Rail type inspection robot and inspection device

Abstract

The utility model discloses a track type inspection robot, which comprises a moving seat and an inspection mechanism arranged on the moving seat, a traveling mechanism is arranged on the moving seat, the moving seat is respectively provided with a bearing guide mechanism in front of and behind the traveling mechanism, the traveling mechanism comprises paired traveling wheel components, and each traveling wheel component is rotatably arranged on the moving seat. A rail clamping interval is formed between the walking wheel assemblies in pairs, and an elastic connecting assembly is connected between the walking wheel assemblies in pairs. The utility model further discloses an inspection device which comprises a track and a track type inspection robot, the cross section of the track is in an I shape, the upper surface and the lower surface of the track are each provided with a weight reduction groove, the walking wheel assemblies in pairs are clamped in the middle of the track, the side guide wheels abut against the side face of the middle of the track, and the upper clamping wheel assembly and the lower clamping wheel assembly comprise upper pressing wheels and lower supporting wheels which are arranged on a rotating base. The rail type inspection robot and the inspection device have the advantages of being stable in walking, low in noise, flexible in turning and easy to adapt to small-radius turning.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection machines, in particular to a track-type inspection robot and an inspection device. Background Art

[0002] With the development of the economy and the advancement of technology, automatic inspection robots have been gradually introduced in areas such as power lines, urban underground comprehensive pipelines, and coal transportation trestles, where manpower needs to be regularly arranged to monitor the operation of on-site equipment and the on-site environment. The existing 202320867781.9 is a patrol robot and patrol device, comprising a mobile seat moving along a track and a patrol mechanism arranged on the mobile seat, the mobile seat is provided with a first cleaning mechanism for cleaning the track, the front or rear of the mobile seat is detachably connected with a passive seat moving along the track, the passive seat is provided with a mounting portion for installing a grinding mechanism and / or a second cleaning mechanism, the grinding mechanism is used to grind the track, the second cleaning mechanism is used to clean the track, both sides of the track are provided with right-angle guide roads, the mobile seat is provided with a first walking wheel for rolling along the bottom surface of the track, both sides are provided with a first guide wheel assembly moving along the right-angle guide road of the track, the first guide wheel assembly is provided with a first cleaning mechanism, the first guide wheel assembly includes a first fixed seat and a first swing seat, the first fixed seat is fixed on the mobile seat, the middle part of the first swing seat is rotatably connected with the first fixed seat, and is provided with a first load-bearing wheel for rolling along the bottom wall of the right-angle guide road, and the first cleaning mechanism and the first guide wheel for rolling along the side wall of the right-angle guide road are provided at both ends of the first swing seat. The patrol robot has the following deficiencies:

[0003] 1) The running wheels are arranged parallel to the bottom of the track and run along the lower surface of the track. It is difficult to ensure the consistency of the friction between the running wheels and the track, which easily leads to uneven forces on both sides and slippage on one side of the wheel, resulting in unstable walking and loud walking noise;

[0004] 2) The squeezing force between the running wheels and the track is difficult to adjust, the adjustability is poor, and it is difficult to adapt to large-angle climbing;

[0005] 3) Parallel running wheels are not flexible in turning and are difficult to adapt to small radius turns. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a track-type inspection robot and an inspection device which have the advantages of stable walking, low noise, flexible turning and easy adaptation to small-radius turning.

[0007] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0008] A track-type inspection robot comprises a moving seat and an inspection mechanism arranged on the moving seat, the moving seat is provided with a walking mechanism, the moving seat is provided with load-bearing guide mechanisms for moving along the track at the front and rear of the walking mechanism, the walking mechanism comprises a pair of walking wheel assemblies, each of the walking wheel assemblies is rotatably arranged on the moving seat, a track clamping gap is formed between the paired walking wheel assemblies for clamping the middle part of the track for walking along the track, and an elastic connection assembly capable of adjusting the clamping force on the track is connected between the paired walking wheel assemblies.

[0009] As a further improvement of the above technical solution:

[0010] The travel wheel assembly includes a mounting seat, a travel wheel arranged on the mounting seat and a travel driving member for driving the travel wheel to rotate. One end of the mounting seat is rotatably arranged on the moving seat, the rail clamping space is formed between the travel wheels on the two mounting seats, and the elastic connection assembly is connected to the other ends of the two mounting seats.

