Rail robot intelligent inspection device and method

Abstract

This invention provides an intelligent inspection device and method for a guide rail robot. The device includes a robot body, which consists of a cloud platform, a robotic arm, and a chassis unit. The chassis unit is fitted onto both sides of the track and mounted on the top of the robotic arm. A drive component for extending and retracting the robotic arm is mounted at the lower end of the chassis unit. The robot body is mounted on the free end of the robotic arm and can move linearly. The chassis unit includes a shell fixed to the upper surface of the drive component. This embodiment, by setting stabilizing components on both sides of the chassis unit that fit against the track sidewalls, ensures that the driven guide wheels of the stabilizing components remain in contact with the track sidewalls when the robot body moves along the track. This limits the displacement range of the guide wheels, preventing positional shifts relative to the track after prolonged operation, and ensuring that the robot as a whole always moves smoothly along a preset path. This solves the problem of robot deviation in the prior art.

Description

Technical Field

[0001] This invention relates to the field of inspection equipment technology, and in particular to an intelligent inspection device and method for a guide rail robot. Background Technology

[0002] Track-based inspection robots are designed to perform specialized and customized inspection tasks in unique environments. They are capable of autonomous positioning and navigation, equipped with specific cameras such as panoramic cameras or dual-light gimbal cameras, and various environmental monitoring modules and sensors. This allows for real-time image capture and sensing of the surrounding environment, enabling remote online monitoring and data analysis. They can replace manual labor in routine inspections, fault diagnosis, and early warning alarm functions. This helps enterprises effectively increase the content and frequency of their operations and maintenance, breaking through the limitations of traditional manual inspections and achieving intelligent operations and maintenance.

[0003] Currently, after prolonged operation, the intelligent robot for inspecting utility tunnels often experiences a problem where the pulleys deviate from the track. This makes it difficult for the robot to maintain a stable and continuous movement during inspection, thus affecting the overall stability of the inspection. At the same time, during inspection operations, the existing design often fails to ensure that the pulleys and track maintain a tight and sufficient contact at all times, which can easily lead to gaps or poor contact between the two, causing the pulleys to slip. This not only reduces the robot's travel efficiency but may also interfere with the normal operation of the inspection equipment, ultimately adversely affecting the accuracy, reliability, and overall effectiveness of the utility tunnel inspection. Summary of the Invention

[0004] The summary section of this invention provides a brief overview of the concepts, which will be described in detail in the detailed description section that follows. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0005] This invention provides an intelligent inspection device and method for guide rail robots to solve the technical problems mentioned in the background section above.

[0006] In a first aspect, the present invention provides a guide rail robot intelligent inspection device, including a robot body, the robot body being composed of a cloud platform, a robotic arm and a chassis unit, the chassis unit being sleeved on both sides of the track and mounted on the top of the robotic arm, the lower end of the chassis unit being equipped with a driving component for driving the extension and retraction of the robotic arm, and the robot body being mounted on the free end of the robotic arm and capable of linear lifting and lowering. The chassis unit includes a housing fixed to the upper surface of the drive unit. The top of the housing has a reserved track opening for the track to pass through. Two sets of partitions are fixed inside the housing at the edge of the housing. The partitions and the housing form a unit cavity. Two sets of guide wheels extending into the unit cavity are mounted on the outer side of each set of partitions. A transmission part for driving the guide wheels to roll is mounted inside the unit cavity. An anti-slip roller capable of rolling along the bottom of the track is mounted between the two sets of partitions. A stabilizing component that abuts against the side wall of the track is installed on one side of each set of guide wheels. The stabilizing component includes a swing arm rotatably connected to the outer wall of the partition. The upper surface of the free end of the swing arm is fitted with a driven guide wheel that abuts against the side wall of the track. The bottom of the driven guide wheel is fixed with a base shaft that extends through to the bottom of the swing arm. The outer wall of the base shaft is fitted with a cross arm. The lower surface of the cross arm is provided with a brush for cleaning dust on the track. The side wall of the swing arm is provided with a telescopic arm that is rotatably connected to the outer wall of the partition.

