Inspection robot and track inspection system

Abstract

The utility model discloses an inspection robot and a track inspection system.The inspection robot comprises a support, a walking device, a swing device and a control device, the walking device is connected to the support and movably connected to a track so that the walking device can move in the length direction of the track, and an inspection sensor is arranged on the swing device; the inspection sensor is used for detecting a target object, the end, away from the inspection sensor, of the swing device is rotatably connected to the support so that the inspection robot can be switched between the folded state and the unfolded state, and the walking device and the swing device are electrically connected to the control device. Wherein the folded state is that the swing device is stacked on the support, the unfolded state is that an inclined included angle is formed between the swing device and the support, and the distance from the inspection sensor to the track in the folded state is smaller than the distance from the inspection sensor to the track in the unfolded state. Therefore, the distance between the inspection sensor and the target object can be reduced while the structural compactness is ensured, so that the detection effect is improved.

Description

Technical Field

[0001] The present application relates to the field of track inspection technology, and in particular to an inspection robot and a track inspection system. Background Art

[0002] In order to ensure the safety and stable operation of the port, it is necessary to conduct regular inspections at fixed points. The current common inspection method is to use a track-type inspection robot, install the inspection sensor at the designated position of the inspection robot, and obtain detection data, images and other information through the inspection sensor. At the same time, in order to ensure the flexibility of the inspection robot when moving along the track and to ensure that it can pass through narrow spaces, the appearance of the inspection robot should be as regular and compact as possible. However, an overly compact structural design may cause the inspection sensor to be too far away from the target during detection, resulting in unsatisfactory detection results and inability to accurately obtain information. Utility Model Content

[0003] In order to solve at least one of the above-mentioned technical problems, the present application provides a patrol robot and a track patrol system, which can reduce the distance between the patrol sensor and the target object while ensuring the compactness of the structure to improve the detection effect.

[0004] To achieve the above objectives, in a first aspect, the present application discloses a patrol robot, which is applied to a track. The patrol robot is located between the track and a target object. The patrol robot comprises:

[0005] Bracket;

[0006] A walking device, the walking device is connected to the bracket and can be movably connected to the track so that the walking device can move along the length direction of the track;

[0007] A swing device, wherein a patrol sensor is provided on the swing device, wherein the patrol sensor is used to detect a target object, and an end of the swing device away from the patrol sensor can be rotatably connected to the bracket, so that the patrol robot can switch between a folded state and an unfolded state; and

[0008] A control device, the walking device and the swing device are electrically connected to the control device respectively;

[0009] Among them, the folded state is a state in which the swing device is stacked on the bracket, the unfolded state is a state in which the swing device and the bracket have an inclined angle, and in the folded state, the distance from the patrol sensor to the track is smaller than the distance from the patrol sensor to the track in the unfolded state.

[0010] As an optional implementation, in an embodiment of the first aspect of the present application, the track includes a web and a first wing plate that are perpendicular to each other, the web extends along the height direction of the inspection robot, and the first wing plate is connected to an end of the web close to the target object and extends in a direction away from the web.

[0011] The walking device includes a first walking component, which includes a first walking wheel, a connecting seat and a bottom guide wheel. The connecting seat is rotatably connected to the first walking wheel and the bottom guide wheel through a rotating shaft, and the connecting seat is connected to the bracket. Along the height direction of the inspection robot, the first walking wheel and the bottom guide wheel are rotatably connected to both sides of the first wing plate.

[0012] As an optional embodiment, in an embodiment of the first aspect of the present application, the first walking assembly also includes a second walking wheel, the second walking wheel is connected to the connecting seat and is located on the side of the first wing plate away from the bottom guide wheel, and the bottom guide wheel is located between the second walking wheel and the first walking wheel, and the first walking wheel and the second walking wheel are respectively located on both sides of the web.

[0013] As an optional embodiment, in an embodiment of the first aspect of the present application, along the extension direction of the first wing plate, the first wing plate has a first end and a second end relative to each other, the web is located between the first end and the second end, and the first walking component also includes a first guide wheel and a second guide wheel connected to the connecting seat, the first guide wheel can be rotatably connected to the first end, and the second guide wheel can be rotatably connected to the second end.

[0014] As an optional embodiment, in an embodiment of the first aspect of the present application, the walking device also includes a walking drive mechanism arranged on the bracket, the walking drive mechanism includes a walking drive member, a first linkage drive shaft, a second linkage drive shaft and a first belt transmission assembly, the walking drive member is electrically connected to the control device and is located between the first linkage drive shaft and the second linkage drive shaft, the first belt transmission assembly includes a first pulley, a second pulley, a third pulley, a fourth pulley and a plurality of first conveyor belts, the first pulley is arranged at the output end of the walking drive member, the second linkage drive shaft and the two ends of the first linkage drive shaft are respectively provided with the second pulleys, one end of the first linkage drive shaft is connected to the first pulley with the first conveyor belt through the second pulley, the other end of the first linkage drive shaft is connected to the second pulley of the second linkage drive shaft with the first conveyor belt through the second pulley, the number of the third pulley and the fourth pulley are both two, and the two third pulleys are respectively arranged on the first linkage drive shaft and the second linkage drive shaft,

[0015] There are two first traveling assemblies, and the two first traveling assemblies are spaced apart in sequence along the length direction of the track. The fourth pulleys are respectively provided on the rotating shafts of the first traveling wheels of the two first traveling assemblies, and the two fourth pulleys correspond one-to-one to the two third pulleys and are connected through the first conveyor belt.

