A walking mechanism for a mini waterproof hanging-rail type inspection robot

Abstract

The present invention discloses a walking mechanism of a miniaturized waterproof hanging-rail type inspection robot, which includes a hanging rail arranged on the path where the inspection robot works, a substrate for installing the inspection robot; at least two guiding devices, with a guide wheel holder installed at the bottom end of the substrate, a limit steering device sleeved and installed outside the guide wheel holder, and a guide wheel housing sleeved outside the guide wheel; the driving device includes a driving housing, a waterproof motor, a reducer and a motor control box, the motor control box is installed on the top of the driving housing, and the waterproof motor and the reducer are installed inside the driving housing; a suspension device is installed at one end of the housing away from the driving housing, and the suspension device includes two symmetrically arranged suspension arms, two symmetrically arranged springs and shock-absorbing rubbers; a driving wheel assembly is installed at one end of the suspension device, and the driving wheel assembly is used for the inspection robot to walk; the equipment stability and reliability of the inspection robot in a complex environment are optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to a walking mechanism of a mini waterproof rail-mounted inspection robot. Background Art

[0002] With the continuous advancement of industrial automation and intelligence, the importance of inspection work has become increasingly prominent in many fields such as mining, underground urban utility tunnels, power warehouses, high and low voltage distribution rooms, etc. Rail-mounted inspection robots have become key equipment to ensure the safe operation of facilities in these special environments and improve inspection efficiency. In the mining field, the underground environment is complex and harsh, with high humidity, dust, and possible water accumulation, posing extremely high requirements for the reliability and stability of inspection equipment. During the long-term operation of the traditional rail-mounted inspection robot walking mechanism, its waterproof and sealing performance gradually deteriorates, and the connection part between the rail and the vehicle body is easily eroded by water vapor, resulting in damage to internal electrical components, affecting the normal operation of the robot, and potentially threatening the safety of mining production. In underground urban utility tunnels, although relatively enclosed, due to leaks in various pipelines or the generation of condensate water, the environmental humidity is relatively high, and the space in the utility tunnel is limited. The existing walking mechanisms of rail-mounted inspection robots often struggle to balance miniaturized design and functional integrity. For example, when reducing the volume, the driving power or shock absorption performance may be sacrificed, resulting in unstable operation on the utility tunnel track, unable to accurately detect various facilities in the utility tunnel, and there are also deficiencies in waterproofing, and it is prone to malfunction due to water vapor intrusion. Power warehouses and high and low voltage distribution rooms have extremely strict requirements for the safety and stability of equipment, and the space is relatively narrow. The existing walking mechanisms of rail-mounted inspection robots lack in adapting to different specifications of power rails and maintaining good running stability. When the rail has slight deformation or the surface is uneven, the walking mechanism of the robot may get stuck or vibrate too much, affecting the inspection quality of power equipment. At the same time, if its waterproof performance does not meet the standard, it may cause electrical accidents and endanger the normal operation of the power system.

[0003] In summary, the existing walking mechanisms of rail-mounted inspection robots have many deficiencies in aspects such as waterproof performance, rail adaptability, space utilization, and functional balance, and are difficult to meet the growing needs of inspection tasks in complex environments. Therefore, a new mini waterproof rail-mounted inspection robot walking mechanism has become an urgent problem for those skilled in the art to solve. Summary of the Invention

[0004] The present application provides a walking mechanism of a mini waterproof rail-mounted inspection robot, including:

[0005] A rail, arranged on the path where the inspection robot works, and the rail is used for the inspection robot to walk on the specified road;

[0006] A substrate for mounting an inspection robot, and a signal receiver assembly is further provided at the bottom of the substrate;

[0007] At least two guiding devices are installed at the bottom end of the substrate. The guiding devices are used to guide the walking direction of the inspection robot. The guiding devices include a plurality of symmetrically arranged guiding wheels, a guiding wheel housing, a limit steering device and a guiding wheel fixator. The guiding wheel fixator is installed at the bottom end of the substrate. The limit steering device is sleeved and installed outside the guiding wheel fixator. The guiding wheels are installed on both sides of the limit steering device, and the guiding wheels are rotatably connected to the limit steering device. The guiding wheel housing is sleeved outside the guiding wheels, and the guiding wheel housing is fixedly connected to the outer sides of both ends of the limit steering device;