[0007] In a second aspect, the present invention provides a method for using the intelligent inspection device for a guide rail robot described in any embodiment of the first aspect, comprising the following steps: S1. The operator applies external force to the two sets of parallel stable components manually, causing them to expand outward around the axis of the base. During this expansion, the chassis unit is smoothly pushed into the track from one end. At this time, the guide wheels are located on both sides of the track, and the assembly of the robot body and the track is finally completed. S2. First, connect the power cord of the cloud platform to the sliding contact line pre-arranged on the track to connect the entire circuit system. Then, the operator needs to observe the status of the indicator lights on the control panel. By observing the on / off status or color change of the indicator lights, the operator can determine whether the main robot device has been successfully connected to the circuit and is in a powered state. On this basis, the operator can start the device by pressing the switch button and test the function of the emergency stop button. The operator can conduct a comprehensive trial run check of the main robot device to ensure that all its functions are operating normally. S3. The drive unit can control the extension and retraction of the robotic arm to change the horizontal height of the cloud platform, so that the shooting end of the high-definition camera changes according to the height of the instruments on the power distribution cabinet to adapt to the shooting needs of different instrument positions. After the height is adjusted, the high-definition camera is aimed at the dial of the instrument to be inspected to achieve clear image capture. During this process, the high-definition camera takes pictures of each instrument to be inspected in sequence at preset intervals. The captured image data is sent to the background management system through the wireless transmission module. The background management system identifies the reading on the instrument and compares it with the preset threshold. When the reading is found to be outside the threshold range, the background management system immediately issues an abnormal alarm and notifies the maintenance personnel to go to the site for investigation and handling. S4. The transmission unit drives two sets of guide wheels to rotate synchronously. When the guide wheels rotate, they make frictional contact with the top of the track, causing the entire robot body to move at a constant speed along the length of the track. The driven guide wheel of its stabilizing component is always in contact with the side wall of the track. The brush moves synchronously with the equipment, constantly cleaning the floating dust and debris attached to the surface of the track side wall, preventing the long-term accumulation of floating dust from affecting the rolling effect of the guide wheels and anti-slip rollers. At the same time, when there are slight protrusions or debris blocking the track side wall, the swing arm can rotate around the base to avoid them. With the limit buffer of the telescopic arm, it is used to ensure that the whole equipment can pass through obstacles smoothly.

[0008] The above embodiments of the present invention have the following beneficial effects: By setting stabilizing components that fit against the sidewalls of the track on both sides of the chassis unit, when the robot body moves along the track, the driven guide wheels of the stabilizing components will always remain in contact with the sidewalls of the track, limiting the displacement range of the guide wheels and preventing the guide wheels from shifting relative to the track after long-term operation. This ensures that the robot as a whole always moves smoothly along the preset path, solving the problem of robots easily running off course in the prior art.

[0009] Furthermore, this application includes a movable anti-slip roller between the two sets of partitions. Supported by the buffer section, the anti-slip roller maintains a constant contact with the bottom of the track. Combined with the pressure exerted by the top guide wheel on the top of the track, this ensures that the robot as a whole and the track maintain sufficient friction, effectively preventing guide wheel slippage and ensuring the stability of the robot's movement. At the same time, a cross arm and a brush are installed at the bottom of the driven guide wheel. The brush moves synchronously with the robot's movement, which can clean the floating dust and debris attached to the side wall of the track at any time, preventing the accumulation of floating dust from affecting the contact effect between the guide wheel and the anti-slip roller, extending the maintenance cycle of the device, and reducing the workload of manually cleaning the track.

[0010] Finally, by designing the swing arm to rotate around the base and use the telescopic arm for buffering, when there are slight protrusions or debris blocking the side wall of the track, the swing arm can drive the driven guide wheel to rotate adaptively to avoid them. Combined with the elastic buffering of the telescopic arm, this ensures that the entire equipment can pass through obstacles smoothly without the problem of getting stuck on the track and stopping, further improving the stability and reliability of the inspection process. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1This is a schematic diagram of the structure of an embodiment of the intelligent inspection device for guide rail robots of the present invention; Figure 2 This is a schematic diagram of the structure of an embodiment of the cloud platform of the present invention; Figure 3 This is a schematic diagram of the structure of one embodiment of the chassis unit of the present invention; Figure 4 This is a schematic diagram of the structure of one embodiment of the partition and transmission part of the present invention; Figure 5 This is a schematic diagram of one embodiment of the partition and anti-slip roller of the present invention; Figure 6 This is a schematic diagram of the structure of one embodiment of the transmission part and buffer part of the present invention; Figure 7 This is a structural diagram of an embodiment of the internal structure of the outer casing of the present invention; Figure 8 This is a schematic diagram of a three-dimensional embodiment of the partition of the present invention; Figure 9 This is a schematic diagram of the structure of one embodiment of the stabilizing component of the present invention.