[0016] As an optional embodiment, in an embodiment of the first aspect of the present application, the bracket includes a first support frame, the first support frame includes a first plate component, a second plate component and a support portion connected to the first plate component and the second plate component, the first plate component and the second plate component are spaced apart and are respectively located at both ends of the support portion, the first plate component is provided with a first mounting hole, the swing device is rotatably connected to the first plate component, the first walking assembly is connected to a side of the first plate component away from the second plate component, the walking drive member, the first linkage drive shaft and the second linkage drive shaft are connected to the first plate component and are located between the first plate component and the second plate component, and the first mounting hole is used for the first conveyor belt to pass through.

[0017] As an optional embodiment, in an embodiment of the first aspect of the present application, the bracket includes a first support frame and a second support frame, the first support frame is connected to the walking device, one end of the second support frame is connected to the first support frame and extends away from the track, and the other end of the second support frame is provided with a first rotating shaft, and the swinging device is rotatably connected to the second support frame via the first rotating shaft.

[0018] As an optional embodiment, in an embodiment of the first aspect of the present application, the swing device includes a swing arm and a swing drive mechanism, the swing arm is connected to the first rotating shaft, the inspection sensor is installed at the end of the swing arm away from the first rotating shaft, the swing drive mechanism includes a swing drive member and a second belt transmission assembly, the swing drive member is electrically connected to the control device and installed on the second support frame, the second belt transmission assembly includes a fifth pulley, a sixth pulley and a second conveyor belt, the fifth pulley is arranged at the output end of the swing drive member, the sixth pulley is arranged on the first rotating shaft, and the fifth pulley and the sixth pulley are connected through the second conveyor belt.

[0019] As an optional implementation, in an embodiment of the first aspect of the present application, the swing device is provided with a rotary drive mechanism and a sensor loading platform, the sensor loading platform is connected to the output end of the rotary drive mechanism, the inspection sensor is installed on the sensor loading platform, the extension direction of the swing device is parallel to the length direction of the track, and the first rotating shaft and the rotary drive mechanism are respectively connected to the two ends of the swing device along its own extension direction.

[0020] In a second aspect, the present application discloses a track inspection system, characterized in that it includes a track and an inspection robot as described in the first aspect above, wherein the inspection robot is located between the track and a target object.

[0021] Compared with the prior art, the beneficial effects of this application are:

[0022] The present application provides a patrol robot and a track patrol system, wherein the patrol robot is arranged between the track and the target object, the walking device of the patrol robot is connected to the bracket and can move along the length direction of the track, and a patrol sensor is provided on the swing device of the patrol robot, and the end of the swing device away from the patrol sensor can be rotatably connected to the bracket, so that the patrol robot can switch between a folded state and an unfolded state to adjust the distance from the patrol sensor to the track. When the patrol robot is in the folded state, the swing device is overlapped on the bracket, and the patrol sensor has a relatively small distance from the track; when the patrol robot is in the unfolded state, the swing device and the bracket have an inclined angle, and the patrol sensor has a relatively large distance from the track, and the distance between the patrol sensor and the target object is reduced. In this way, when the inspection robot moves along the length direction of the track, the inspection robot is switched to a folded state to make the overall structure of the inspection robot more compact, which is conducive to the inspection robot passing through narrow spaces. When the inspection robot stops moving and prepares to detect the target object, the inspection robot is switched to an unfolded state to increase the distance between the inspection sensor and the track, reduce the distance between the inspection sensor and the target object, and make the inspection sensor closer to the target object, which is conducive to the inspection sensor's detection of the target object, so as to improve the inspection sensor's detection effect on the target object. It can be seen that the inspection robot and track inspection system provided by the present application can reduce the distance between the inspection sensor and the target object while ensuring the compactness of the structure, so as to improve the detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the inspection robot disclosed in the embodiment of the present application;

[0024] Figure 2 is a cross-sectional view of the inspection robot disclosed in the embodiment of the present application;

[0025] Figure 3 It is a structural schematic diagram of the first walking component of the inspection robot disclosed in the embodiment of the present application;

[0026] Figure 4 It is a structural schematic diagram of the inspection robot (housing omitted) disclosed in the embodiment of the present application under one viewing angle;

[0027] Figure 5 yes Figure 4 A partial structural diagram of the swing device shown in ;

[0028] Figure 6 It is a schematic structural diagram of the inspection robot (housing omitted) disclosed in an embodiment of the present application from another perspective.

