Track inspection robot

Abstract

The utility model discloses a track inspection robot, which belongs to the technical field of inspection robots and comprises a driving mechanism, the driving mechanism comprises a track and a sliding component, the sliding component is connected to the track in a limited sliding manner, a driving component is connected below the sliding component, and the driving component drives the sliding component; the sensing mechanism comprises a camera, a cradle head is arranged above the camera, the camera further comprises a servo motor, the upper portion of the cradle head is rotationally installed on a driving assembly in a matched mode through the servo motor, the driving assembly is matched with the sliding assembly to drive the sensing mechanism to move on the track, and routing inspection is conducted through the camera and internal components; and the holder is matched with the servo motor to control the camera to rotate, and is used for monitoring the condition, temperature, abnormal gas concentration and the like of field equipment in a working environment, so that the detection efficiency is improved, and meanwhile, the detection is more accurate.

Description

Technical Field

[0001] The utility model relates to the field of inspection robots, in particular to a track inspection robot. Background Art

[0002] The necessity of front-line inspections of chemical operations lies in ensuring the safety and stability of the production process. Chemical operations usually involve complex process flows and highly dangerous chemicals. Once leakage, overflow or other unexpected situations occur, it may cause serious environmental pollution, personal injury and damage to production facilities.

[0003] At present, inspection robots have been widely used in the industrial field, but the existing inspection robots are large in size, have large track shape restrictions, and have low flexibility, making it difficult to perform fine inspections in complex environments. At the same time, trackless robots have corrections on the track, poor movement stability, and face problems such as navigation difficulties, occupying ground space, and easy collisions, resulting in poor inspection results. How to invent a track inspection robot to improve these problems has become an urgent problem for technicians in this field. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a track inspection robot, which aims to improve the problems of the inspection robot being large in size and low in flexibility and the difficulty in navigation and easy collision of trackless machines.

[0005] The utility model is implemented as follows: a track inspection robot, comprising a robot body for inspection, and also comprising

[0006] A driving mechanism, the driving mechanism comprising a track and a sliding assembly, the sliding assembly being connected to the track in a limited sliding manner, a driving assembly being connected below the sliding assembly, and the driving assembly driving the sliding assembly;

[0007] The sensing mechanism includes a camera, a pan-tilt platform is arranged above the camera, and the camera also includes a servo motor. The top of the pan-tilt platform is rotatably mounted on the driving component through the cooperation of the servo motor.

[0008] In a preferred technical solution of the present utility model, the track is arranged in an I-shape.

[0009] In a preferred technical solution of the present invention, the sliding assembly includes a first U-shaped frame and a pulley, the pulley is rotatably installed on the inner walls of both sides of the first U-shaped frame, a mounting rail is fixedly installed on the bottom of the first U-shaped frame, a mounting block is connected to the lower limit of the mounting rail, and the pulley is arranged corresponding to the protrusion of the rail.

[0010] In a preferred technical solution of the utility model, two groups of the first U-shaped frames are provided, and the two groups of the first U-shaped frames are installed in parallel at both ends of the mounting rail, and the pulleys are installed inside both sides of the two groups of the first U-shaped frames for limited rotation.

[0011] In a preferred technical solution of the utility model, the pulley is arranged horizontally, and second U-shaped frames are connected to the two sides of the pulley for limited rotation, and the second U-shaped frames are respectively fixedly connected to the inner walls of the two groups of the first U-shaped frames.

[0012] In a preferred technical solution of the utility model, the drive assembly includes a shell, the mounting block is fixedly installed on the top of the shell, wings are fixedly connected to both sides of the shell, and motors and propellers are provided at the ends of the wings.

[0013] In a preferred technical solution of the utility model, a battery is arranged inside the shell, and the battery is electrically connected to the motor inside the wing through a single-chip microcomputer.

[0014] In a preferred technical solution of the present utility model, the top of the camera is hinged to the pan / tilt head.

[0015] In a preferred technical solution of the present utility model, the camera also includes a transmission gear group, the servo motor is transmission-connected to the transmission gear group, the servo motor is installed in a protective shell, the top of the protective shell is fixedly connected to the bottom of the drive assembly, the servo motor transmits the transmission gear group, and the output end of the transmission gear group is connected to the top of the pan-tilt head.

[0016] In a preferred technical solution of the present invention, the camera is electrically connected to the battery in the driving assembly, and the interior of the camera is provided with a corrosion monitoring camera, an infrared thermal imager, a laser remote sensor, a high-performance central computing module, a WiFi module, a communication unit and an alarm.