[0013] Explanation of reference numerals in the attached figures: 100. Robot body; 110. Cloud platform; 120. Drive unit; 130. Gas detection module; 140. High-definition camera; 150. Fill light; 160. Gimbal counterweight; 170. Commutating motor; 200. Robotic arm; 210. Drive unit; 300. Chassis unit; 310. Outer shell; 311. Rail opening; 312. Reinforcing plate; 320. Panel; 330. Control panel; 340. Partition plate; 341. Clearance groove; 342. Constraint groove; 350. Frame shell; 351. Ear plate; 360. Anti-slip roller; 370. Transmission unit; 371. Drive motor; 372. Drive shaft; 373. Bevel gear set; 374. Driven bevel gear; 375. Driving bevel gear; 380. Guide wheel; 381. Connecting shaft; 390. Buffer unit; 391. Connecting plate; 392. Telescopic rod; 393. L-plate; 400, Stabilizing component; 410, Swing arm; 420, Base; 430, Driven guide wheel; 440, Base shaft; 450, Cross arm; 460, Brush; 470, Sliding groove; 480, Telescopic arm; 490, T-shaped seat. Detailed Implementation

[0014] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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.

[0015] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0016] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0017] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] Please see Figures 1 to 7 The intelligent inspection device for guide rail robots of the present invention includes a robot body 100, which is composed of a cloud platform 110, a robotic arm 200 and a chassis unit 300. The chassis unit 300 is sleeved on both sides of the track and assembled on the top of the robotic arm 200. The lower end of the chassis unit 300 is equipped with a drive component 210 for driving the extension and retraction of the robotic arm 200. The robot body 100 is assembled on the free end of the robotic arm 200 and can be raised and lowered linearly.

[0019] The chassis unit 300 includes a housing 310 fixed to the upper surface of the drive member 210. The top of the housing 310 has a rail opening 311 for the rail to pass through. Two sets of partitions 340 are fixed inside the housing 310 at the edge position. The partitions 340 and the housing 310 form a unit cavity. Two sets of guide wheels 380 extending into the unit cavity are mounted on the outside of each set of partitions 340. A transmission part 370 for driving the guide wheels 380 to roll is mounted inside the unit cavity. An anti-slip roller 360 that can roll along the bottom of the rail is mounted between the two sets of partitions 340. A stabilizing component 400 that abuts against the side wall of the rail is installed on one side of each set of guide wheels 380.

[0020] The stabilizing assembly 400 includes a swing arm 410 rotatably connected to the outer wall of the partition 340. The upper surface of the free end of the swing arm 410 is fitted with a driven guide wheel 430 that abuts against the side wall of the track. The bottom of the driven guide wheel 430 is fixed with a base shaft 440 that extends through to the bottom of the swing arm 410. The outer wall of the base shaft 440 is fitted with a cross arm 450. The lower surface of the cross arm 450 is provided with a brush 460 for cleaning dust on the track. The side wall of the swing arm 410 is provided with a telescopic arm 480 that is rotatably connected to the outer wall of the partition 340.

[0021] The transmission unit 370 includes a drive motor 371 assembled in the unit cavity. The output end of the drive motor 371 is provided with a transmission shaft 372 rotatably connected in the unit cavity. Two sets of bevel gears 373 are arranged horizontally on both sides of the transmission shaft 372 along the length of the partition 340. The outer wall of the transmission shaft 372 is fixed with an active bevel gear 375 for driving the bevel gears 373 to rotate. The end face of the guide wheel 380 is fixed with a connecting shaft 381 that penetrates the partition 340 and extends into the unit cavity. The end face of the connecting shaft 381 is fixed with a driven bevel gear 374 that meshes with the bevel gears 373. The connecting shaft 381 is connected to the partition 340 by bearings.

[0022] The cloud platform 110 includes a reversing motor 170 rotatably connected to the free end of the robotic arm 200. The output end of the reversing motor 170 is equipped with a drive unit 120 that can rotate around its output shaft axis. A gimbal counterweight 160 is fixed on one side of the drive unit 120, and a high-definition camera 140 is equipped on the other side of the gimbal counterweight 160. A fill light 150 is provided on one side of the shooting end of the high-definition camera 140, and a gas detection module 130 is equipped on the side wall of the high-definition camera 140.