[0029] Reference numerals:

[0030] 1. Inspection robot; 10. Bracket; 11. First support frame; 111. First plate component; 1110. First mounting hole; 112. Second plate component; 113. Supporting part; 12. Second support frame; 13. First rotating shaft; 131. Position limiting part; 20. Walking device; 21. First walking assembly; 211. First walking wheel; 212. Connecting seat; 213. Bottom guide wheel; 214. Second walking wheel; 215. First guide wheel; 216. Second guide wheel; 22. Walking Driving mechanism; 221, walking driving member; 222, first linkage driving shaft; 223, second linkage driving shaft; 224, first belt transmission assembly; 30, swinging device; 31, swing arm; 32, swinging driving mechanism; 321, swinging driving member; 322, second belt transmission assembly; 33, photoelectric encoder; 34, rotary driving member; 35, sensor loading platform; 40, control device; 41, control circuit board; 42, battery; 43, barcode scanner; 44, charging terminal; 50, casing. DETAILED DESCRIPTION

[0031] This section will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it cannot be understood as a limitation on the scope of protection of the present application.

[0032] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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 should not be understood as a limitation on the present application.

[0033] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0035] The present application discloses a patrol robot, which can be applied to a track patrol system to perform regular inspections on a target object. The track patrol system includes a track, the patrol robot is connected to the track to move along the length direction of the track, and the patrol robot is located between the track and the target object.

[0036] In order to facilitate understanding of the structures of the inspection robot and the track inspection system, the inspection robot and the track inspection system will be further described below in conjunction with embodiments and drawings.

[0037] Please also read Figures 1 to 3 The embodiment of the present application provides a track inspection system, including a track (not shown) and an inspection robot 1, wherein the inspection robot 1 is located between the track and the target object. Specifically, the inspection robot 1 includes a support 10, a walking device 20, a swinging device 30, and a control device 40. The walking device 20 is connected to the support 10 and can be movably connected to the track so that the walking device 20 can move along the length direction of the track. The swinging device 30 is provided with an inspection sensor, which is used to detect the target object, and the end of the swinging device 30 away from the inspection sensor can be rotatably connected to the support 10 so that the inspection robot 1 can switch between a folded state and an unfolded state. The walking device 20 and the swinging device 30 are electrically connected to the control device 40 respectively. Among them, the folded state is a state in which the swinging device 30 is overlapped on the support 10, and the unfolded state is a state in which the swinging device 30 and the support 10 have an inclined angle, and the distance from the inspection sensor to the track in the folded state is less than the distance from the inspection sensor to the track in the unfolded state.

[0038] The inspection robot 1 and the track inspection system provided in the embodiment of the present application are arranged such that the inspection robot 1 is located between the track and the target object, the walking device 20 of the inspection robot 1 is connected to the bracket 10 and can move along the length direction of the track, and an inspection sensor is provided on the swing device 30 of the inspection robot 1, and the end of the swing device 30 away from the inspection sensor can be rotatably connected to the bracket 10, so that the inspection robot 1 can switch between the folded state and the unfolded state to adjust the distance from the inspection sensor to the track. When the inspection robot 1 is in the folded state, the swing device 30 is overlapped on the bracket 10, and the inspection sensor has a relatively small distance from the track; when the inspection robot 1 is in the unfolded state, the swing device 30 and the bracket 10 have an inclined angle, and the inspection sensor has a relatively large distance from the track, and at this time the distance between the inspection sensor and the target object is reduced. In this way, when the inspection robot 1 moves along the length direction of the track, the inspection robot 1 is switched to a folded state to make the overall structure of the inspection robot 1 more compact, which is conducive to the inspection robot 1 passing through a narrow space. When the inspection robot 1 stops moving and is ready to detect the target object, the inspection robot 1 is switched to an unfolded state to increase the distance between the inspection sensor and the track, reduce the distance between the inspection sensor and the target object, and make the inspection sensor closer to the target object, which is conducive to the inspection sensor's detection of the target object, so as to improve the inspection sensor's detection effect on the target object. That is, the inspection robot 1 and the track inspection system provided by the present application can reduce the distance between the inspection sensor and the target object while ensuring the compactness of the structure, so as to improve the detection effect.

[0039] Optionally, the target object may be target goods to be inspected, port infrastructure or mechanical equipment, etc., which may be set according to actual needs and is not limited here.

[0040] Optionally, the track is an I-beam, thereby ensuring that the track has a strong load-bearing capacity and bending rigidity and can withstand greater pressure and weight.

[0041] Furthermore, the track includes a first wing plate, a web plate and a second wing plate, the web plate extends in the height direction of the inspection robot 1, the first wing plate and the second wing plate are spaced apart and are respectively vertically connected to the two ends of the web plate, the first wing plate is located at the end of the web plate close to the target object and extends in the direction away from the web plate, and along the extension direction of the first wing plate, the first wing plate has a first end and a second end opposite to each other, and the web plate is located between the first end and the second end.