[0011] The elastic connection assembly includes a connecting rod and two connecting blocks, the two connecting blocks are respectively arranged on two mounting seats, the connecting rod is movably inserted into the two connecting blocks, a first elastic fastening piece is pressed against one end of the connecting rod and the corresponding connecting block, an adjusting nut is arranged at the other end, and a second elastic fastening piece is pressed against the adjusting nut and the corresponding connecting block.

[0012] A pressure sensor is provided between the second elastic pressing member and the corresponding connecting block.

[0013] The movable seat is provided with a limit seat between the two mounting seats, and both sides of the limit seat are provided with limit blocks respectively limited above the two mounting seats.

[0014] The other end of the mounting seat is slidably matched with the moving seat via a sliding matching assembly.

[0015] The sliding matching component includes a sliding rod fixed on the moving seat and an arc groove arranged on the mounting seat, the arc center of the arc groove coincides with the rotation center of the mounting seat, and the sliding rod is inserted into the arc groove and can slide along the arc groove.

[0016] One end of the slide rod away from the moving seat is threadedly connected with an adjusting piece and sleeved with a clamping spring, and the clamping spring is pressed tightly between the adjusting piece and the mounting seat.

[0017] The load-bearing guide mechanism comprises a rotating seat, the middle part of which is rotatably arranged on a moving seat, and the rotating seat is provided with side guide wheels for moving along the side of the track and upper and lower clamping wheel assemblies for clamping the track up and down for movement.

[0018] A patrol device comprises a track and the above-mentioned track-type patrol robot, the cross-section of the track is I-shaped, and weight-reducing grooves are evenly arranged on the upper and lower surfaces of the track. A pair of walking wheel assemblies are clamped in the middle of the track, and the side guide wheels abut against the side of the middle of the track. The upper and lower clamping wheel assemblies comprise an upper pressure wheel and a lower support wheel arranged on a rotating seat, the upper pressure wheel is pressed on the upper surface of the bottom of the track, and the lower support wheel abuts against the lower surface of the track. A cleaning mechanism for cleaning the track is provided on the rotating seat.

[0019] Compared with the prior art, the advantages of the utility model are:

[0020] The track-type inspection robot of the utility model has a walking mechanism that walks along the track by clamping the middle part of the track with a pair of walking wheel assemblies, that is, the paired walking wheel assemblies are respectively clamped on both sides of the track and walk along the track. In this way, on the one hand, the friction force between the paired walking wheel assemblies and the track is more consistent, and it is not easy for the two sides to be subjected to different forces and one side of the walking wheel assembly to slip, so the walking is smooth and the noise is small; on the other hand, the paired walking wheel assemblies are in contact with the track through the clamping points, which is more flexible in turning and easier to adapt to small-radius turns than the two-point or multi-point contact of the existing parallel walking wheels.

[0021] The inspection device of the utility model includes all the technical features of the track inspection robot and has all the advantages of the track inspection robot. At the same time, the inspection device has a cleaning mechanism that can clean the track when the track inspection robot runs along the track to avoid slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the track-type inspection robot of the utility model.

[0023] Figure 2 It is a three-dimensional structural schematic diagram of the track-type inspection robot of the utility model (without the inspection mechanism).

[0024] Figure 3 yes Figure 2 Schematic diagram of the main structure.

[0025] Figure 4 It is a three-dimensional structural schematic diagram of the walking mechanism of the track-type inspection robot of the utility model.

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the load-bearing and guiding mechanism of the track-type inspection robot of the utility model.

[0027] Figure 6 It is a three-dimensional structural schematic diagram of the inspection device of the utility model.

[0028] Figure 7It is a structural schematic diagram of the cleaning mechanism of the patrol inspection device of the utility model.

[0029] The symbols in the figure represent:

[0030] 1. Moving seat; 2. Inspection mechanism; 3. Traveling mechanism; 31. Traveling wheel assembly; 311. Mounting seat; 312. Traveling wheel; 313. Traveling drive member; 32. Rail clamping interval; 33. Elastic connecting assembly; 331. Connecting rod; 332. Connecting block; 333. First elastic fastening member; 334. Adjusting nut; 335. Second elastic fastening member; 336. Pressure sensor; 4. Load-bearing guide mechanism; 41. Rotating seat; 42. Side guide wheel; 43. Upper and lower clamping wheel assembly; 431. Upper pressure wheel; 432. Lower support wheel; 5. Limiting seat; 51. Limiting block; 6. Sliding fitting assembly; 61. Sliding rod; 62. Arc groove; 63. Adjusting member; 64. Compression spring; 7. Track; 71. Weight reduction groove; 8. Cleaning mechanism. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Embodiment 1:

