Suspension type track inspection robot

Abstract

The invention provides a suspension type track inspection robot, and relates to the field of track inspection robots. The suspension type track inspection robot comprises a track, a main body shell and a fixing frame, connecting shells are fixedly connected to the two sides of the top face of the fixing frame through bolts, moving assemblies and attaching assemblies are arranged in the connecting shells, and fixing shells are fixedly connected to the two ends of the main body shell through bolts. An inspection module is arranged on one side of the lower end of the main body shell, a sensing module is arranged in the middle of the lower end of the main body shell, a cleaning assembly is arranged on one side of the inspection module, fixing plates are fixedly connected to the upper end and the lower end of one side of the outer wall of the inspection module, and a threaded rod is rotationally connected to the inner wall of the fixing plate at the lower end. According to the robot, through modular combination of all the components, overall disassembly, assembly and maintenance are facilitated, meanwhile, the functions of moving, detecting, cleaning and the like work cooperatively, and the comprehensive inspection capacity of the robot is improved.

Description

Technical Field

[0001] This invention relates to the field of track inspection robots, specifically a suspended track inspection robot. Background Technology

[0002] With the increasing complexity of industrial production, energy transmission, and infrastructure operation and maintenance, the demand for equipment inspection in scenarios such as high altitudes, narrow passages, and high-risk environments is growing. Traditional manual inspection is not only inefficient and costly, but also faces safety risks such as falls, poisoning, and mechanical injuries, making it difficult to meet the requirements of modern operation and maintenance for timeliness, accuracy, and safety. Therefore, various automated inspection equipment has emerged. Suspended track inspection robots are intelligent equipment that are suspended in the air or in a specific space by a preset track, move along the track by their own drive system, and integrate various sensing and detection devices (such as cameras and sensors) to achieve autonomous or remote control inspection of equipment status and environmental parameters in target areas.

[0003] Most suspended track inspection robots use single gears or direct drive. This method is only suitable for short distances, high torque, high efficiency, and compact structures. However, when a large gear ratio is required, it is often necessary to stack multiple gears. This not only makes the structure complex and bulky, but also makes it difficult to flexibly adjust the speed range. Furthermore, in long-distance transmission, the gear shaft needs to extend a long distance, which can easily lead to a decrease in gear meshing accuracy due to shaft deformation, resulting in transmission jamming or power loss. In addition, the rigid meshing of metal gears generates a lot of noise, and after long-term use, the tooth surface wear requires frequent disassembly and replacement, making maintenance inconvenient. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a suspended track inspection robot, which mainly solves the problems of most suspended track inspection robots being prone to loosening during long-distance transmission using single gears or direct transmission, having poor adaptability in scenarios with large speed ratios, high operating noise, and cumbersome maintenance.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A suspended track inspection robot includes a track, a main body shell, and a fixed frame. Both sides of the top surface of the fixed frame are fixedly connected to connecting shells by bolts. The connecting shells are equipped with a moving component and a sticking component. Both ends of the main body shell are fixedly connected to fixed shells by bolts. An inspection module is provided on one side of the lower end of the main body shell, a sensing module is provided in the middle of the lower end of the main body shell, and a cleaning component is provided on one side of the inspection module.

[0007] The above technical solution enables modular combination of components, facilitating overall disassembly and maintenance, while allowing functions such as movement, detection, and cleaning to work together, thus improving the robot's comprehensive inspection capabilities.

[0008] Furthermore, the cleaning assembly includes a fixed plate, a threaded rod, a connecting motor, a brush, a sliding rod, a threaded sleeve, and a sliding sleeve. The upper and lower ends of one side of the outer wall of the inspection module are fixedly connected to a fixed plate. The inner wall of the lower fixed plate is rotatably connected to a threaded rod, the inner wall of the upper fixed plate is fixedly connected to a sliding rod, and the front end of the inner wall of the lower fixed plate is fixedly provided with a connecting motor.