[0042] It can be understood that in other embodiments, the track can also be a structure formed by two steel plates at acute angles or right angles to each other connected by ends (such as an L-shaped structure, etc.), or the track can also be H-shaped steel or rectangular steel, etc.

[0043] Please combine Figure 3 and Figure 4 In some embodiments, the walking device 20 includes a first walking component 21, the first walking component 21 includes a first walking wheel 211, a connecting seat 212 and a bottom guide wheel 213, the connecting seat 212 is rotatably connected to the first walking wheel 211 and the bottom guide wheel 213 through a rotating shaft, and the connecting seat 212 is connected to the bracket 10. Along the height direction of the inspection robot 1, the first walking wheel 211 and the bottom guide wheel 213 are rotatably connected to both sides of the first wing plate.

[0044] In this way, the first walking wheel 211 and the bottom guide wheel 213 are rotatably connected to the two sides of the first wing plate respectively. On the one hand, the first walking wheel 211 and the bottom guide wheel 213 can be clamped on the first wing plate so that the walking device 20 can be stably installed on the track. On the other hand, it can also reduce the friction of the inspection robot 1 relative to the track, reduce the wear on the track or the inspection robot 1, and is beneficial to the movement of the inspection robot 1 on the track.

[0045] Optionally, there can be two bottom guide wheels 213, which are respectively arranged on both sides of the first walking wheel 211 along the length direction of the track, thereby being able to guide the first walking component 21 to move forward or backward along the length direction of the track, thereby improving the flexibility of the first walking component 21.

[0046] Optionally, the first walking assembly 21 also includes a second walking wheel 214, which is connected to the connecting seat 212 and is located on the side of the first wing plate away from the bottom guide wheel 213, and the bottom guide wheel 213 is located between the second walking wheel 214 and the first walking wheel 211, the first walking wheel 211 and the second walking wheel 214 are respectively located on both sides of the web, the first walking wheel 211 is located between the web and the first end of the first wing plate, and the second walking wheel 214 is located between the web and the second end of the first wing plate.

[0047] In this way, by respectively arranging the first walking wheel 211 and the second walking wheel 214 on both sides of the web, the stability of the connection between the walking device 20 and the track can be improved, avoiding the deviation or fall-off of the inspection robot 1 relative to the track, and at the same time improving the stability of the movement of the walking device 20 on the track, thereby improving the detection effect of the inspection robot 1 on the target object.

[0048] Optionally, the first walking assembly 21 further includes a first guide wheel 215 and a second guide wheel 216 connected to the connecting seat 212, the first guide wheel 215 is rotatably connected to the first end of the first wing plate, and the second guide wheel 216 is rotatably connected to the second end of the first wing plate.

[0049] In this way, both sides and both ends of the first wing plate are rotatably connected to the first walking assembly 21, which can help improve the flexibility of the walking device 20 relative to the track, reduce friction, and facilitate the movement of the walking device 20 along the track.

[0050] Optionally, the number of the first guide wheel 215 and the second guide wheel 216 can be two. Along the length direction of the track, the two first guide wheels 215 are respectively located on both sides of the first walking wheel 211, and the two second guide wheels 216 are respectively located on both sides of the second walking wheel 214, which can help guide the first walking component 21 to move forward or backward along the length direction of the track, thereby improving the flexibility of the first walking component 21.

[0051] In some embodiments, there are two first walking components 21, and the two first walking components 21 are arranged in sequence at intervals along the length direction of the track, which can help improve the stability and running smoothness of the walking device 20 on the track, so as to improve the detection effect of the inspection robot 1 on the target object.

[0052] Please combine Figures 3 to 6 In some embodiments, the walking device 20 also includes a walking drive mechanism 22 arranged on the bracket 10, the walking drive mechanism 22 includes a walking drive member 221, a first linkage drive shaft 222, a second linkage drive shaft 223 and a first belt transmission assembly 224, the walking drive member 221 is electrically connected to the control device 40 and is located between the first linkage drive shaft 222 and the second linkage drive shaft 223, the first belt transmission assembly 224 includes a first pulley, a second pulley, a third pulley, a fourth pulley and a plurality of first conveyor belts, the first pulley is arranged at the output end of the walking drive member 221, the second linkage drive shaft 223 and the first A second pulley is provided at each end of the linkage drive shaft 222, one end of the first linkage drive shaft 222 is connected to the first pulley through the second pulley and the first conveyor belt, the other end of the first linkage drive shaft 222 is connected to the second pulley of the second linkage drive shaft 223 through the second pulley and the first conveyor belt, there are two third pulleys and two fourth pulleys, the two third pulleys are respectively arranged on the first linkage drive shaft 222 and the second linkage drive shaft 223, fourth pulleys are respectively arranged on the rotating shafts of the first walking wheels 211 of the two first walking assemblies 21, the two fourth pulleys correspond one-to-one to the two third pulleys and are connected through the first conveyor belt.