[0036] Figures 1 to 5 An embodiment of the rail-type inspection robot of the utility model is shown. The rail-type inspection robot of this embodiment includes a moving seat 1 and an inspection mechanism 2 arranged on the moving seat 1. The moving seat 1 is provided with a walking mechanism 3. The moving seat 1 is provided with load-bearing guide mechanisms 4 for moving along the track 7 at the front and rear of the walking mechanism 3. The walking mechanism 3 includes a pair of walking wheel assemblies 31. Each walking wheel assembly 31 is rotatably arranged on the moving seat 1. A rail clamping gap 32 for clamping the middle part of the track 7 for walking along the track 7 is formed between the paired walking wheel assemblies 31. An elastic connecting assembly 33 capable of adjusting the clamping force on the track 7 is connected between the paired walking wheel assemblies 31.

[0037] The walking mechanism 3 of the rail-type inspection robot walks along the rail 7 by clamping the middle part of the rail 7 with a pair of walking wheel assemblies 31, that is, the paired walking wheel assemblies 31 are respectively clamped on both sides of the rail 7 and walk along the rail 7. In this way, on the one hand, the friction between the paired walking wheel assemblies 31 and the rail 7 is more consistent, and it is not easy for the two sides to be subjected to different forces and one side of the walking wheel assembly 31 to slip, so the walking is smooth and the noise is small. On the other hand, the paired walking wheel assemblies 31 are in contact with the rail 7 through the clamping points, which is more flexible in turning and easier to adapt to small radius turns than the two-point or multi-point contact of the existing parallel walking wheels.

[0038] Furthermore, in this embodiment, if Figure 2 and Figure 4 As shown, the running wheel assembly 31 includes a mounting seat 311, a running wheel 312 arranged on the mounting seat 311, and a running driving member 313 for driving the running wheel 312 to rotate. One end of the mounting seat 311 is rotatably arranged on the moving seat 1, and the rail clamping interval 32 is formed between the running wheels 312 on the two mounting seats 311. The elastic connection assembly 33 is connected to the other ends of the two mounting seats 311. The angle between the two mounting seats 311 is adjusted by the elastic connection assembly 33 to adjust the spacing between the running wheels 312 on the two mounting seats 311, thereby adjusting the clamping force (squeezing force on the track) on the track 7. The structure is reasonable and easy to adjust. When facing large-angle climbing, the clamping force on the track 7 can be tightened, that is, it is easy to adapt to large-angle climbing.

[0039] Furthermore, in this embodiment, if Figure 4As shown, the elastic connection assembly 33 includes a connecting rod 331 and two connecting blocks 332, the two connecting blocks 332 are respectively arranged on the two mounting seats 311, the connecting rod 331 is movably inserted into the two connecting blocks 332, a first elastic abutting member 333 is pressed against one end of the connecting rod 331 and the corresponding connecting block 332, and an adjusting nut 334 is arranged at the other end, and a second elastic abutting member 335 is pressed against the adjusting nut 334 and the corresponding connecting block 332. By screwing the adjusting nut 334, the spacing of the rail clamping interval 32 between the paired running wheels 312 can be adjusted, and the clamping force on the track 7 can be adjusted, with a simple structure and convenient operation. Preferably, the two connecting blocks 332 are respectively fixed on the two mounting seats 311, and the first elastic abutting member 333 and the second elastic abutting member 335 are both abutting springs sleeved on the connecting rod 331.

[0040] Furthermore, in this embodiment, a pressure sensor 336 is provided between the second elastic abutting member 335 and the corresponding connecting block 332. The pressure sensor 336 can detect the compression degree of the second elastic abutting member 335 to detect the squeezing force of the running wheel 312 on the track 7.

[0041] Furthermore, in this embodiment, the movable seat 1 is provided with a limiting seat 5 between the two mounting seats 311, and both sides of the limiting seat 5 are provided with limiting blocks 51 respectively limited above the two mounting seats 311. Under the limiting action of the limiting blocks 51, the mounting seats 311 are prevented from tilting upward relative to the movable seat 1 during the rotation process.

[0042] Further, in this embodiment, the other end of the mounting seat 311 is slidably matched with the moving seat 1 via a sliding matching assembly 6. The mounting seat 311 is slidably matched with the moving seat 1 via a sliding matching assembly 6, so that the mounting seat 311 can rotate smoothly.