[0023] During operation, the output end of the drive motor 371 rotates, driving the transmission shaft 372 to rotate at a constant speed within the unit cavity. During the rotation of the transmission shaft 372, the active bevel teeth 375 fixed on the outer wall synchronously drive the meshing bevel teeth group 373 on both sides to rotate. The bevel teeth group 373 then transmits power to the connecting shaft 381 fixed with the driven bevel teeth 374, driving the guide wheel 380 at the end of the connecting shaft 381 to roll along the top of the track, realizing the autonomous forward movement of the entire robot body, and enabling autonomous inspection of long-distance tracks.

[0024] like Figures 5 to 6 As shown, each of the two unit cavities is provided with a buffer portion 390 connected to the end of the anti-slip roller 360. The buffer portion 390 includes an L plate 393 sleeved on the outer wall of the drive shaft 372 and sliding in the unit cavity. The bottom of the two L plates 393 is provided with a connecting plate 391 that penetrates the partition 340. The bottom of the connecting plate 391 is provided with three sets of telescopic rods 392 fixed inside the outer shell 310. The partition 340 and the anti-slip roller 360 are provided with relief grooves 341 at the corresponding positions. The outer wall of the partition 340 and the L plate 393 are provided with constraint grooves 342 at the position where they abut against each other. The L plate 393 and the drive shaft 372 are provided with relief holes at the corresponding positions.

[0025] The telescopic rod 392 in the buffer section 390 continuously pushes the L plate 393 upwards. The L plate 393 drives the anti-slip roller 360 to lift upwards along the relief groove 341 (the L plate 393 can slide up and down along the relief hole and the axis of the drive shaft 372), so that the anti-slip roller 360 always fits against the lower surface of the track. Together with the top rolling guide wheel 380, it forms a clamping effect on the track from top to bottom. In scenarios where the robot is climbing a slope or encountering a slight tilt of the track, it can prevent the robot from slipping and deviating, effectively improving the grip during operation and reducing the risk of slipping and stopping. Supported by the telescopic arm 480, the swing arm 410 always keeps the driven guide wheel 430 pressed against the side walls of the track, preventing the robot from swaying left and right during movement. When there are installation seams or small protruding obstacles on the side walls of the track, the swing arm 410 will drive the driven guide wheel 430 to rotate around the base 420 to avoid them, while compressing the telescopic arm 480 to buffer the displacement. After passing the obstacle, the telescopic arm 480 resets and keeps the driven guide wheel 430 pressed against the side wall again, ensuring that the robot always stays centered and does not get stuck or derail.

[0026] As the driven guide wheel 430 rolls along the side wall, its rotation causes the base shaft 440 to rotate synchronously. The cross arm 450 at the bottom of the base shaft 440 also rotates, causing the brush 460 fixed below the cross arm 450 to continuously sweep across the surface of the track side wall, cleaning the floating dust and small debris attached to the side wall out of the track area. This prevents debris from accumulating and obstructing the normal rolling of the guide wheel 380 and the driven guide wheel 430, ensuring smooth robot operation.

[0027] The commutator motor 170 of the cloud platform 110 can drive the drive unit 120 to rotate, adjust the shooting angle of the high-definition camera 140, and adjust the shooting height with the robotic arm 200. This can adapt to the instrument detection needs of different locations and heights in the power distribution room. At the same time, the gas detection module 130 installed on the cloud platform 110 can detect gas parameters such as SF6 and oxygen concentration in real time. When gas leakage or abnormal concentration occurs, it can also issue an alarm in time, which greatly expands the inspection function and meets the multi-dimensional inspection needs of the power distribution room.

[0028] Please refer to this carefully. Figure 3 The chassis unit 300 also includes a panel 320 mounted on the front and rear ends of the housing 310. The panel 320 is detachably connected to the housing 310 by bolts. A control panel 330 is mounted on the surface of the front panel 320. The surface of the control panel 330 is provided with indicator lights, switch buttons and emergency stop buttons.

[0029] The 330 control panel allows for direct on-site equipment debugging and status checks without the need to climb up and down to operate the control panel, making it more convenient for on-site installation personnel and improving installation and debugging efficiency.