[0009] The above technical solution provides a stable structural support for the cleaning and inspection module, enabling the cleaning components to be installed and operated in an orderly manner, and ensuring the reliability of the cleaning operation.

[0010] Furthermore, the output end of the connecting motor passes through the inner wall of the lower fixing plate and is fixedly connected to the front end of the threaded rod. A threaded sleeve is threadedly connected to the middle of the outer wall of the threaded rod, and a sliding sleeve is slidably connected to the middle of the outer wall of the sliding rod. The adjacent ends of the threaded sleeve and the sliding sleeve both pass through the corresponding fixing plate and are fixedly connected to a brush, wherein the adjacent ends of the threaded sleeve and the sliding sleeve both slide with the corresponding fixing plate.

[0011] The above technical solution enables smooth brush movement, allowing for comprehensive cleaning of the inspection module surface, preventing dust and debris from affecting the detection results, and reducing the hassle of manual cleaning.

[0012] Furthermore, the moving assembly includes a drive motor, a rotating gear seat one, a rotating gear seat two, a toothed belt one, a toothed belt two, a rotating gear seat three, a connecting frame, a connecting rod, a rotating gear seat five, a roller, and a fastening roller;

[0013] The above technical solution constructs a multi-component collaborative transmission system, providing stable power for robot movement and adapting to different transmission requirements.

[0014] Furthermore, a connecting frame is fixedly connected to the inner wall of each of the two connecting shells, and a drive motor is fixedly connected to the lower part of the adjacent side of the two connecting frames. A rotating gear seat three is fixedly connected to the output end of each of the drive motors. A connecting rod is rotatably connected to the lower part of the inner wall of the opposite side of the two connecting frames. A rotating gear seat one is fixedly connected to both ends of the outer wall of the connecting rod, and a rotating gear seat two is fixedly connected to the rear end of the rotating gear seat one.

[0015] The above technical solution achieves effective power transmission and distribution, keeps the dual-side transmission structure synchronized, and ensures the balance and stability of the robot during movement.

[0016] Furthermore, the fastening assembly includes a fixed rod, a rotating roller, and a connecting spring. Two fixed rods are fixedly connected to the middle of both sides of the outer wall of the connecting frame. A connecting block is slidably connected to the body of each fixed rod. A rotating roller is rotatably connected to the side of each connecting block away from the connecting frame. The upper end of each rotating roller is in contact with and slides against the lower end of the track. A connecting spring is sleeved on the body of each fixed rod. The upper end of each connecting spring is in contact with the lower end of the connecting block.

[0017] The above technical solution utilizes the elasticity of the spring to keep the rotating roller always close to the track, thereby enhancing the fit between the robot and the track, reducing swaying during movement, and improving operational stability.

[0018] Furthermore, rotating toothed seats five are rotatably connected to the upper part of the inner walls of the two opposing sides of the connecting frames. Each of the two adjacent ends of the rotating toothed seats five passes through the connecting frame to the outside of the connecting frame and is fixedly connected to a roller. The outer walls of rotating toothed seats one and the corresponding end of rotating toothed seats five, and rotating toothed seats two and the corresponding end of rotating toothed seats five, are all fitted with toothed belts two. The outer walls of rotating toothed seats three and the corresponding outer walls of rotating toothed seats one are all tightly fitted with toothed belts one. The middle part of the outer walls of the two opposing sides of the connecting frames is fixedly connected to a fastening roller. The outer walls of the fastening rollers are all tightly fitted with the outer walls of the corresponding toothed belts two. The lower part of the roller is fitted and slides against one end of the corresponding track.

[0019] The above technical solution enables power to be stably transmitted to the rollers, and the fastening rollers ensure the tension of the toothed belt, reducing loosening and slippage during transmission. This allows the robot to move smoothly over long distances with low operating noise and easy maintenance.