[0017] The beneficial effects of the utility model are as follows: the utility model obtains a track inspection robot through the above design. When in use, the wings are controlled to work at high speed. At this time, the motor drives the propeller to drive the shell to move. The shell is displaced on the track through the guidance of the pulley. The shape of the track is set according to needs, which is convenient for inspection and more stable in movement. At the same time, the pan-tilt head cooperates with the servo motor to control the rotation of the camera to monitor the on-site equipment status, temperature, abnormal gas concentration, etc. of the working environment, thereby increasing the efficiency of detection and making the detection more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the driving mechanism and the sensing mechanism provided by the embodiment of the utility model;

[0020] Figure 2 A schematic diagram of the structure of the sliding assembly, the driving assembly and the sensing mechanism provided in the embodiment of the utility model;

[0021] Figure 3 A schematic diagram of the internal structure of a drive assembly provided in an embodiment of the utility model;

[0022] Figure 4 A schematic diagram of the camera and pan / tilt structure provided in the embodiment of the utility model;

[0023] Figure 5 A circuit block diagram provided for an implementation of the utility model.

[0024] In the figure: 1-robot body; 100-driving mechanism; 110-track; 120-sliding assembly; 121-first U-shaped frame; 122-pulley; 123-second U-shaped frame; 124-mounting rail; 125-mounting block; 130-driving assembly; 131-housing; 132-wing; 200-sensing mechanism; 210-camera; 211-servo motor; 212-transmission gear set; 220-pan head. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1 and Figure 2 The utility model provides a technical solution: a track inspection robot, including a robot body 1 for inspection, and also including

[0027] The driving mechanism 100 includes a track 110 and a sliding assembly 120. The sliding assembly 120 is connected to the track 110 in a limited sliding manner. The driving assembly 130 is connected to the bottom of the sliding assembly 120. The driving assembly 130 drives the sliding assembly 120. The sensing mechanism 200 includes a camera 210. A pan-tilt head 220 is arranged above the camera 210. The camera 210 also includes a servo motor 211. The top of the pan-tilt head 220 is rotatably mounted on the driving assembly 130 through the servo motor 211. The driving assembly 130 cooperates with the sliding assembly 120 to drive the sensing mechanism 200 to move on the track 110, and inspection is performed through the camera 210 and the internal components.

[0028] The robot is turned on, conducts inspections, is powered by a power supply, reaches the inspection location, and inspects to see if there are any abnormalities;

[0029] If there is no abnormality, check whether the inspection task is set. If it is completed, the inspection ends. If it is not completed, move to the next point for inspection and transmit data at the same time.

[0030] In the event of an abnormality, the detection data will be checked to see if it has reached the dangerous critical value. If it has reached the dangerous critical value, the robot will sound a danger alarm, the robot will sound a background alarm, and the signal control equipment will run and implement the emergency plan. If it has not reached the dangerous critical value, the robot will sound an abnormal alarm, and the background will trigger an abnormal alarm, requiring the abnormality to be eliminated or the inspection to be suspended. The background control center controls the inspection route and scope.

[0031] See also Figure 1 The track 110 is in an I-shaped configuration, with the raised portions on both sides being embedded in the grooves of the pulley 122. The track 110 supports a variety of forms that meet the needs of the inspection site, such as forks, sharp turns, and vertical ups and downs. The track 110 is arc-shaped at the corner, with a curvature radius of not less than 20 cm.

[0032] See also Figure 2 and Figure 3 The sliding assembly 120 includes a first U-shaped frame 121 and a pulley 122. The pulley 122 is rotatably mounted on the inner walls of both sides of the first U-shaped frame 121. A mounting rail 124 is fixedly mounted on the bottom of the first U-shaped frame 121. A mounting block 125 is limitedly connected below the mounting rail 124. The pulley 122 is arranged corresponding to the protrusion of the track 110. Two groups of the first U-shaped frame 121 are arranged. The two groups of first U-shaped frames 121 are parallelly mounted on both ends of the mounting rail 124. The pulley 122 is limitedly rotatably mounted on both sides of the two groups of first U-shaped frames 121. The pulley 122 is arranged horizontally. The two sides of the pulley 122 are limitedly rotatably connected with the second U-shaped frame 123. The second U-shaped frame 123 is respectively fixedly connected to the inner walls of the two groups of first U-shaped frames 121. The pulley 122 is convenient to move and stably moves on the track 110 by being inserted into the track 110 and rotating.