[0030] Please refer to this carefully. Figure 3 and Figure 6 A frame shell 350 is fitted on the outer wall of the transmission bevel gear group 373 and the driven bevel gear 374 inside the unit cavity. The frame shell 350 has an integrally formed ear plate 351 on both sides. The ear plate 351 is fixed to the partition plate 340 with screws. The outer wall of the frame shell 350 and the corresponding position of the bevel gear group 373 and the connecting shaft 381 are provided with shaft holes, and bearings for assisting the rotation of the bevel gear group 373 and the drive motor 371 are installed in the shaft holes.

[0031] The housing 350 encloses the core gear set and the rotating structure of the connecting shaft 381 of the transmission unit inside, providing stable rotational support for the transmission bevel gear set 373 and the driven bevel gear 374. At the same time, it can also prevent dust and moisture from entering the meshing parts, reduce the wear rate of the gears, extend the service life of the transmission structure, and reduce the frequency of later maintenance.

[0032] Please refer to this carefully. Figure 7 Multiple sets of reinforcing plates 312 are fixed on both sides of the transmission part 370 and inside the unit cavity. Dustproof plates are fixed between the two sets of partitions 340 and on both sides of the anti-slip rollers 360. The dustproof plates and partitions 340 form a channel for the track to pass through.

[0033] The reinforcing plate 312 can improve the overall structural strength of the outer shell 310, preventing the outer shell 310 from deforming and cracking during long-term movement along the track, and further improving the structural stability of the entire device. The dustproof plate can separate the transmission area from the track passage area, reducing the entry of floating dust and debris from the track into the transmission area, and further protecting the transmission structure from dust corrosion.

[0034] The stabilizing assembly 400 also includes a base 420 rotatably connected to the end of the swing arm 410 and fixed to the outer wall of the partition plate 340. The swing arm 410 has a circular channel for rotation at the position corresponding to the base shaft 440, and a bearing is installed in the circular channel on the outer wall of the base shaft 440. The cross arm 450 is fixed to the bottom of the base shaft 440 by means of a nut.

[0035] The cross arm 450 can be easily disassembled using nuts to facilitate the replacement of the brush 460, avoiding a decrease in cleaning effect after long-term use and wear of the brush. This eliminates the need to replace the entire stabilizing component, reducing later maintenance costs.

[0036] Furthermore, the telescopic arm 480 is rotatably connected between the T-shaped seat 490 and the swing arm 410. The T-shaped seat 490 is slidably connected inside the sliding groove 470 opened on the outer wall of the partition 340, and a buffer spring is sleeved inside the telescopic arm 480. When the swing arm 410 is squeezed and rotated by an obstacle, the swing arm 410 will push the telescopic arm 480 to compress, and at the same time pull the T-shaped seat 490 to slide adaptively in the sliding groove 470. The elasticity of the buffer spring, together with the telescopic arm 480, achieves buffering and energy absorption, which can ensure that the driven guide wheel 430 is always pressed against the side wall of the track to provide stable support, and can smoothly avoid obstacles without causing deformation of the swing arm or track jamming due to hard contact.

[0037] The side wall of the swing arm 410 is provided with a sliding groove 470, and one end of the telescopic arm 480 is rotatably connected to a T-shaped seat 490 that slides inside the sliding groove 470.

[0038] Its telescopic arm 480 ensures that the driven guide wheel 430 is always subjected to an outward elastic force, thereby pushing the swing arm 410 to rotate towards the side wall of the track, ensuring that the driven guide wheel 430 can always fit against the side wall of the track, providing a stable guiding and limiting effect.