[0020] This invention provides a suspended track inspection robot. It has the following advantages:

[0021] 1. This invention provides a suspended track inspection robot. The drive motor in the moving component drives the rotating gear seat three to rotate, which is transmitted to the rotating gear seat one via the toothed belt one. This causes the connecting rod and another rotating gear seat two to rotate synchronously. The rotating gear seat two then drives the rotating gear seat five and the fixed roller through the corresponding toothed belt two. At the same time, the rotating gear seat one on the other side directly drives the corresponding rotating gear seat five and the roller. With the tensioning effect of the fastening roller on the toothed belt two, the device can flexibly adapt to the transmission requirements of large speed ratios, stably complete long-distance power transmission, and has the characteristics of low vibration and low noise during operation.

[0022] 2. This invention provides a suspended track inspection robot. After the connecting motor in the cleaning component is started, it drives the threaded rod to rotate, causing the threaded sleeve to move the brush. At the same time, the sliding sleeve at the other end of the inspection module slides along the outer wall of the sliding rod to maintain stability, thereby cleaning the surface of the inspection module. This allows the device to automatically remove dust and debris accumulated in the inspection module during long-term operation, preventing these impurities from affecting the detection accuracy, reducing the frequency of manual climbing or entering complex environments for cleaning, and thus extending the overall maintenance interval of the robot.

[0023] 3. This invention provides a suspended track inspection robot. The main shell, fixed shell, and connecting shell are made of heat-insulating materials. The fixed shell and connecting shell can be disassembled to achieve quick installation and disassembly. This effectively isolates the device from the influence of external temperature on internal components in harsh environments such as high temperature and low temperature, improves the weather resistance of the robot body, simplifies the installation and maintenance process, facilitates the quick replacement of damaged parts by staff, and extends the service life of the robot. Attached Figure Description

[0024] Figure 1 This is an isometric view of the present invention;

[0025] Figure 2 This is a bottom view of the present invention;

[0026] Figure 3 This is an exploded view of the single-sided fixed shell of the present invention;

[0027] Figure 4 This is a partial structural diagram of the invention, shown in an exploded view.

[0028] Figure 5 This is an isometric view of the cleaning component of the present invention;

[0029] Figure 6 This is an exploded view of part of the structure of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the moving component of the present invention;

[0031] Figure 8 This is an exploded view of the cleaning component of the present invention;

[0032] Figure 9 for Figure 4 Enlarged view of point A in the middle;

[0033] Figure 10 for Figure 4 Enlarged view of point B in the middle;

[0034] Figure 11 for Figure 8 Enlarged view of point C in the middle;

[0035] Figure 12 for Figure 7 Enlarged view of point D in the middle.

[0036] In the picture:

[0037] 1. Main shell; 2. Fixed shell;

[0038] 3. Cleaning components; 301. Fixing plate; 302. Threaded rod; 303. Connecting motor; 304. Brush; 305. Slide rod; 306. Threaded sleeve; 307. Slide sleeve;

[0039] 4. Track;

[0040] 5. Moving components; 501. Drive motor; 502. Rotating gear seat one; 503. Rotating gear seat two; 504. Toothed belt one; 505. Toothed belt two; 506. Rotating gear seat three; 507. Connecting frame; 509. Connecting rod; 510. Rotating gear seat five; 511. Roller; 512. Fastening roller;

[0041] 6. Fixing bracket; 7. Connecting housing;

[0042] 8. Fitting assembly; 801. Fixing rod; 802. Rotating roller; 803. Connecting spring;

[0043] 9. Inspection module; 10. Sensing module. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] like Figure 1-12 As shown, this embodiment of the invention provides a suspended track inspection robot;

[0046] A suspended track inspection robot includes a track 4, a main body shell 1, and a fixed frame 6. Both sides of the top surface of the fixed frame 6 are fixedly connected to connecting shells 7 by bolts. The connecting shells 7 are equipped with a moving component 5 and a sticking component 8. Both ends of the main body shell 1 are fixedly connected to fixed shells 2 by bolts. An inspection module 9 is provided on one side of the lower end of the main body shell 1, and a sensing module 10 is provided in the middle of the lower end of the main body shell 1. A cleaning component 3 is provided on one side of the inspection module 9. This modular combination of components facilitates overall disassembly and maintenance, and allows the functions of movement, detection, and cleaning to work together, thereby improving the robot's comprehensive inspection capabilities.

