Horizontal track inspection robot

Abstract

The invention discloses a horizontal track inspection robot. The device comprises a rail assembly, a rail frame in the rail assembly and a rail are fixedly installed, and the rail frame is fixedly connected with a fixed face through an installed groove. An upper cover and a lower shell in the robot body are fixedly connected through screws, and a camera device is installed at the front end of the lower shell, so that it is guaranteed that the robot collects the real-time state on an inspection route in the walking process; the driving wheel mechanism is coaxially and fixedly connected with a mounting hole formed in the robot main body through a wheel end seal and is used for driving the robot to move on the track; and the driven guide device is fixedly connected with the robot body through a guide wheel seat, and it is guaranteed that the robot can be better attached to the track for guiding in the walking process. The device is simple in overall structure, small in size, easy to install and suitable for patrol monitoring work in areas with narrow space, limited installation conditions and the like.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and specifically refers to a horizontal rail inspection robot. Background Art

[0002] An inspection robot is a semi-automatic or fully automatic intelligent robot. Currently, in some traditional industries such as mines, there are many devices that need to be inspected. However, in some places with harsh environments, high risks, and unsuitable for long-term on-duty or unattended operation, due to safety, efficiency and other issues, it is impossible to let workers complete the inspection work. Therefore, using an inspection robot to replace manual inspection has become a good choice, which not only reduces labor costs and safety risks, but also improves inspection efficiency and accuracy. Moreover, the inspection robot can also achieve real-time monitoring and early warning of equipment, timely detect equipment failures and hidden dangers, and improve the reliability and safety of equipment.

[0003] Currently, conventional inspection robots are mostly suspended rail inspection robots. However, due to reasons such as the size of the robot body, the installation position and height of the rail, the real-time status of some areas on-site cannot be monitored. For example, the status of the rollers between the two belts of a belt conveyor in a coal mine belt corridor. Therefore, it is particularly important to design a horizontal rail inspection robot with a small volume and capable of walking in some narrow spaces. Summary of the Invention

[0004] In view of this, the present invention aims at the above problems and invents a horizontal rail inspection robot to solve the technical problem that the real-time status of some areas on-site cannot be monitored due to reasons such as the size of the robot body, the installation position and height of the rail of the traditional suspended rail inspection robot.

[0005] To achieve this purpose, the present invention adopts the following technical solutions: A horizontal rail inspection robot includes: a rail assembly, a robot body, a driving wheel mechanism, and a driven guiding device; the rail assembly includes a rail frame, a rail, and an installation groove opened on the rail frame; the robot body includes an upper cover, a lower housing, a camera device, and an installation hole opened on the lower housing; the driving wheel mechanism includes a polyurethane wheel, a hub, a wheel end seal, a bearing, a bearing retaining ring, a stepped shaft, a common flat key, a wheel shaft retaining piece, and a screw; the driven guiding device includes a guiding wheel, a guiding wheel hinge bracket, a spring cap, a spring, a spring sleeve, a guiding wheel seat, a hinge, a leaf spring, a top wheel seat, and a top wheel.

[0006] In one embodiment, the rail is fixedly installed on the rail frame and fixedly connected to the fixed surface through the installation groove.

[0007] In one embodiment, the upper cover and the lower housing are fixedly connected by screws, and a camera device is installed at the front end of the lower housing.

[0008] In one embodiment, the driving wheel mechanism is coaxially and fixedly connected to the mounting hole formed on the robot body through a wheel end seal; a bearing is coaxially installed inside the wheel end seal and its movement is restricted by a bearing retainer; the second step of the stepped shaft is coaxially installed with the bearing and is in interference fit; the first step of the stepped shaft is coaxially installed with a hub and synchronous rotation is ensured by a common flat key; a wheel shaft retaining piece is pressed by a screw at the shaft end of the stepped shaft to restrict the movement of the hub; a polyurethane wheel is coaxially installed on the outer surface of the hub.