[0039] The present invention also provides a method for the intelligent inspection device for the guide rail robot in the above embodiments, comprising the following steps; S1. The operator applies external force to the two sets of parallel stabilizing components 400 manually, causing them to expand outward around the axis of the base 420. During this expansion, the chassis unit 300 is successfully pushed into the track from one end. At this time, the guide wheels 380 are located on both sides of the track, and the assembly of the robot body 100 and the track is finally completed. S2. First, connect the power cord of the cloud platform 110 to the sliding contact line pre-arranged on the track to connect the entire circuit system. Then, the operator needs to observe the status of the indicator lights on the surface of the control panel 330. By observing the on / off status or color change of the indicator lights, the operator can determine whether the robot body 100 has been successfully connected to the circuit and is in a powered state. On this basis, the operator can also start the device by pressing the switch button and test the function of the emergency stop button to conduct a comprehensive trial run check of the robot body 100 to ensure that all its functions are operating normally. S3, the drive unit 210 can control the extension and retraction of the robotic arm 200 to change the horizontal height of the cloud platform 110, so that the shooting end of the high-definition camera 140 changes according to the height of the instrument on the power distribution cabinet, which can adapt to the shooting needs of different instrument positions. After the height is adjusted, the high-definition camera 140 can be aimed at the dial of the instrument to be inspected to achieve clear framing. During this process, the high-definition camera 140 takes pictures of each instrument to be inspected in sequence at preset intervals. The image data obtained is sent to the background management system through the wireless transmission module. The background management system identifies the reading on the instrument and compares it with the preset threshold. When the reading is found to be outside the threshold range, the background management system immediately issues an abnormal alarm and notifies the maintenance personnel to go to the site for investigation and handling. S4. The transmission unit 370 drives two sets of guide wheels 380 to rotate synchronously. When the guide wheels 380 rotate, they make frictional contact with the top of the track, which drives the entire robot body 100 to move at a constant speed along the length of the track. The driven guide wheel 430 of its stabilizing component 400 is always in contact with the side wall of the track. The brush 460 moves synchronously with the equipment and continuously cleans the floating dust and debris attached to the surface of the track side wall, so as to avoid the long-term accumulation of floating dust affecting the rolling effect of the guide wheel 380 and the anti-slip roller 360. At the same time, when there is a slight protrusion or debris blocking the track side wall, the swing arm 410 can rotate around the base 420 to avoid it. With the limit buffer of the telescopic arm 480, the whole equipment can pass through the obstacle smoothly without the problem of the machine stopping due to track jamming, which effectively improves the stability of the inspection process.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A guide rail robot intelligent inspection device, characterized in that, The robot body consists of a cloud platform, a robotic arm, and a chassis unit. The chassis unit is fitted on both sides of the track and mounted on the top of the robotic arm. The lower end of the chassis unit is equipped with a drive unit for extending and retracting the robotic arm. The robot body is mounted on the free end of the robotic arm and can move up and down linearly. The chassis unit includes a housing fixed to the upper surface of the drive unit. The top of the housing has a reserved track opening for the track to pass through. Two sets of partitions are fixed inside the housing at the edge of the housing. The partitions and the housing form a unit cavity. Two sets of guide wheels extending into the unit cavity are mounted on the outer side of each set of partitions. A transmission part for driving the guide wheels to roll is mounted inside the unit cavity. An anti-slip roller capable of rolling along the bottom of the track is mounted between the two sets of partitions. A stabilizing component that abuts against the side wall of the track is installed on one side of each set of guide wheels. The stabilizing component includes a swing arm rotatably connected to the outer wall of the partition. The upper surface of the free end of the swing arm is fitted with a driven guide wheel that abuts against the side wall of the track. The bottom of the driven guide wheel is fixed with a base shaft that extends through to the bottom of the swing arm. The outer wall of the base shaft is fitted with a cross arm. The lower surface of the cross arm is provided with a brush for cleaning dust on the track. The side wall of the swing arm is provided with a telescopic arm that is rotatably connected to the outer wall of the partition.

2. The intelligent inspection device for a guide rail robot according to claim 1, characterized in that, The chassis unit also includes panels mounted on the front and rear ends of the housing. The panels are detachably connected to the housing by bolts. A control panel is mounted on the surface of the front panel. The control panel is equipped with indicator lights, switch buttons, and an emergency stop button.

3. The intelligent inspection device for guide rail robots according to claim 2, characterized in that, The transmission unit includes a drive motor assembled in the unit cavity. The output end of the drive motor is provided with a transmission shaft rotatably connected in the unit cavity. Two sets of bevel gears are arranged horizontally on both sides of the transmission shaft along the length of the partition. The outer wall of the transmission shaft is fixed with an active bevel gear for driving the bevel gears to rotate. The end face of the guide wheel is fixed with a connecting shaft that penetrates the partition and extends into the unit cavity. The end face of the connecting shaft is fixed with a driven bevel gear that meshes with the bevel gears. The connecting shaft is connected to the partition by bearings.

4. The intelligent inspection device for guide rail robots according to claim 3, characterized in that, The two sets of unit cavities are provided with buffer parts connected to the ends of the anti-slip rollers. The buffer parts include L-plates that are sleeved on the outer wall of the drive shaft and slide within the unit cavity. The bottom of the two sets of L-plates is provided with connecting plates that penetrate the partition. The bottom of the connecting plates is provided with three sets of telescopic rods fixed inside the outer shell. The partition and the anti-slip rollers are provided with clearance grooves at their corresponding positions. The outer wall of the partition and the L-plate are provided with constraint grooves at their contact positions. The L-plate and the drive shaft are provided with clearance holes at their corresponding positions.