[0043] Furthermore, in this embodiment, the sliding fitting assembly 6 includes a slide bar 61 fixedly mounted on the moving seat 1 and an arc groove 62 disposed on the mounting seat 311, the arc center of the arc groove 62 coincides with the rotation center of the mounting seat 311, and the slide bar 61 is inserted into the arc groove 62 and can slide along the arc groove 62. When the mounting seat 311 rotates around the rotation center under the extrusion of the track 7 or the adjustment of the elastic connection assembly 33, the slide bar 61 slides along the arc groove 62.

[0044] Furthermore, in this embodiment, the end of the slide bar 61 away from the moving seat 1 is threadedly connected with an adjusting member 63 and sleeved with a clamping spring 64, and the clamping spring 64 is pressed tightly between the adjusting member 63 and the mounting seat 311. Under the elastic downward pressure of the clamping spring 64, the mounting seat 311 is further prevented from tilting up relative to the moving seat 1 during the rotation process. Furthermore, the clamping spring 64 and the mounting seat 311 can be provided with a pad to reduce the restrictive effect of the clamping spring 64 on the rotation of the mounting seat 311.

[0045] Furthermore, in this embodiment, if Figure 2 , Figure 3 and Figure 5 As shown, the load-bearing guide mechanism 4 includes a rotating seat 41, the middle part of which is rotatably arranged on the moving seat 1, and the rotating seat 41 is provided with a side guide wheel 42 for moving along the side of the track 7 and an upper and lower clamping wheel assembly 43 for clamping the track 7 up and down to move. During use, the upper and lower clamping wheel assembly 43 clamps the track 7 up and down and moves along the track 7 to play a load-bearing role, and the side guide wheel 42 moves along the side of the track 7 to play a guiding role. Preferably, the side guide wheels 42 can be arranged in pairs, respectively against the two sides of the track 7, to improve the guiding effect, such as, in this embodiment, the side guide wheels 42 are provided with two pairs, and the upper and lower clamping wheel assembly 43 includes an upper pressing wheel 431 and a lower supporting wheel 432 arranged on the rotating seat 41, the upper pressing wheel 431 is used to press on the upper surface of the bottom of the track 7, and the lower supporting wheel 432 is used to support against the lower surface of the track 7, and there are two upper pressing wheels 431, which are respectively located between the two pairs of side guide wheels 42. Preferably, the side guide wheel 42 and the lower support wheel 432 are respectively installed on the moving seat 1 through elastic seats. Specifically, the central axes of the upper pressure wheel 431 and the lower support wheel 432 are parallel, the central axes of the side guide wheel 42 and the lower support wheel 432 are perpendicular, and the walking wheel 312 is parallel to the central axis of the side guide wheel 42.

[0046] Embodiment 2:

[0047] Figure 6 and Figure 7 An embodiment of the inspection device of the present invention is shown, the inspection device of the present invention comprises a track 7 and a track-type inspection robot of embodiment 1, the cross section of the track 7 is I-shaped, weight reduction grooves 71 are evenly arranged on the upper and lower surfaces of the track 7, a pair of walking wheel assemblies 31 are clamped in the middle of the track 7, the side guide wheels 42 are against the side of the middle of the track 7, the upper and lower clamping wheel assemblies 43 comprise an upper pressure wheel 431 and a lower support wheel 432 arranged on a rotating seat 41, the upper pressure wheel 431 is pressed on the upper surface of the bottom of the track 7, the lower support wheel 432 is supported against the lower surface of the track 7, and a cleaning mechanism 8 for cleaning the track 7 is provided on the rotating seat 41.

[0048] The inspection device includes all the technical features of the track-type inspection robot and has all the advantages of the track-type inspection robot. At the same time, the inspection device has a cleaning mechanism 8, which can clean the track 7 to avoid slipping when the track-type inspection robot is running along the track 7. The cleaning mechanism 8 can be arranged on the front side, rear side and / or middle part of the device to improve the cleaning effect. Weight-reducing grooves 71 are evenly provided on the upper and lower surfaces of the track 7, which can reduce the weight of the track 7 and facilitate disassembly and assembly. The cleaning mechanism 8 may include a mounting plate, a cleaning component and a scraper. The mounting plate is detachably mounted on the rotating seat 41. The cleaning component and the scraper are arranged on the mounting plate front and back. The scraper can scrape off the hard ash blocks on the track 7 in front, and the cleaning component then cleans the track 7.

[0049] In this embodiment, the middle part of the track 7 is the middle wall of the track 7, and the track 7 includes an upper wall, a middle wall and a lower wall, and the middle wall is fixed between the upper wall and the lower wall to form a track 7 with an I-shaped cross section, and the lower surface of the track 7 is the bottom surface of the lower wall. The upper surface of the bottom of the track 7 is the upper surface of the lower wall.