[0033] See also Figure 2 and Figure 3 The driving assembly 130 includes a housing 131, a mounting block 125 is fixedly mounted on the top of the housing 131, wings 132 are fixedly connected to both sides of the housing 131, and motors and propellers are arranged at the ends of the wings 132. A battery is arranged inside the housing 131, and the battery is electrically connected to the motor inside the wing 132 through a single-chip microcomputer. The direction of the motor rotation plane inside the wing 132 is variable to support bidirectional movement on the track 110.

[0034] See also Figure 3 and Figure 4 , the top of the camera 210 is hinged to the pan-tilt head 220. The camera 210 also includes a transmission gear set 212, a servo motor 211 is transmission-connected to the transmission gear set 212, the servo motor 211 is installed in a protective shell, the top of the protective shell is fixedly connected to the bottom of the driving assembly 130, the servo motor 211 transmits the transmission gear set 212, and the output end of the transmission gear set 212 is connected to the top of the pan-tilt head 220, which is convenient for multi-angle rotation and more accurate inspection data. The camera 210 is electrically connected to the battery in the driving assembly 130, and the interior of the camera 210 is provided with a corrosion monitoring camera, an infrared thermal imager, a laser remote sensor, a high-performance central computing module, a WiFi module, a communication unit and an alarm, which are respectively used to detect the corresponding places.

[0035] Working principle: When work is required, the wing 132 is controlled to work at high speed. At this time, the motor drives the propeller to drive the shell 131 to move. The shell 131 is displaced on the track 110 under the guidance of the pulley 122. At the same time, the pan-tilt head 220 cooperates with the servo motor 211 to control the rotation of the camera 210 to monitor the on-site equipment status, temperature, and abnormal gas concentration of the working environment.

[0036] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A rail inspection robot, comprising a robot body for inspection, characterized in that: Also includes A driving mechanism, the driving mechanism comprising a track and a sliding assembly, the sliding assembly being connected to the track in a limited sliding manner, a driving assembly being connected below the sliding assembly, and the driving assembly driving the sliding assembly; The sensing mechanism includes a camera, a pan-tilt platform is arranged above the camera, and the camera also includes a servo motor. The top of the pan-tilt platform is rotatably mounted on the driving component through the cooperation of the servo motor.

2. A track inspection robot as claimed in claim 1, characterized in that: The track is arranged in an I-shape.

3. A track inspection robot as claimed in claim 2, characterized in that: The sliding assembly includes a first U-shaped frame and a pulley, the pulley is rotatably mounted on the inner walls of both sides of the first U-shaped frame, a mounting rail is fixedly mounted on the bottom of the first U-shaped frame, a mounting block is limitably connected to the lower portion of the mounting rail, and the pulley is correspondingly arranged with the protrusions of the rail.

4. A rail inspection robot as claimed in claim 3, characterized in that: The first U-shaped frames are provided with two groups, and the two groups of the first U-shaped frames are installed in parallel at both ends of the mounting rail, and the pulleys are installed inside both sides of the two groups of the first U-shaped frames for limited rotation.

5. A track inspection robot as claimed in claim 4, characterized in that: The pulley is arranged transversely, and second U-shaped frames are connected to the two sides of the pulley for limited rotation, and the second U-shaped frames are respectively fixedly connected to the inner walls of the two groups of the first U-shaped frames.

6. A rail inspection robot as claimed in claim 3, characterized in that: The driving assembly comprises a shell, the mounting block is fixedly mounted on the top of the shell, wings are fixedly connected to both sides of the shell, and motors and propellers are arranged at the ends of the wings.

7. A rail inspection robot as claimed in claim 6, characterized in that: A battery is arranged inside the shell, and the battery is electrically connected to the motor inside the wing through a single-chip microcomputer.

8. A track inspection robot as claimed in claim 7, characterized in that: The top of the camera is hinged to the pan / tilt head.

9. A rail inspection robot as claimed in claim 8, characterized in that: The camera also includes a transmission gear group, the servo motor is connected to the transmission gear group, the servo motor is installed in a protective shell, the top of the protective shell is fixedly connected to the bottom of the driving assembly, the servo motor transmits the transmission gear group, and the output end of the transmission gear group is connected to the top of the pan-tilt head.

10. A rail inspection robot according to claim 9, characterized in that: The camera is electrically connected to the battery in the driving assembly, and the interior of the camera is provided with a corrosion monitoring camera, an infrared thermal imager, a laser remote sensor, a high-performance central computing module, a WiFi module, a communication unit and an alarm.

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