[0047] The cleaning component 3 includes a fixed plate 301, a threaded rod 302, a connecting motor 303, a brush 304, a sliding rod 305, a threaded sleeve 306, and a sliding sleeve 307. The upper and lower ends of one side of the outer wall of the inspection module 9 are fixedly connected to the fixed plate 301. The inner wall of the lower fixed plate 301 is rotatably connected to the threaded rod 302, and the inner wall of the upper fixed plate 301 is fixedly connected to the sliding rod 305. The front end of the inner wall of the lower fixed plate 301 is fixedly installed with the connecting motor 303, providing stable structural support for the cleaning inspection module 9, enabling the cleaning components to be installed and operated in an orderly manner, and ensuring the reliability of the cleaning action. The connecting motor 304... The output end of 3 passes through the inner wall of the lower fixing plate 301 and is fixedly connected to the front end of the threaded rod 302. The middle of the outer wall of the threaded rod 302 is threadedly connected to the threaded sleeve 306, and the middle of the outer wall of the slide rod 305 is slidably connected to the slide sleeve 307. The adjacent ends of the threaded sleeve 306 and the slide sleeve 307 both pass through the corresponding fixing plate 301 and are fixedly connected to the brush 304. The adjacent ends of the threaded sleeve 306 and the slide sleeve 307 slide with the corresponding fixing plate 301, realizing the smooth movement of the brush 304, which can thoroughly clean the surface of the inspection module 9, avoid dust and debris from affecting the detection effect, and reduce the trouble of manual cleaning.

[0048] The moving component 5 includes a drive motor 501, a rotating gear seat one 502, a rotating gear seat two 503, a toothed belt one 504, a toothed belt two 505, a rotating gear seat three 506, a connecting frame 507, a connecting rod 509, a rotating gear seat five 510, a roller 511, and a fastening roller 512, forming a multi-component collaborative transmission system that provides stable power for robot movement and can adapt to different transmission requirements. Connecting frames 507 are fixedly connected to the inner walls of both connecting shells 7, and the two connecting frames 507 are located on adjacent sides. The lower part is fixedly connected to a drive motor 501. The output end of the drive motor 501 is fixedly connected to a rotating gear seat 3 506. The lower part of the inner wall of the two connecting frames 507 on opposite sides is rotatably connected to a connecting rod 509. The two ends of the outer wall of the connecting rod 509 are fixedly connected to a rotating gear seat 1 502. The rear end of the rotating gear seat 1 502 is fixedly connected to a rotating gear seat 2 503. This realizes the effective transmission and distribution of power, keeps the double-sided transmission structure synchronized, and ensures the balance and stability of the robot when it moves.

[0049] The adhesion component 8 includes a fixed rod 801, a rotating roller 802, and a connecting spring 803. Two fixed rods 801 are fixedly connected to the middle of both sides of the outer wall of the connecting frame 507. The rod body of each fixed rod 801 is slidably connected to a connecting block. The side of the connecting block away from the connecting frame 507 is rotatably connected to a rotating roller 802. The upper end of the rotating roller 802 is in contact with the lower end of the track 4. The rod body of each fixed rod 801 is fitted with a connecting spring 803. The upper end of the connecting spring 803 is in contact with the lower end of the connecting block. The elastic force of the spring keeps the rotating roller 802 in close contact with the track 4, which enhances the fit between the robot and the track 4, reduces shaking during movement, and improves operational stability.