[0009] In one embodiment, the driven guiding device is fixedly connected to the robot body through a guiding wheel seat; a spring sleeve is installed on the guiding wheel seat; a spring and a spring cap are coaxially installed inside the spring sleeve; a rotatable guiding wheel hinge frame is installed on the guiding wheel seat through a connecting pin; one end of the guiding wheel hinge frame is pressed against the spring cap, and the other end is installed with a guiding wheel. A hinge is also fixedly installed on the guiding wheel seat; one end of a leaf spring is fixedly connected to the hinge by a screw, and the other end is installed with a top wheel seat and a top wheel is installed on the top wheel seat.

[0010] Compared with the prior art, a horizontal track inspection robot provided by the present invention has a simple overall structure, a small volume, and is easy to install, and can be applicable to inspection and monitoring work in areas with narrow space and limited installation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a perspective structure diagram of the horizontal track inspection robot of the present invention; Figure 2 is a perspective top view structure diagram of the walking track of the horizontal track inspection robot of the present invention; Figure 3 is an isometric structure diagram of the main body of the horizontal track inspection robot of the present invention; Figure 4 is a sectional structure diagram of the driving wheel mechanism of the horizontal track inspection robot of the present invention; Figure 5 is an isometric structure diagram of the driven guiding device of the horizontal track inspection robot of the present invention.

[0012] Among them, 10 is the track assembly; 20 is the robot main body; 30 is the driving wheel mechanism; 40 is the driven guiding device; 101 is the track frame; 102 is the track; 1011 is the installation groove; 201 is the upper cover; 202 is the lower housing; 203 is the camera device; 2021 is the installation hole; 301 is the polyurethane wheel; 302 is the wheel hub; 303 is the wheel end seal; 304 is the bearing; 305 is the bearing retainer; 306 is the stepped shaft; 307 is the ordinary flat key; 308 is the wheel shaft retaining piece; 309 is the screw; 401 is the guide wheel; 402 is the guide wheel hinge bracket; 403 is the spring cap; 404 is the spring; 405 is the spring sleeve; 406 is the guide wheel seat; 407 is the hinge; 408 is the leaf spring; 409 is the top wheel seat; 410 is the top wheel. Detailed implementation manners

[0013] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0014] As shown in the attached Figures 1-5 As shown in the figure, the present invention provides a technical solution: a horizontal track inspection robot, including a track assembly 10, the track assembly 10 includes a track frame 101, a track 102 and an installation groove 1011 opened on the track frame 101; a robot main body 20, the robot main body 20 includes an upper cover 201, a lower housing 202, a camera device 203 and an installation hole 2021 opened on the lower housing 202; a driving wheel mechanism 30, the driving wheel mechanism 30 includes a polyurethane wheel 301, a wheel hub 302, a wheel end seal 303, a bearing 304, a bearing retainer 305, a stepped shaft 306, an ordinary flat key 307, a wheel shaft retaining piece 308, a screw 309; a driven guiding device 40, the driven guiding device 40 includes a guide wheel 401, a guide wheel hinge bracket 402, a spring cap 403, a spring 404, a spring sleeve 405, a guide wheel seat 406, a hinge 407, a leaf spring 408, a top wheel seat 409, a top wheel 410.

[0015] Specifically, the track frame 101 is fixedly installed with the track 102, and the track frame 101 is fixedly connected to the fixed surface through the provided installation groove 1011. The upper cover 201 and the lower housing 202 are fixedly connected by screws, and a camera device 203 is installed at the front end of the lower housing 202 to ensure that the robot collects the real-time state on the inspection route during walking. The drive wheel mechanism 30 is coaxially and fixedly connected to the installation hole 2021 provided on the robot main body 20 through the wheel end seal 303, and is used to drive the robot to move on the track. The driven guiding device 40 is fixedly connected to the robot main body 20 through the guiding wheel seat 406 to ensure better steering of the robot during walking.

