Inspection robot and working posture keeping device for inspection robot

Abstract

The utility model relates to an inspection robot and a working posture keeping device used for the inspection robot, and the inspection robot comprises an installation arm which is pivotally installed on a driving device at the fulcrum of the installation arm; one end of the executing mechanism is connected to the mounting arm on one side of the fulcrum, and the other end of the executing mechanism is connected with the inspection robot; the angle sensing device is configured to sense and send data related to the inclination angle of the track during operation along the track; the control unit is in communication connection with the executing mechanism and is used for receiving and processing data from the angle sensing device so as to send an executing instruction to the executing mechanism when advancing on the inclined section of the track and control the executing mechanism to move so that the inspection robot can swing by a correction angle around the fulcrum relative to the mounting arm; the correction angle substantially counteracts the inclination angle of the track, so that the inspection robot keeps a working posture all the time when inspecting along the track.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an inspection robot and a working posture maintaining device thereof. Background Art

[0002] Inspection robots are ideal for inspection work in some areas, such as pipeline corridors, coal mines, and other long-distance or complex sites, for site safety and effective protection of the personal safety of inspection personnel. Since inspection robots have basic features such as perception, decision-making, and execution, they can assist or even replace humans in completing dangerous, heavy, and complex inspection work, improving work efficiency and quality.

[0003] When the inspection robot is inspecting along the track, whether it is a vertically hoisted inspection robot or an inspection robot fixed to a drive device in other ways, its posture will change with the inclination of the track during the horizontal section and the inclined ascent or descent section along the track, especially tilting, or shaking, etc. However, it is very important for the inspection robot to maintain the stability and consistency of its own working posture during the inspection along the track. Existing track inspection robots usually integrate multiple inspection functions, such as photography, video, monitoring, gas detection and other inspection functions. Many of these inspection functions, such as infrared monitoring, video, photography, etc., hope that the inspection robot always maintains a consistent working posture, whether it is traveling on a horizontal track or an inclined track, to ensure consistent and better inspection and monitoring quality.

[0004] The industry continues to need improved inspection robots and devices that keep them in a working posture to continuously improve the performance of the inspection robots, and to minimize or even eliminate the above-mentioned technical defects, as well as to achieve other technical advantages.

[0005] The information included in this background section of the present specification, including any references cited herein and any description or discussion thereof, is included for technical reference purposes only and is not to be construed as subject matter that will limit the scope of the present invention. Utility Model Content

[0006] In view of the above and other more concepts, the present utility model is proposed.

[0007] One of the basic concepts of the utility model is to disclose a working posture maintaining device for an inspection robot, wherein the inspection robot is configured to be driven by a driving device to run along a track for inspection, and the working posture maintaining device comprises: a mounting arm, wherein the inspection robot is pivotally mounted on the driving device at a fulcrum of the mounting arm so as to be able to swing relative to the mounting arm around the fulcrum; an actuator, the actuator being configured to be operably connected to the inspection robot and the mounting arm to perform relative movement between the inspection robot and the mounting arm; an angle sensing device, which is configured to sense the angle of the inspection robot along the fulcrum The control unit is communicatively connected to the actuator and configured to receive and process the data from the angle sensing device so as to send an execution instruction to the actuator when the actuator moves on the inclined section of the track, wherein the execution instruction controls the movement of the actuator so that the inspection robot swings around the fulcrum at a correction angle relative to the mounting arm, the correction angle substantially offsets the inclination angle of the track, and enables the inspection robot to always maintain a set working posture when it moves along the track for inspection, regardless of whether it is moving on a horizontal track or an inclined track.

[0008] According to one embodiment, the actuator is a linear actuator that can be controlled to perform an extension or retraction linear motion, one end of the linear actuator is operably connected to a mounting arm on one side of the fulcrum and at a distance from the fulcrum, and the other end of the linear actuator is operably connected to the inspection robot; the control unit is configured to receive and process the data from the angle sensing device and send an execution instruction to the linear actuator, the execution instruction controls the linear actuator to perform an extension or retraction motion so that the inspection robot swings the correction angle around the fulcrum relative to the mounting arm.

[0009] According to one embodiment, the inspection robot is directly or indirectly mounted on the driving device via a first pivot at a fulcrum.

[0010] According to one embodiment, the inspection robot is pivotally mounted directly on the mounting arm via a first pivot and a first mounting member at a fulcrum; or, the inspection robot is mounted on a vertically liftable lifting device, which is pivotally mounted on the mounting arm via a first pivot and a first mounting member at a fulcrum.

[0011] According to one embodiment, the execution instruction controls the linear actuator to extend or retract in a direction opposite to the inclination direction of the inclined section of the track so that the inspection robot swings around the fulcrum to correct the angle relative to the mounting arm.

[0012] According to an embodiment, the mounting arm acts as a lever, wherein the fulcrum is located at a middle position of the mounting arm.