[0008] A housing is arranged on the upper part of the substrate, and a driving device, a battery PACK box and a suspension device are arranged inside the housing;

[0009] The driving device includes a driving housing, a waterproof motor, a reducer and a motor control box. The driving housing is installed at one end inside the housing. The motor control box is installed on the top of the driving housing. The waterproof motor and the reducer are installed inside the driving housing. The motor control box is connected to the waterproof motor;

[0010] The suspension device is installed at one end inside the housing away from the driving housing. The suspension device includes two symmetrically arranged suspension arms, two symmetrically arranged springs and shock-absorbing rubber. One end of the spring is connected to the suspension arm, and the other end is connected to the shock-absorbing rubber. The shock-absorbing rubber is installed inside the housing. One end of the suspension arm is connected to the spring, and the other end extends to the outside of the substrate. The two symmetrically arranged suspension arms form a symmetric area, and the inspection robot is placed at the central axis position of the symmetric area;

[0011] A driving wheel assembly is installed at one end of the suspension device. The driving wheel assembly is used for the inspection robot to walk;

[0012] A pan-tilt is installed at the upper end of the housing. The pan-tilt is used to provide a camera device.

[0013] Optionally, the waterproof motor and the reducer are connected by a waterproof coupling, and the outside of the waterproof motor is provided with a waterproof encapsulation treatment.

[0014] Optionally, the motor control box and the waterproof motor are connected by a waterproof cable. Electronic components of a driving circuit are arranged inside the motor control box, and a waterproof coating is sprayed on the outside of the motor control box.

[0015] Optionally, the signal receiver assembly includes a signal receiver, a connecting member, and a bottom plate. The bottom plate is connected to the bottom of the substrate. One end of the connecting member is provided with the bottom plate, and the other end is provided with the signal receiver.

[0016] Optionally, the opposite inner sides of a set of symmetrically arranged guide wheel housings are open, so that a part of the tires of the guide wheels extends out of the symmetric parts to clamp and travel on the hanging rail.

[0017] Optionally, the guide wheels are anti-slip polyurethane-coated wheels. The guide wheels are connected to the limit steering device by a rotating shaft. A sealing ring is installed at the shaft end of the rotating shaft, and a rubber sealing ring is arranged inside the hub of the guide wheels.

[0018] Optionally, the connection part of the guide wheel housing is fastened with a sealing strip and waterproof screws.

[0019] Optionally, a spring fixing frame is further arranged on the suspension device. The spring fixing frame is used to install and support the elastic track of the spring. One end of the spring fixing frame is connected to the inner side of the substrate, and the other end is connected to the shock-absorbing rubber. The spring fixing frame is sleeved outside the spring, and the drive wheel assembly is installed at the side end of the spring fixing frame.

[0020] Optionally, the drive wheel assembly includes a drive wheel, a drive wheel motor, and a drive wheel fixing frame. The drive wheel motor is installed inside the drive wheel fixing frame, and the shaft inside the drive wheel motor is connected to the drive wheel to drive the drive wheel to rotate. The drive wheel is arranged on one side of the spring fixing frame, and the drive wheel fixing frame is installed at one end away from the spring fixing frame.

[0021] The beneficial effects of this application are:

[0022] At least two guiding devices provided in the present application cooperate with each other, and a limiting steering device is arranged between symmetrically arranged guiding wheels to make the steering of the guiding wheels stable. Moreover, the guiding wheels cooperate with the driving wheel assembly. By connecting the driving wheel to the suspension device and arranging a spring and shock-absorbing rubber on the suspension device, the driving wheel and the guiding wheels can reduce bumps and tend to be stable during movement. And when the guiding wheels need to rotate a certain angle, the limiting steering device arranged between the guiding wheels enables the guiding wheels to move stably inside the bending area. In summary, the walking mechanism of the inspection robot provided in the present application can maintain good rail-gripping performance and running stability, reduce slipping and jamming phenomena, improve the continuity and accuracy of the inspection operation, and reduce the downtime for maintenance caused by rail problems. Moreover, the spring, shock-absorbing rubber on the suspension device and the guiding wheels effectively absorb the vibrations and impacts during rail operation, ensuring the stable operation of the robot. This not only facilitates high-precision inspection in places such as high- and low-voltage switchgear rooms with limited space, but also reduces the damage to internal precision electrical components and detection equipment caused by vibrations, improving the accuracy and reliability of the detection data.