[0053] In this way, the two first traveling assemblies 21 are driven by the same traveling driving member 221, which can help improve work efficiency and reduce energy consumption, and can also help ensure that the two first traveling assemblies 21 maintain synchronous operation to improve the running stability of the traveling device 20. In addition, the use of a belt drive setting can adapt to the long-distance transmission of the two first traveling assemblies 21, and the transmission is stable and reliable, which can effectively reduce mechanical vibration and impact, so as to further improve the running stability of the traveling device 20 and ensure the detection effect of the inspection sensor.

[0054] In some embodiments, the bracket 10 includes a first support frame 11 and a second support frame 12, the first support frame 11 is connected to the walking device 20, one end of the second support frame 12 is connected to the first support frame 11 and extends in a direction away from the track, and the other end of the second support frame 12 is provided with a first rotating shaft 13, and the swinging device 30 is rotatably connected to the second support frame 12 through the first rotating shaft 13.

[0055] In this way, by setting up a second support frame 12 extending in a direction away from the track, the distance between the swing device 30 and the track can be increased, so as to reduce the distance between the inspection sensor and the target object, which is beneficial to the inspection sensor's detection of the target object and improves the inspection sensor's detection effect on the target object. At the same time, avoidance space can be reserved for the swing device 30 to rotate relative to the first support frame 11, so as to ensure the structural reliability of the inspection robot 1 and avoid interference and collision between the swing device 30 and the first support frame 11 or the walking device 20 when the device used to drive the swing device 30 to rotate loses step or runs incorrectly.

[0056] Optionally, the first support frame 11 includes a first plate component 111, a second plate component 112 and a support portion 113 connected to the first plate component 111 and the second plate component 112. The first plate component 111 and the second plate component 112 are spaced apart and are respectively located at two ends of the support portion 113. The first plate component 111 is provided with a first mounting hole 1110. The second support frame 12 is connected to the first plate component 111 and extends in the direction of the second plate component 112. The swing device 30 is connected to the second support frame 12 through the first rotating shaft 13 and can be rotatably connected to the first plate component 111. The first walking component 21 is connected to the side of the first plate component 111 away from the second plate component 112. The walking drive member 221, the first linkage drive shaft 222 and the second linkage drive shaft 223 are connected to the first plate component 111 and are located between the first plate component 111 and the second plate component 112. The first mounting hole 1110 is used for the first conveyor belt to pass through.

[0057] In this way, the first walking device 20 and the walking drive mechanism 22 are respectively located on both sides of the first plate member 111, which can reasonably utilize the space and improve the compactness of the structure, so as to reduce the volume of the inspection robot 1 and facilitate the inspection robot 1 to pass through a relatively narrow space. At the same time, the second support frame 12 is connected to the first plate member 111 and extends in the direction of the second plate member 112, which can reserve a space for the swing device 30 and the second plate member 112 in the folded state to avoid interference and collision between the swing device 30 and the second plate member 112.

[0058] Optionally, the support portion 113 may be a support block, a support rod, a support column or a support plate, etc., which may be specifically configured according to actual needs and is not limited here.

[0059] In some embodiments, there are two second support frames 12, the two second support frames 12 are arranged at intervals and are respectively located at both ends of the first rotating shaft 13, and each second support frame 12 is provided with a first adjustment hole at one end away from the first plate component 111, and the two ends of the first rotating shaft 13 are respectively passed through the first adjustment holes of the two second support frames 12 and can rotate relative to the first adjustment holes, and the connection between the swing device 30 and the first rotating shaft 13 is located between the two second support frames 12.

[0060] In this way, the connection stability between the swing device 30 and the bracket 10 can be improved while the space can be reasonably utilized to improve the structural compactness of the inspection robot 1 , which is conducive to reducing the volume of the inspection robot 1 .

[0061] Optionally, a limit portion 131 is respectively provided at both ends of the first rotating shaft 13, and the limit portion 131 is located between the two second support frames 12. The connection between the swing device 30 and the first rotating shaft 13 is located between the two limit portions 131. The position of the swing device 30 on the first rotating shaft 13 is limited by the limit portion 131 to prevent the swing device 30 from escaping from the first rotating shaft 13, thereby improving the structural stability of the inspection robot 1.

[0062] In some embodiments, the swing device 30 includes a swing arm 31 and a swing drive mechanism 32, the swing arm 31 is connected to the first rotating shaft 13 and is located between the two second support frames 12, the inspection sensor is installed at the end of the swing arm 31 away from the first rotating shaft 13, the swing drive mechanism 32 includes a swing drive member 321 and a second belt transmission assembly 322, the swing drive member 321 is electrically connected to the control device 40 and is installed on the second support frame 12, the second belt transmission assembly 322 includes a fifth pulley, a sixth pulley and a second conveyor belt, the fifth pulley is arranged at the output end of the swing drive member 321, the sixth pulley is arranged on the first rotating shaft 13 and is located on the side of the second support frame 12 away from the limiting portion 131, and the fifth pulley and the sixth pulley are connected through the second conveyor belt.