[0013] According to one embodiment, the mounting arm is an intermediate connecting plate connecting the first mounting seat and the second mounting seat of the driving device.

[0014] According to an embodiment, when the driving device moves along the track, the mounting arm is substantially parallel to or substantially perpendicular to the extending direction of the track.

[0015] According to one embodiment, a linear actuator includes a motor and a push rod driven by the motor to perform linear motion.

[0016] According to one embodiment, one end of the linear actuator is pivotally connected to the mounting arm on one side of the fulcrum, and the other end of the linear actuator is pivotally connected to the inspection robot.

[0017] According to one embodiment, the inspection robot and the linear actuator are both fixed on the lifting device, wherein the push rod of the linear actuator is pivotally connected to one end of the pivot swing assembly, and the other end of the pivot swing assembly is pivotally connected to the mounting arm on one side of the fulcrum.

[0018] According to one embodiment, the inspection robot is fixed to the lower end of the lifting device, and the upper platform of the lifting device is pivotally connected to the fulcrum via the first mounting member and the first pivot.

[0019] According to one embodiment, a preferred normal working posture is a natural hanging posture of the inspection robot when it is suspended on the driving device.

[0020] According to one embodiment, the actuator is a motor-gear combination or a joint motor.

[0021] According to one embodiment, the motor-gear combination includes: a first gear rotatably mounted on the mounting arm; a second gear rotatably mounted directly or indirectly with the inspection robot, wherein the second gear meshes with the first gear; and a motor configured to drive the first gear or the second gear to rotate clockwise or counterclockwise; the control unit is configured to receive and process the data from the angle sensing device, and send an execution instruction to the motor-gear combination, wherein the execution instruction controls the motor-gear combination to perform rotational motion so that the inspection robot swings the correction angle around the fulcrum relative to the mounting arm.

[0022] According to one embodiment, the first gear is rotatably mounted at a middle position on the mounting arm, and the second gear is rotatably mounted on a platform of a lifting device, and the inspection robot is fixed on the lifting device.

[0023] According to one embodiment, one side of the joint motor is fixed to the mounting arm, and the other opposite side of the joint motor is directly or indirectly fixed to the inspection robot; the control unit is configured to receive and process the data from the angle sensing device, and send an execution instruction to the joint motor, and the execution instruction controls the joint motor to rotate clockwise or counterclockwise, so that the inspection robot swings the correction angle around the fulcrum relative to the mounting arm.

[0024] According to one embodiment, the range of working posture includes the real-time posture (or orientation, position, etc.) of the inspection robot that is tilted within plus or minus 10 degrees in a vertical plane, preferably within plus or minus 5 degrees, and more preferably within plus or minus 2 degrees relative to the natural hanging posture when the inspection robot is suspended on a drive device.

[0025] According to one embodiment, the working posture maintaining device is configured to adjust the working posture of the inspection robot within a frequency range of 10-120 times per minute so that the robot is always in the working posture.

[0026] According to one embodiment, the working posture maintaining device is configured to be able to work within a correction angle range within plus or minus 45 degrees, for example, within plus or minus 30 degrees.

[0027] According to an embodiment, the angle sensing device is selected from at least one of a rotation angle sensor, a tilt sensor and a gyroscope, and the control unit is a microcontroller MCU.

[0028] According to an embodiment, the angle sensing device is mounted on at least one of the mounting arm, the mounting seat of the driving device, and the mounting platform of the lifting device.

[0029] According to one embodiment, the working posture maintaining device further includes a limit switch cooperating with the linear actuator.

[0030] Another aspect of the utility model further discloses an inspection robot, which includes the above-mentioned working posture maintaining device for the inspection robot.

[0031] According to one embodiment, the inspection robot is an inspection device integrated into a whole, or an inspection robot module capable of realizing single or multiple inspection functions.

[0032] The working posture maintaining device for the inspection robot of the utility model can controllably adjust and maintain the inspection robot to always complete the inspection in the required working posture, whether it is running on a horizontal track or an inclined extended track, it can keep the inspection robot always in the required working posture for inspection. When the inspection robot is running on the track, when switching between the horizontal extended track operation and the inclined extended track operation, and when the running speed changes, the working posture maintaining device of the utility model can also prevent the inspection robot from swinging, shaking, jumping or shaking and various faults caused thereby; especially in the case where the inspection robot is equipped with a lifting device, the working posture maintaining device of the utility model can also help the inspection robot to smoothly activate the lifting device without the lifting device being unable to operate normally or having strength failure, bending, damage and other problems, especially in the case of running on an inclined track; thus, the utility model enables the inspection robot to always complete the inspection work in a stable working posture, greatly improving the quality and reliability of the inspection work.