[0023] The present application also sprays a waterproof coating on parts such as the housing and the motor, and installs sealing rings between the connecting shafts for waterproof treatment. Brief Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the combined state of the inspection robot and the hanging rail;

[0025] Figure 2 It is a schematic diagram of the structure of the guiding device of the inspection robot;

[0026] Figure 3 It is a schematic diagram of the structure of the driving device of the inspection robot;

[0027] Figure 4 It is a schematic cross-sectional structure diagram of the inspection robot

[0028] In the figure: 1. Hanging rail; 2. Substrate; 3. Signal receiver assembly; 30. Signal receiver; 31. Connector; 32. Bottom plate; 4. Guiding device; 5. Guiding wheel; 6. Guiding wheel housing; 7. Limiting steering device; 8. Guiding wheel fixator; 9. Housing; 10. Driving device; 11. Suspension device; 12. Driving housing; 13. Motor control box; 14. Suspension arm; 15. Spring; 16. Shock-absorbing rubber; 17. Driving wheel assembly; 18. Spring fixing bracket; 19. Driving wheel; 20. Driving wheel fixator; 21. Battery PACK box; 22. Battery PACK box; 23. Cloud platform. Detailed Description of the Invention

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figures 1 to 4 the modular design of the walking mechanism of the inspection robot provided by the present invention, which includes a driving device, a suspension device, a sealing and protection module, and a walking guiding module. Each module is independent of each other and closely cooperates, facilitating assembly, maintenance, and upgrade.

[0031] Please refer to Figures 1 to 4 As shown, the present invention provides a walking mechanism for a miniaturized waterproof hanging-rail inspection robot, including:

[0032] A hanging rail 1 is arranged on the path where the inspection robot works. The hanging rail 1 is used for the inspection robot to walk on the specified road. In this embodiment, an oval hanging rail 1 is given. The hanging rail 1 can be set according to the actual use path of the inspection robot. The hanging rail 1 can protect the climbing area, downhill area, turning area, and straight-line area. It can be installed on the wall or suspended. When installing the hanging rail 1, welding or screwing can be used. 5 ah

[0033] A substrate 2 is used to install the inspection robot, and a signal receiver assembly 3 is further arranged at the bottom of the substrate 2;

[0034] The signal receiver assembly 3 includes a signal receiver 30, a connecting piece 31, and a bottom plate 32. The bottom plate 32 is connected to the bottom of the substrate 2, and one end of the connecting piece 31 is provided with the bottom plate 32, and the other end is provided with the signal receiver 30.

[0035] At least two guiding devices 4 are installed at the bottom end of the substrate 2. The guiding devices 4 are used to guide the walking direction of the inspection robot. The guiding devices 4 include a plurality of symmetrically arranged guiding wheels 5, a guiding wheel housing 6, a limit steering device 7, and a guiding wheel fixer 8. The guiding wheel fixer 8 is installed at the bottom end of the substrate 2. The limit steering device 7 is sleeved and installed outside the guiding wheel fixer 8. The guiding wheels 5 are installed on both sides of the limit steering device 7, and the guiding wheels 5 are rotatably connected to the limit steering device 7. The guiding wheel housing 6 is sleeved outside the guiding wheels 5, and the guiding wheel housing 6 is fixedly connected to the outer sides of both ends of the limit steering device 7;

[0036] The housing connection part of the guiding wheel housing 6 is fastened with a sealing strip and waterproof screws.

[0037] The guide wheel 5 is an anti-slip polyurethane-coated wheel. The guide wheel 5 is connected to the limit steering device 7 by a rotating shaft. A sealing ring is installed at the shaft end of the rotating shaft, and a rubber sealing ring is provided inside the hub of the guide wheel 5.

