used for wireless charging of the corridor inspection robot. When the inspection robot moves to the starting point of the I-track, the wireless charging component 14 establishes a wireless charging connection with the wireless charging facility set at the starting point to replenish the battery in the box 1. The signal antenna 2 is used to send and receive wireless signals. The transmitted wireless signal can be inspection data information, and the received wireless signal can be an inspection instruction sent by the management background.

[0042] like Figure 1 and Figure 2 As shown in FIG, a first side protective cover 3 and a second side protective cover 6 are respectively installed on both sides of the top of the box body 1, and a channel 4 for the I-shaped rail to fall into is formed between the two. The first side protective cover 3 and the second side protective cover 6 protect the travel drive device 5, the load-bearing device 7 and the cleaning device 8 on the support plate 9 inside to prevent foreign matter from entering and causing operation failure.

Claims

1. A corridor inspection robot, characterized by: The invention comprises a box (1) in which a control circuit board and a storage battery are installed, a support plate (9) is installed on the top of the box (1), a travel drive device (5) is installed in the middle of the support plate (9) and cooperates with an I-shaped rail to realize travel drive, a load-bearing device (7) is installed at the front and rear of the travel drive device (5) and cooperates with the I-shaped rail to realize load bearing, and a cleaning device (8) is installed on the front and / or rear load-bearing device (7) for continuously cleaning the rail surface online; An ultrasonic sensor (10) is installed in the middle of the front wall and the middle of the rear wall of the box (1); a rotatable bottom platform (12) is installed on the bottom wall of the box (1); a first sensor pod (11) and a second sensor pod (13) are installed on both sides of the bottom platform (12) and are driven to pitch by the bottom platform (12); an indicator light (15) is also installed on the bottom wall of the box (1); and a wireless charging component (14) and a signal antenna (2) are also installed on the side wall of the box (1).

2. The corridor inspection robot according to claim 1, characterized in that: The travel drive device (5) comprises two groups of slide rails and sliders (5-5) mounted on a support plate (9); a drive box (5-6) is mounted between the sliders of the two groups of slide rails and sliders (5-5); an output shaft of the drive box (5-6) is located at the upper part and a drive wheel (5-1) is mounted on the output shaft; a transmission box (5-3) is also mounted on the support plate (9); the output shaft of the transmission box (5-3) is connected to the input shaft of the drive box (5-6) by a telescopic transmission shaft (5-2); a drive motor for outputting power to the transmission box (5-3) is mounted inside the box body (1); and an elastic buffer component (5-4) for providing elastic force for the drive box (5-6) is also mounted on the support plate (9).

3. The corridor inspection robot according to claim 2, characterized in that: The elastic buffer assembly (5-4) comprises a slide bar mounted on a support plate (9), a slide seat mounted on the slide bar, and a tension spring mounted between the slide seat and the slide rail on the side and the slide block of the slide block (5-5).

4. The corridor inspection robot according to claim 1, characterized in that: The load-bearing device (7) comprises a load-bearing V-shaped bracket (7-1) fixedly mounted on a support plate (9), and two opposite load-bearing wheels (7-2) are mounted on the top of the load-bearing V-shaped bracket (7-1). The load-bearing wheels (7-2) fall on the track surface of the I-shaped track and move in a rolling manner.

5. The corridor inspection robot according to claim 4, characterized in that: The bottom of the load-bearing V-shaped bracket (7-1) has a rotating shaft, a bearing seat is installed on the support plate (9) and the bottom rotating shaft of the load-bearing V-shaped bracket (7-1) is installed in the bearing seat, so that the load-bearing V-shaped bracket (7-1) can swing.

6. The corridor inspection robot according to claim 5, characterized in that: The load-bearing device (7) also includes a guide mechanism, which includes a guide wheel bracket installed on the load-bearing V-shaped bracket (7-1), guide wheels are installed at both ends of the guide wheel bracket, and the two guide wheels are respectively located on both sides of the load-bearing wheel (7-2) on this side, and the guide wheels are in contact with the middle plate of the I-shaped track and roll and move.

7. The corridor inspection robot according to claim 6, characterized in that: The cleaning device (8) comprises a transmission box (8-1) with a transmission assembly inside, the input shaft of the transmission box (8-1) is connected to the outer end of the wheel axle of the load-bearing wheel (7-2), the transmission box (8-1) has a vertical output shaft and a cleaning roller brush (8-2) is installed at the lower end of the output shaft.

8. The corridor inspection robot according to claim 7, characterized in that: A torsion spring is installed between the inner end of the transmission box (8-1) and the load-bearing V-shaped bracket (7-1), and a roller brush limiter (8-3) is installed on the inner side of the outer end of the transmission box (8-1). The roller brush limiter (8-3) comprises a limit bracket and a limit roller, and the limit roller contacts the lower surface of the top plate of the I-shaped track.

9. The corridor inspection robot according to claim 8, characterized in that: It also includes an encoder (16), the housing of the encoder (16) is fixedly connected to one of the load-bearing V-shaped brackets (7-1), and the input shaft of the encoder (16) is connected to the outer end of the wheel axle of the load-bearing wheel (7-2).

10. The corridor inspection robot according to any one of claims 1 to 9, characterized in that: A first side protective cover (3) and a second side protective cover (6) are respectively installed on both sides of the top of the box body (1), and a channel (4) for the I-shaped rail to fall into is formed between the two.

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