[0050] Rotary gear seats 510 are rotatably connected to the upper part of the inner wall of the two connecting frames 507 on opposite sides. Each adjacent end of the two rotating gear seats 510 passes through the connecting frame 507 to the outside of the connecting frame 507 and is fixedly connected to a roller 511. A toothed belt 505 is fitted onto the outer wall of both rotating gear seat 1 502 and the corresponding rotating gear seat 510 at one end, and a toothed belt 505 is fitted onto the outer wall of rotating gear seat 2 503 and the corresponding rotating gear seat 510 at one end. A rotating gear seat 3 506 is fastened to the outer wall of the corresponding rotating gear seat 1 502. The device includes a toothed belt 504 and two connecting frames 507. Each of the outer walls on opposite sides of the connecting frame is fixedly connected to a fastening roller 512. The outer walls of the fastening rollers 512 are in close contact with the outer walls of the corresponding toothed belt 505. The lower part of the roller 511 slides in contact with one end of the corresponding track 4, allowing power to be stably transmitted to the roller 511. The fastening rollers 512 ensure the tension of the toothed belt, reduce loosening and slippage during transmission, enable the robot to move smoothly over long distances, and have low operating noise and are easy to maintain.

[0051] The working principle of this suspended track inspection robot is as follows:

[0052] During movement, the internal controller of the device activates the drive motor 501 in the moving assembly 5 inside the two connecting shells 7, which drives the rotating gear seat 3 506 to rotate. The rotating gear seat 3 506 drives the rotating gear seat 1 502 to rotate through the toothed belt 1 504. When the rotating gear seat 1 502 rotates, it drives the corresponding fixed connecting rod 509 and the rotating gear seat 2 503 to rotate together. The rotating gear seat 2 503 drives the corresponding rotating gear seat 510 at the upper end to rotate through the toothed belt 2 505, which in turn drives the fixed roller 511 to rotate. Meanwhile, the other half of the rotating gear seat 1 502 directly drives the corresponding rotating gear seat 510 to rotate, causing the corresponding roller 511 to rotate together. The rotation of the four rollers 511 together drives the entire device to move. Among them, the fastening roller 512 can keep the toothed belt 2 505 in a tighter state. This is because the toothed belt 1 504 is used for short-distance transmission, and the toothed belt 2 505 is used for long-distance transmission, so that the device can adapt to scenarios with large speed ratio, long-distance transmission, low noise and convenient maintenance.

[0053] When the inspection module 9 operates for an extended period, the internal controller periodically activates the connecting motor 303 in the cleaning component 3, causing the threaded rod 302 to rotate and the threaded sleeve 306 to move. This allows the brush 304 to clean the surface of the inspection module 9. Simultaneously, the other end of the inspection module 9 slides along the outer wall of the sliding rod 305 via the sliding sleeve 307. This effectively addresses the issue of dust and debris accumulation that may occur during the use of the inspection module 9, extending the robot's maintenance time. Furthermore, disassembling the fixed shell 2 and then the connecting shell 7 simplifies installation and disassembly, facilitating rapid maintenance. The main shell 1, fixed shell 2, and connecting shell 7 are all made of heat-insulating materials, extending the robot's lifespan and significantly improving its heat insulation even in harsh environments.

[0054] The following points should be noted in this article:

[0055] 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in a general design.

[0056] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0057] 3. The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A suspended track inspection robot, comprising a track (4), a main body shell (1), and a fixing frame (6), characterized in that: The top surface of the fixed frame (6) is fixedly connected to the connecting shell (7) by bolts on both sides. The connecting shell (7) is provided with a moving component (5) and a fastening component (8). The two ends of the main body shell (1) are fixedly connected to the fixed shell (2) by bolts. The lower end of the main body shell (1) is provided with an inspection module (9). The lower end of the main body shell (1) is provided with a sensing module (10). The inspection module (9) is provided with a cleaning component (3) on one side.