[0038] A set of symmetrically arranged guide wheel housings 6 have openings on their relative inner sides, so that a part of the tire of the guide wheel 5 extends out symmetrically and clamps and travels on the hanging rail 1.

[0039] The housing 9 is arranged on the upper part of the substrate 2. A driving device 10, a battery PACK box 22 and a suspension device 11 are arranged inside the housing 9. In this embodiment, the battery PACK box 22 can use lithium batteries and graphene batteries in the prior art, etc., to provide power support for the inspection robot;

[0040] The driving device 10 includes a driving housing 12, a waterproof motor, a reducer and a motor control box 13. The driving housing 12 is installed at one end inside the housing 9. The motor control box 13 is installed on the top of the driving housing 12. The waterproof motor and the reducer are installed inside the driving housing 12. The motor control box 13 is connected to the waterproof motor;

[0041] The waterproof motor and the reducer are connected by a waterproof coupling, and the outside of the waterproof motor is provided with a waterproof encapsulation treatment.

[0042] The motor control box 13 is connected to the waterproof motor by a waterproof cable. Electronic components of the driving circuit are arranged inside the motor control box 13, and a waterproof coating is sprayed on the outside of the motor control box 13.

[0043] The suspension device 11 is installed at one end inside the housing 9 away from the driving housing 12. The suspension device 11 includes two symmetrically arranged suspension arms 14, two symmetrically arranged springs 15 and shock-absorbing rubbers 16. One end of the spring 15 is connected to the suspension arm 14, and the other end is connected to the shock-absorbing rubber 16. The shock-absorbing rubber 16 is installed inside the housing 9. One end of the suspension arm 14 is connected to the spring 15, and the other end extends to the outside of the substrate 2. The two symmetrically arranged suspension arms 14 form a symmetric area, so that the inspection robot is placed at the central axis position of the symmetric area;

[0044] A spring fixing frame 18 is further arranged on the suspension device 11. The spring fixing frame 18 is used to install and support the elastic track of the spring 15. One end of the spring fixing frame 18 is connected to the inner side of the substrate 2, and the other end is connected to the shock-absorbing rubber 16. The spring fixing frame 18 is sleeved outside the spring 15. The driving wheel assembly 17 is installed at the side end of the spring fixing frame 18.

[0045] The driving wheel assembly 17 is installed at one end of the suspension device 11, and the driving wheel assembly 17 is used for the walking of the inspection robot.

[0046] The driving wheel assembly 17 includes a driving wheel 19, a driving wheel motor, and a driving wheel fixing bracket 20. The driving wheel motor is installed inside the driving wheel fixing bracket 20, and the shaft of the driving wheel motor is connected to the driving wheel 19 to drive the driving wheel 19 to rotate. The driving wheel 19 is arranged on one side of the spring fixing bracket 18, and the driving wheel fixing bracket 20 is installed at one end away from the spring fixing bracket 18.

[0047] The pan-tilt 23 is installed at the upper end of the housing 9. The pan-tilt 23 is used to provide a camera device, and the pan-tilt 23 can adopt devices in the prior art, such as the Leofoto carbon fiber tripod / pan-tilt.

[0048] The above are only several embodiments of the present application and do not impose any form of limitation on the present application. Although the present application is disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art, without departing from the scope of the technical solution of the present application, makes some changes or modifications using the technical content disclosed above, which are equivalent to equivalent implementation cases and all fall within the scope of the technical solution.