[0063] In this way, the swing device 30 adopts a belt drive setting, which can make the inspection sensor remain stable and reliable during the position adjustment process, reduce mechanical vibration and impact, so as to improve the running stability of the inspection robot 1 and avoid shaking of the connection between the inspection robot 1 and the track during swinging, thereby helping to ensure the structural reliability of the inspection robot 1.

[0064] Optionally, the second support frame 12 is provided with a second adjustment hole, the swing driving member 321 is connected to the two second support frames 12, and the output end of the swing driving member 321 extends out of the second support mounting frame through the second adjustment hole and is passed through the fifth pulley, so that the second belt transmission assembly 322 is located on the side of the second support frame 12 away from the swing arm 31. In this way, the space can be reasonably utilized, which is beneficial to the power transmission of the swing driving member 321 and avoids structural interference.

[0065] Optionally, the swing device 30 also includes a photoelectric code disk 33, which includes a code disk part and a probe part. The code disk part is arranged on the second support frame 12 and is electrically connected to the control device 40. The probe part is connected to the end of the first rotating shaft 13 away from the fifth pulley. When the swing arm 31 drives the first rotating shaft 13 to rotate, the probe part moves relative to the code disk part, and the rotation angle of the swing arm 31 is read through the code disk part, thereby obtaining the current angle of the swing arm 31 relative to the track.

[0066] The design of adding the photoelectric encoder 33 can detect the swing angle of the swing arm 31 to ensure the inclination angle of the swing arm 31 relative to the track, which is beneficial to adjust the distance between the inspection sensor and the target object and improve the flexibility and reliability of the inspection robot 1.

[0067] In some embodiments, the extension direction of the swing arm 31 is parallel to the length direction of the track, and the first rotating shaft 13 and the inspection sensor are respectively connected to the two ends of the swing device 30 along its own extension direction. This can help expand the range of motion of the swing arm 31, help reduce the distance between the inspection sensor and the target object, thereby facilitating the inspection sensor to detect the target object, and help improve the inspection sensor's detection effect on the target object.

[0068] Optionally, the swing device 30 is provided with a rotary driving member 34 and a sensor loading platform 35, the sensor loading platform 35 is connected to the output end of the rotary driving member 34, the sensor loading platform 35 is connected to the end of the swing arm 31 away from the first rotating shaft 13, and the inspection sensor is connected to the swing arm 31 through the sensor loading platform 35.

[0069] The detection angle of the inspection sensor relative to the target object can be adjusted through the rotary drive member 34 and the sensor loading platform 35, so that the inspection sensor can detect the target object from different angles. By performing multiple inspections on the target object from multiple inspection angles, it is helpful to ensure the validity and accuracy of the detection results, thereby improving the reliability of the detection results.

[0070] Optionally, the swing arm 31 is a hollow structure, and the rotary drive member 34 is arranged in the swing arm 31 and extends through the end of the swing arm 31 to be connected to the sensor loading platform 35. The electrical connection line of the rotary drive member 34 extends through the inside of the swing arm 31 and is connected to the control device 40, so that the space can be reasonably used, which is conducive to reducing the volume of the inspection robot 1 and making the line neater, avoiding the problem that the wiring is messy due to the arrangement of the electrical connection line outside the swing arm 31, and the electrical connection line is entangled with the swing arm 31, resulting in the electrical connection line being torn off by the swing arm 31.

[0071] In some embodiments, the inspection sensor may be one or more of a smoke sensor, a high-definition camera, an infrared imager, or a gas detection sensor, etc., which may be specifically configured according to actual needs and is not limited here.

[0072] Optionally, the travel drive member 221, the swing drive member 321 and the rotary drive member 34 may be a stepper motor, a synchronous motor, a servo motor or a DC brushless motor, etc., which may be specifically configured according to actual needs and are not limited here.

[0073] In some embodiments, the control device 40 includes a control circuit board 41 and a battery 42. The battery 42, the travel drive 221, the swing drive 321, and the rotary drive 34 are electrically connected to the control circuit board 41, respectively. The control circuit board 41 controls the start and stop of each drive and the inspection sensor to start the inspection operation at a fixed time. The battery 42 is used to provide power for the control circuit board 41. The battery 42 and the control circuit board 41 are arranged on the second support frame 12. The barcode scanner 43 is installed on the side of the first support frame 11 away from the second support frame 12 and is located between the two first travel components 21, so that the space can be reasonably used and the compactness of the structure of the inspection robot 1 can be improved.