[0016] In the above solution, a bearing 304 is coaxially installed inside the wheel end seal 303, and a bearing retaining ring 305 is used to limit its movement; the second step of the stepped shaft 306 is coaxially installed with the bearing 304 and is in interference fit; the first step of the stepped shaft 306 is coaxially installed with the hub 302, and a common flat key 307 is used to ensure synchronous rotation; a wheel shaft retaining piece 308 is pressed by a screw 309 at the shaft end of the stepped shaft 306 to limit the movement of the hub 302; a polyurethane wheel 301 is coaxially installed on the outer surface of the hub 302. A spring sleeve 405 is installed on the guiding wheel seat 406; a spring 404 and a spring cap 403 are coaxially installed inside the spring sleeve 405; a rotatable guiding wheel hinge frame 402 is installed on the guiding wheel seat 406 through a connecting pin; one end of the guiding wheel hinge frame 402 is pressed against the spring cap 403, and a guiding wheel 401 is installed at the other end; a hinge 407 is also fixedly installed on the guiding wheel seat 406; one end of the leaf spring 408 is fixedly connected to the hinge 407 by a screw, and a top wheel seat 409 is installed at the other end, and a top wheel 410 is installed on the top wheel seat 409.

[0017] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A horizontal track inspection robot, characterized in that, Including: An orbital assembly (10), a robot body (20), a driving wheel mechanism (30), and a driven guiding device (40); the orbital assembly (10) includes an orbital frame (101), an orbit (102), and a mounting groove (1011) formed in the orbital frame (101); the robot body (20) includes an upper cover (201), a lower housing (202), a camera device (203), and a mounting hole (2021) formed in the lower housing (202); the driving wheel mechanism (30) includes a polyurethane wheel (301), a hub (302), a wheel end seal (303), a bearing (304), a bearing retaining ring (305), a stepped shaft (306), a common flat key (307), a wheel shaft retaining plate (308), and a screw (309); the driven guiding device (40) includes a guiding wheel (401), a guiding wheel hinge bracket (402), a spring cap (403), a spring (404), a spring sleeve (405), a guiding wheel seat (406), a hinge (407), a leaf spring (408), a top wheel seat (409), and a top wheel (410).

2. The horizontal rail inspection robot according to claim 1, characterized in that: The orbit (102) is fixedly installed on the orbital frame (101) and fixedly connected to a fixed surface through the mounting groove (1011).

3. The horizontal track inspection robot according to claim 1, characterized in that: The upper cover (201) and the lower housing (202) are fixedly connected by screws, and the camera device (203) is installed at the front end of the lower housing (202).

4. The horizontal rail inspection robot according to claim 1, characterized in that: The driving wheel mechanism (30) is coaxially and fixedly connected to the mounting hole (2021) formed in the robot body (20) through the wheel end seal (303).

5. The horizontal rail inspection robot according to claim 4, characterized in that: The bearing (304) is coaxially installed inside the wheel end seal (303), and its movement is restricted by the bearing retaining ring (305); the second step of the stepped shaft (306) is coaxially installed with the bearing (304) and is in interference fit; the first step of the stepped shaft (306) coaxially installs the hub (302), and synchronous rotation is ensured through the common flat key (307); the wheel shaft retaining plate (308) is pressed by the screw (309) at the shaft end of the stepped shaft (306) to restrict the movement of the hub (302); the polyurethane wheel (301) is coaxially installed on the outer surface of the hub (302).

6. The horizontal rail inspection robot according to claim 1, characterized in that: The driven guiding device (40) is fixedly connected to the robot body (20) through the guiding wheel seat (406).

7. The horizontal rail inspection robot according to claim 6, characterized in that: The spring sleeve (405) is installed on the guiding wheel seat (406); the spring (404) and the spring cap (403) are coaxially installed inside the spring sleeve (405); the rotatable guiding wheel hinge bracket (402) is installed on the guiding wheel seat (406) through a connecting pin; one end of the guiding wheel hinge bracket (402) is pressed against the spring cap (403), and the guiding wheel (401) is installed at the other end.

8. The horizontal track inspection robot according to claim 7, characterized in that: The hinge (407) is also fixedly installed on the guiding wheel seat (406); one end of the leaf spring (408) is fixedly connected to the hinge (407) by screws, and the top wheel seat (409) is installed at the other end, and the top wheel (410) is installed on the top wheel seat (409).

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