5. The intelligent inspection device for guide rail robots according to claim 4, characterized in that, The unit cavity is fitted with a frame shell on the outer wall of the bevel gear group and the driven bevel gear. The frame shell has integrally formed ear plates on both sides. The ear plates are fixed to the partition with screws. The outer wall of the frame shell and the bevel gear group are respectively provided with shaft holes at the corresponding positions. The shaft holes are fitted with bearings to assist the rotation of the bevel gear group and the drive motor.

6. The intelligent inspection device for a guide rail robot according to claim 5, characterized in that, Multiple sets of reinforcing plates are fixed on both sides of the transmission part and inside the unit cavity. Dustproof plates are fixed between the two sets of partitions and on both sides of the anti-slip rollers. The dustproof plates and partitions form a channel for the track to pass through.

7. The intelligent inspection device for a guide rail robot according to claim 6, characterized in that, The stabilizing component also includes a base rotatably connected to the end of the swing arm and fixed to the outer wall of the partition. A circular channel for rotation is opened at the position corresponding to the base shaft of the swing arm, and a bearing is installed inside the circular channel on the outer wall of the base shaft. The cross arm is fixed to the bottom of the base shaft by means of a nut.

8. The intelligent inspection device for a guide rail robot according to claim 7, characterized in that, The side wall of the swing arm is provided with a sliding groove, and one end of the telescopic arm is rotatably connected to a T-shaped seat that slides inside the sliding groove.

9. The intelligent inspection device for a guide rail robot according to claim 8, characterized in that, The cloud platform includes a commutator motor rotatably connected to the free end of the robotic arm. The output end of the commutator motor is equipped with a drive unit that can rotate around its output shaft axis. A gimbal counterweight is fixed on one side of the drive unit, and a high-definition camera is mounted on the other side of the gimbal counterweight. A fill light is provided on one side of the high-definition camera's shooting end, and a gas detection module is mounted on the side wall of the high-definition camera.

10. A method for the intelligent inspection device for the guide rail robot of claim 9, comprising the following steps; S1. The operator applies external force to the two sets of parallel stable components manually, causing them to expand outward around the axis of the base. During this expansion, the chassis unit is smoothly pushed into the track from one end. At this time, the guide wheels are located on both sides of the track, and the assembly of the robot body and the track is finally completed. S2. First, connect the power cord of the cloud platform to the sliding contact line pre-arranged on the track to connect the entire circuit system. Then, the operator needs to observe the status of the indicator lights on the control panel. By observing the on / off status or color change of the indicator lights, the operator can determine whether the main robot device has been successfully connected to the circuit and is in a powered state. On this basis, the operator can start the device by pressing the switch button and test the function of the emergency stop button. The operator can conduct a comprehensive trial run check of the main robot device to ensure that all its functions are operating normally. S3. The drive unit can control the extension and retraction of the robotic arm to change the horizontal height of the cloud platform, so that the shooting end of the high-definition camera changes according to the height of the instruments on the power distribution cabinet to adapt to the shooting needs of different instrument positions. After the height is adjusted, the high-definition camera is aimed at the dial of the instrument to be inspected to achieve clear image capture. During this process, the high-definition camera takes pictures of each instrument to be inspected in sequence at preset intervals. The captured image data is sent to the background management system through the wireless transmission module. The background management system identifies the reading on the instrument and compares it with the preset threshold. When the reading is found to be outside the threshold range, the background management system immediately issues an abnormal alarm and notifies the maintenance personnel to go to the site for investigation and handling. S4. The transmission unit drives two sets of guide wheels to rotate synchronously. When the guide wheels rotate, they make frictional contact with the top of the track, causing the entire robot body to move at a constant speed along the length of the track. The driven guide wheel of its stabilizing component is always in contact with the side wall of the track. The brush moves synchronously with the equipment, constantly cleaning the floating dust and debris attached to the surface of the track side wall, preventing the long-term accumulation of floating dust from affecting the rolling effect of the guide wheels and anti-slip rollers. At the same time, when there are slight protrusions or debris blocking the track side wall, the swing arm can rotate around the base to avoid them. With the limit buffer of the telescopic arm, it is used to ensure that the whole equipment can pass through obstacles smoothly.

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