2. The suspended track inspection robot according to claim 1, characterized in that: The cleaning component (3) includes a fixed plate (301), a threaded rod (302), a connecting motor (303), a brush (304), a sliding rod (305), a threaded sleeve (306), and a sliding sleeve (307). The upper and lower ends of the outer wall of the inspection module (9) are fixedly connected to the fixed plate (301). The inner wall of the lower fixed plate (301) is rotatably connected to the threaded rod (302). The inner wall of the upper fixed plate (301) is fixedly connected to the sliding rod (305). The front end of the inner wall of the lower fixed plate (301) is fixedly provided with the connecting motor (303).

3. The suspended track inspection robot according to claim 2, characterized in that: The output end of the connecting motor (303) passes through the inner wall of the lower fixing plate (301) and is fixedly connected to the front end of the threaded rod (302). The middle part of the outer wall of the threaded rod (302) is threadedly connected to a threaded sleeve (306). The middle part of the outer wall of the sliding rod (305) is slidably connected to a sliding sleeve (307). The adjacent ends of the threaded sleeve (306) and the sliding sleeve (307) both pass through the corresponding fixing plate (301) and are fixedly connected to a brush (304). The adjacent ends of the threaded sleeve (306) and the sliding sleeve (307) both slide with the corresponding fixing plate (301).

4. The suspended track inspection robot according to claim 1, characterized in that: The moving component (5) includes a drive motor (501), a rotating gear seat one (502), a rotating gear seat two (503), a toothed belt one (504), a toothed belt two (505), a rotating gear seat three (506), a connecting frame (507), a connecting rod (509), a rotating gear seat five (510), a roller (511), and a fastening roller (512).

5. A suspended track inspection robot according to claim 4, characterized in that: A connecting frame (507) is fixedly connected to the inner wall of each of the two connecting shells (7). A drive motor (501) is fixedly connected to the lower part of the adjacent side of the two connecting frames (507). A rotating gear seat three (506) is fixedly connected to the output end of each of the drive motors (501). A connecting rod (509) is rotatably connected to the lower part of the inner wall of the opposite side of the two connecting frames (507). A rotating gear seat one (502) is fixedly connected to both ends of the outer wall of the connecting rod (509). A rotating gear seat two (503) is fixedly connected to the rear end of the rotating gear seat one (502).

6. A suspended track inspection robot according to claim 1, characterized in that: The fastening assembly (8) includes a fixed rod (801), a rotating roller (802), and a connecting spring (803). Two fixed rods (801) are fixedly connected to the middle of both sides of the outer wall of the connecting frame (507). The rod body of the fixed rod (801) is slidably connected to a connecting block. The side of the connecting block away from the connecting frame (507) is rotatably connected to a rotating roller (802). The upper end of the rotating roller (802) is in contact with the lower end of the track (4). The rod body of the fixed rod (801) is sleeved with a connecting spring (803). The upper end of the connecting spring (803) is in contact with the lower end of the connecting block.

7. A suspended track inspection robot according to claim 5, characterized in that: Rotary gear seats five (510) are rotatably connected to the upper part of the inner wall of the two connecting frames (507) on opposite sides. Each of the two adjacent ends of the rotating gear seats five (510) passes through the connecting frame (507) to the outside of the connecting frame (507) and is fixedly connected to a roller (511). The rotating gear seat one (502) and the corresponding rotating gear seat five (510) at one end and the rotating gear seat two (503) and the corresponding rotating gear seat five (510) at one end are both fitted with the outer wall of the rotating gear seat five (510) at one end. A toothed belt two (505) is provided. The outer walls of the rotating toothed seat three (506) and the corresponding rotating toothed seat one (502) are both fitted with toothed belt one (504). The middle part of the outer wall of the two connecting frames (507) on opposite sides is fixedly connected with a fastening roller (512). The outer wall of the fastening roller (512) is in close contact with the outer wall of the corresponding toothed belt two (505). The lower part of the roller (511) is in contact with and slides against one end of the corresponding track (4).

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