[0074] Optionally, the control circuit board 41 includes a drive module, an analog-to-digital conversion module, a wireless communication module, and a local storage module. The walking drive member 221, the swing drive member 321, and the rotary drive member 34 are electrically connected to the drive module, respectively. The local storage module is used to store data detected during the inspection process. The inspection sensor is electrically connected to the analog-to-digital conversion module to convert the electrical signal into a digital signal. The wireless communication module is used to send the inspection data to the management background (such as a computer on the ground) to realize the function of remote transmission.

[0075] Optionally, the wireless communication module is used to wirelessly transmit the detection data of the current position to the management background after completing the detection of a specific position, so as to ensure the timeliness of the transmission and management of the detection data.

[0076] Optionally, the control device 40 also includes a barcode scanner 43, which is electrically connected to the control circuit board 41. The track is provided with position codes at multiple specific points. The barcode scanner 43 is used to scan the position code and send information to the control device 40 to control the walking drive component 221 to stop moving, so that the inspection robot 1 stops at a specific point to facilitate the detection of the target object.

[0077] Optionally, the control device 40 further includes a charging terminal 44 , which is electrically connected to the battery 42 . The charging terminal 44 is used to connect to a power source to replenish power for the battery 42 , thereby ensuring the movement of the inspection robot 1 along the track and the detection of the target object.

[0078] Please refer again Figure 1 and Figure 2 In some embodiments, the inspection robot 1 further includes a housing 50, the charging terminal 44 is disposed on the housing 50, the first support frame 11 and the second support frame 12 are respectively connected to the housing 50 and are located inside the housing 50, and the housing 50 is disposed through the first support frame 11 on the side away from the second support frame 12 along the length direction of the track so that the walking device 20 is exposed to facilitate the displacement of the walking device 20 along the length direction of the track. At the same time, by encapsulating the main part of the inspection robot 1 (i.e., the first support frame 11 and the second support frame 12) through the housing 50, the external shape of the inspection robot 1 can be kept regular, which is conducive to the inspection robot 1 passing through the track, and can also protect the internal components to improve the reliability of the inspection robot 1.

[0079] For ease of reading and understanding, a brief description of the working process of the inspection robot 1 is given below.

[0080] Before the inspection robot 1 starts working, the extension path of the track is planned according to the distribution of the target objects, a position code is pasted at a specific position of the track, and the inspection robot 1 is controlled by the control device 40 to be in a folded state.

[0081] The control circuit board 41 controls the walking drive 221 to start, and the two first walking components 21 drive the walking device 20 to move along the track, and the barcode scanner 43 continues to scan during this process. When the barcode scanner 43 scans the position code, the control circuit board 41 controls the walking device 20 to pause the action, so that the inspection robot 1 stops at the current position. At the same time, the control circuit board 41 controls the swing drive 321 to drive the swing arm 31 to swing downward, and judges whether the swing arm 31 has been swung to the right position according to the signal fed back by the photoelectric code disk 33. When the swing arm 31 swings to the specified position, the control circuit board 41 controls the swing drive 321 to stop rotating, so that the inspection robot 1 switches to the unfolded state. The inspection sensor detects the target object and obtains data. During the detection process, each time a set of detection data is obtained, the rotary drive 34 is driven to rotate once at a preset rotation angle (for example, 60°, 90° or 120°, etc.), and then the next set of detection data is obtained, so that the inspection sensor obtains multiple sets of detection data at the same inspection position, which is conducive to ensuring the validity and accuracy of the data. It should be noted that at each specific inspection position, the rotary drive member 34 rotates 360° so that the inspection sensor maintains the same detection angle at each specific position. After the inspection sensor completes the detection of the current position, the control circuit board 41 controls the swing drive member 321 to move in the opposite direction so that the swing arm 31 switches to a folded state. During this process, the detection data acquired at the current position is sent wirelessly to the management background. The control circuit board 41 then controls the inspection robot 1 to continue moving along the track until the next position code is scanned, and the aforementioned actions are repeated again until the inspection robot 1 moves to the end of the inspection track and completes the inspection operation at the last position. After that, the control circuit board 41 controls the inspection robot 1 to return to the initial position along the track, and at the same time, the charging terminal 44 is connected to the power supply to replenish power to the battery 42.

[0082] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A patrol robot, applied on a track, the patrol robot is located between the track and a target object, characterized in that: The inspection robot comprises: Bracket; A walking device, the walking device is connected to the bracket and can be movably connected to the track so that the walking device can move along the length direction of the track; A swing device, wherein a patrol sensor is provided on the swing device, wherein the patrol sensor is used to detect a target object, and an end of the swing device away from the patrol sensor can be rotatably connected to the bracket, so that the patrol robot can switch between a folded state and an unfolded state; and A control device, the walking device and the swing device are electrically connected to the control device respectively; Among them, the folded state is a state in which the swing device is stacked on the bracket, the unfolded state is a state in which the swing device and the bracket have an inclined angle, and in the folded state, the distance from the patrol sensor to the track is smaller than the distance from the patrol sensor to the track in the unfolded state.