[0050] Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the art can use the above disclosed technical content to make many possible changes and modifications to the technical solution of the present invention without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A track inspection robot, characterized in that: The invention comprises a moving seat (1) and an inspection mechanism (2) arranged on the moving seat (1), wherein the moving seat (1) is provided with a walking mechanism (3), and the moving seat (1) is provided with a load-bearing guide mechanism (4) for moving along a track (7) at the front and rear of the walking mechanism (3), respectively, and the walking mechanism (3) comprises a pair of walking wheel assemblies (31), each of the walking wheel assemblies (31) is rotatably arranged on the moving seat (1), and a rail clamping interval (32) for clamping the middle part of the track (7) for walking along the track (7) is formed between the paired walking wheel assemblies (31), and an elastic connection assembly (33) capable of adjusting the clamping force on the track (7) is connected between the paired walking wheel assemblies (31).

2. The rail-type inspection robot according to claim 1, characterized in that: The travel wheel assembly (31) comprises a mounting seat (311), a travel wheel (312) arranged on the mounting seat (311), and a travel driving member (313) for driving the travel wheel (312) to rotate; one end of the mounting seat (311) is rotatably arranged on the moving seat (1); the rail clamping space (32) is formed between the travel wheels (312) on the two mounting seats (311); and the elastic connection assembly (33) is connected to the other ends of the two mounting seats (311).

3. The track-type inspection robot according to claim 2, characterized in that: The elastic connection assembly (33) comprises a connection rod (331) and two connection blocks (332), the two connection blocks (332) are respectively arranged on two mounting seats (311), the connection rod (331) is movably inserted into the two connection blocks (332), a first elastic fastening member (333) is pressed against one end of the connection rod (331) and the corresponding connection block (332), and an adjusting nut (334) is arranged at the other end, and a second elastic fastening member (335) is pressed against the adjusting nut (334) and the corresponding connection block (332).

4. The track-type inspection robot according to claim 3, characterized in that: A pressure sensor (336) is provided between the second elastic pressing member (335) and the corresponding connecting block (332).

5. The track-type inspection robot according to claim 2, characterized in that: The movable seat (1) is provided with a limit seat (5) between the two mounting seats (311), and both sides of the limit seat (5) are provided with limit blocks (51) respectively limited above the two mounting seats (311).

6. The track-type inspection robot according to claim 2, characterized in that: The other end of the mounting seat (311) is slidably engaged with the movable seat (1) via a slidably engaged assembly (6).

7. The track-type inspection robot according to claim 6, characterized in that: The sliding fitting assembly (6) comprises a sliding rod (61) fixedly mounted on the movable seat (1) and an arc-shaped groove (62) mounted on the mounting seat (311); the arc center of the arc-shaped groove (62) coincides with the rotation center of the mounting seat (311); the sliding rod (61) is inserted into the arc-shaped groove (62) and can slide along the arc-shaped groove (62).

8. The track-type inspection robot according to claim 7, characterized in that: One end of the slide rod (61) away from the movable seat (1) is threadedly connected with an adjusting member (63) and is sleeved with a clamping spring (64), wherein the clamping spring (64) is pressed tightly between the adjusting member (63) and the mounting seat (311).

9. The track-type inspection robot according to any one of claims 1 to 8, characterized in that: The load-bearing guide mechanism (4) comprises a rotating seat (41), the middle part of which is rotatably arranged on the moving seat (1), and the rotating seat (41) is provided with side guide wheels (42) for moving along the side of the track (7) and upper and lower clamping wheel assemblies (43) for clamping the track (7) up and down to move.

10. A patrol inspection device, characterized in that: It comprises a track (7) and the track-type inspection robot as claimed in claim 9, wherein the cross section of the track (7) is I-shaped, and weight-reducing grooves (71) are evenly arranged on the upper and lower surfaces of the track (7), and a pair of walking wheel assemblies (31) are clamped in the middle of the track (7), and the side guide wheels (42) are against the side of the middle of the track (7), and the upper and lower clamping wheel assemblies (43) include an upper pressure wheel (431) and a lower support wheel (432) arranged on a rotating seat (41), and the upper pressure wheel (431) is pressed on the upper surface of the bottom of the track (7), and the lower support wheel (432) is supported on the lower surface of the track (7), and a cleaning mechanism (8) for cleaning the track (7) is provided on the rotating seat (41).

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