Claims

1. A mini waterproof rail-mounted inspection robot walking mechanism, characterized in that: include: A hanging rail (1) is arranged on a working path of the inspection robot, and the hanging rail (1) is used for the inspection robot to walk on a specified path; A base plate (2) for mounting the inspection robot, wherein a signal receiver component (3) is also arranged on the bottom of the base plate (2); At least two guide devices (4) are installed at the bottom end of the base plate (2), the guide device (4) is used to guide the walking direction of the inspection robot, the guide device (4) comprises a plurality of symmetrically arranged guide wheels (5), a guide wheel housing (6), a limit steering device (7) and a guide wheel fixture (8), the guide wheel fixture (8) is installed at the bottom end of the base plate (2), the limit steering device (7) is sleeved on the outside of the guide wheel fixture (8), the guide wheel (5) is installed on both sides of the limit steering device (7), and the guide wheel (5) is rotatably connected to the limit steering device (7), the guide wheel housing (6) is sleeved on the outside of the guide wheel (5), and the guide wheel housing (6) is fixedly connected to the outside of both ends of the limit steering device (7); A housing (9) is arranged on the upper part of the substrate (2), and a driving device (10), a battery PACK box (22) and a suspension device (11) are arranged inside the housing (9); The driving device (10) comprises a driving housing (12), a waterproof motor, a reducer and a motor control box (13); the driving housing (12) is mounted at one end inside the housing (9); the motor control box (13) is mounted on the top of the driving housing (12); the waterproof motor and the reducer are mounted inside the driving housing (12); and the motor control box (13) is connected to the waterproof motor; The suspension device (11) is installed inside the shell (9) at one end away from the drive housing (12), and the suspension device (11) comprises two symmetrically arranged suspension arms (14), two symmetrically arranged springs (15) and a shock-absorbing rubber (16), one end of the spring (15) is connected to the suspension arm (14), and the other end is connected to the shock-absorbing rubber (16), and the shock-absorbing rubber (16) is installed inside the shell (9), one end of the suspension arm (14) is connected to the spring (15), and the other end is connected to the outer side of the substrate (2), and the two symmetrically arranged suspension arms (14) form a symmetrical area, so that the inspection robot is placed at the central axis position of the symmetrical area; A driving wheel assembly (17) is mounted on one end of the suspension device (11), and the driving wheel assembly (17) is used for the inspection robot to walk; A pan / tilt platform (23) is installed at the upper end of the housing (9), and the pan / tilt platform (23) is used to provide a camera device.

2. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 1 is characterized in that: The waterproof motor and the reducer are connected via a waterproof coupling, and a waterproof packaging treatment is provided on the outside of the waterproof motor.

3. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 2 is characterized in that: The motor control box (13) is connected to the waterproof motor via a waterproof cable; electronic components of a drive circuit are arranged inside the motor control box (13); and a waterproof coating is sprayed on the outside of the motor control box (13).

4. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 3 is characterized in that: The signal receiver assembly (3) comprises a signal receiver (30), a connecting member (31) and a bottom plate (32); the bottom plate (32) is connected to the bottom of the substrate (2); one end of the connecting member (31) is provided with the bottom plate (32), and the other end is provided with the signal receiver (30).

5. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 4 is characterized in that: A group of symmetrically arranged guide wheel housings (6) have relatively inner side openings, so that the tires of the guide wheels (5) extend out of a portion of the symmetrical parts to run under the clamping of the hanging rail (1).

6. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 5 is characterized in that: The guide wheel (5) is a non-slip polyurethane rubber-coated wheel. The guide wheel (5) and the position limiting steering device (7) are connected by a rotating shaft. A sealing ring is installed at the shaft end of the rotating shaft, and a rubber sealing ring is arranged inside the wheel hub of the guide wheel (5).

7. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 6 is characterized in that: The shell connection part of the guide wheel housing (6) is fastened with a sealing strip and waterproof screws.

8. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 7 is characterized in that: The suspension device (11) is also provided with a spring fixing frame (18), the spring fixing frame (18) being used to install an elastic track supporting the spring (15), one end of the spring fixing frame (18) being connected to the inner side of the base plate (2), and the other end being connected to the shock absorbing rubber (16), the spring fixing frame (18) being sleeved on the outside of the spring (15), and the driving wheel assembly (17) being installed on the side end of the spring fixing frame (18).

9. The mini waterproof rail-mounted inspection robot walking mechanism according to claim 8 is characterized in that: The driving wheel assembly (17) comprises a driving wheel (19), a driving wheel motor and a driving wheel fixing frame (20); the driving wheel motor is installed inside the driving wheel fixing frame (20); and the shaft of the driving wheel motor is connected to the driving wheel (19) to drive the driving wheel (19) to rotate; the driving wheel (19) is arranged on one side of the spring fixing frame (18); and the driving wheel fixing frame (20) is installed at an end away from the spring fixing frame (18).

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