2. The inspection robot according to claim 1, characterized in that: The track includes a web and a first wing plate which are perpendicular to each other, wherein the web extends in the height direction of the inspection robot, and the first wing plate is connected to an end of the web close to the target object and extends in a direction away from the web. The walking device includes a first walking component, which includes a first walking wheel, a connecting seat and a bottom guide wheel. The connecting seat is rotatably connected to the first walking wheel and the bottom guide wheel through a rotating shaft, and the connecting seat is connected to the bracket. Along the height direction of the inspection robot, the first walking wheel and the bottom guide wheel are rotatably connected to both sides of the first wing plate.

3. The inspection robot according to claim 2, characterized in that: The first walking assembly also includes a second walking wheel, which is connected to the connecting seat and is located on a side of the first wing plate away from the bottom guide wheel, and the bottom guide wheel is located between the second walking wheel and the first walking wheel, and the first walking wheel and the second walking wheel are respectively located on both sides of the web.

4. The inspection robot according to claim 2, characterized in that: Along the extension direction of the first wing plate, the first wing plate has a first end and a second end opposite to each other, the web is located between the first end and the second end, and the first walking assembly also includes a first guide wheel and a second guide wheel connected to the connecting seat, the first guide wheel can be rotatably connected to the first end, and the second guide wheel can be rotatably connected to the second end.

5. The inspection robot according to claim 2, characterized in that: The walking device also includes a walking drive mechanism arranged on the bracket, the walking drive mechanism includes a walking drive member, a first linkage drive shaft, a second linkage drive shaft and a first belt transmission assembly, the walking drive member is electrically connected to the control device and is located between the first linkage drive shaft and the second linkage drive shaft, the first belt transmission assembly includes a first pulley, a second pulley, a third pulley, a fourth pulley and a plurality of first conveyor belts, the first pulley is arranged at the output end of the walking drive member, the second linkage drive shaft and the two ends of the first linkage drive shaft are respectively provided with the second pulley, one end of the first linkage drive shaft is connected to the first conveyor belt through the second pulley, the other end of the first linkage drive shaft is connected to the second pulley of the second linkage drive shaft through the second pulley and the first conveyor belt, the number of the third pulley and the fourth pulley are both two, and the two third pulleys are respectively arranged on the first linkage drive shaft and the second linkage drive shaft, There are two first traveling assemblies, and the two first traveling assemblies are spaced apart in sequence along the length direction of the track. The fourth pulleys are respectively provided on the rotating shafts of the first traveling wheels of the two first traveling assemblies, and the two fourth pulleys correspond one-to-one to the two third pulleys and are connected through the first conveyor belt.

6. The inspection robot according to claim 5, characterized in that: The bracket includes a first supporting frame, the first supporting frame includes a first plate component, a second plate component and a supporting portion connected to the first plate component and the second plate component, the first plate component and the second plate component are spaced apart and are respectively located at two ends of the supporting portion, the first plate component is provided with a first mounting hole, the swing device is rotatably connected to the first plate component, the first walking assembly is connected to a side of the first plate component away from the second plate component, the walking drive component, the first linkage drive shaft and the second linkage drive shaft are connected to the first plate component and are located between the first plate component and the second plate component, and the first mounting hole is used for the first conveyor belt to pass through.

7. The inspection robot according to claim 1, characterized in that: The bracket includes a first support frame and a second support frame, the first support frame is connected to the walking device, one end of the second support frame is connected to the first support frame and extends away from the track, the other end of the second support frame is provided with a first rotating shaft, and the swing device is rotatably connected to the second support frame through the first rotating shaft.

8. The inspection robot according to claim 7, characterized in that: The swing device includes a swing arm and a swing drive mechanism, the swing arm is connected to the first rotating shaft, the inspection sensor is installed at the end of the swing arm away from the first rotating shaft, the swing drive mechanism includes a swing drive member and a second belt transmission assembly, the swing drive member is electrically connected to the control device and installed on the second support frame, the second belt transmission assembly includes a fifth pulley, a sixth pulley and a second conveyor belt, the fifth pulley is arranged at the output end of the swing drive member, the sixth pulley is arranged on the first rotating shaft, and the fifth pulley and the sixth pulley are connected through the second conveyor belt.

9. The inspection robot according to claim 7, characterized in that: The swing device is provided with a rotary drive mechanism and a sensor loading platform, the sensor loading platform is connected to the output end of the rotary drive mechanism, the inspection sensor is installed on the sensor loading platform, the extension direction of the swing device is parallel to the length direction of the track, and the first rotating shaft and the rotary drive mechanism are respectively connected to the two ends of the swing device along its own extension direction.

10. A track inspection system, characterized in that: It comprises a track and the inspection robot as described in any one of claims 1 to 9, wherein the inspection robot is located between the track and the target object.

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