[0033] More embodiments of the present invention can also achieve other advantageous technical effects that are not listed one by one. These other technical effects may be partially described below and are predictable and understandable to those skilled in the art after reading the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] By referring to the following description together with the accompanying drawings, the above-mentioned features and advantages of these embodiments and other features and advantages and the manner in which they are achieved will be more apparent, and the embodiments of the present invention may be better understood.

[0035] Figure 1 It is a side orthographic schematic diagram of a working posture maintaining device for an inspection robot, a driving device, an inspection robot hoisted and mounted on the driving device, and a lifting device thereof according to the first embodiment of the utility model running on a substantially horizontal track, wherein the working posture maintaining device is mounted on the driving device and the lifting device of the inspection robot.

[0036] Figure 2 yes Figure 1 Another side elevational projection schematic diagram of the working posture maintaining device is shown, with the outer cover removed, so as to better show the relevant structure, arrangement and design.

[0037] Figure 3 yes Figure 1-2 The three-dimensional schematic diagram of the working posture maintaining device shown better illustrates the working posture maintaining device and its related structure, arrangement and design.

[0038] Figure 4 yes Figure 3The partially enlarged stereoscopic schematic diagram of the working posture maintaining device shown more clearly demonstrates the design of the pivotable hanging seat and the pivoting swing assembly of the working posture maintaining device.

[0039] Figure 5 It runs on a track that extends generally upward (i.e., upward toward the right side of the drawing). Figure 1 The shown diagram is a side projection diagram of a working posture maintaining device, a driving device, and an inspection robot and a lifting device hoisted on the driving device, wherein the working posture maintaining device installed on the driving device and the lifting device of the inspection robot swings according to the upward inclination angle of the track (the linear motion of the linear actuator drives the movement of the lever pivoting around the fulcrum) to keep the inspection robot and the lifting device in a generally vertical (hoisted) posture.

[0040] Figure 6 yes Figure 5 Another side elevational projection schematic diagram of the working posture maintaining device is shown, in which the outer cover of the lifting device is removed to better show the relevant structure, arrangement and design.

[0041] Figure 7 yes Figure 5-6 The three-dimensional schematic diagram of the working posture maintaining device shown better illustrates how the working posture maintaining device works (swings) to keep the inspection robot and the lifting device in a substantially vertical (hoisting) posture.

[0042] Figure 8 It runs on a track that extends generally downward (i.e., downward toward the right side of the drawing) Figure 1 The shown diagram is a side projection diagram of a working posture maintaining device, a driving device, and an inspection robot and a lifting device hoisted on the driving device, wherein the working posture maintaining device installed on the driving device and the lifting device of the inspection robot swings according to the downward inclination angle of the track so that the inspection robot and the lifting device maintain a substantially vertical (hoisted) posture.

[0043] Fig. 9 yes Figure 8 Another side elevational projection schematic diagram of the working posture maintaining device is shown, in which the outer cover of the lifting device is removed to better show the relevant structure, arrangement and design.

[0044] Fig.10 yes Figure 8-9 The three-dimensional schematic diagram of the working posture maintaining device shown in the figure better illustrates how the working posture maintaining device works to maintain the inspection robot and the lifting device in a substantially vertical (suspended hoisting) posture.

[0045] Fig.11 Demonstrated that it can be used Figure 1-10 The schematic diagram of an embodiment of a linear actuator of a working posture maintaining device is shown, and the linear actuator is in a retracted state at this time.

[0046] Fig.12 Shown Fig.11 Schematic diagram of the linear actuator shown, at which time the linear actuator is in an extended state.

[0047] Fig.13 Shown Figure 11-12 A schematic diagram showing the linear actuator being connected to other pivoting components of the working posture maintaining device.

[0048] Fig.14 It is a side orthographic schematic diagram of a working posture maintaining device for an inspection robot, a driving device, and an inspection robot hoisted and installed on the driving device according to the second embodiment of the utility model running on a substantially horizontal track, wherein the inspection robot in this embodiment is not provided with a lifting device, and the working posture maintaining device is directly installed on the driving device and the inspection robot.

[0049] Fig.15 yes Fig.14 Another side elevational projection schematic diagram of the working posture maintaining device is shown, with the outer cover removed, so as to better show the relevant structure, arrangement and design.

[0050] Fig.16 yes Figure 14-15 The three-dimensional schematic diagram of the second embodiment of the working posture maintaining device shown in the figure better illustrates the working posture maintaining device and its related structure, arrangement and design.

[0051] Fig.17 It runs on a track that extends generally upward (i.e., upward toward the right side of the drawing). Fig.14 The shown diagram is a side projection diagram of a working posture maintaining device, a driving device, and an inspection robot and a lifting device hoisted on the driving device, wherein the working posture maintaining device installed on the driving device and the lifting device of the inspection robot swings according to the upward inclination angle of the track so that the inspection robot and the lifting device maintain a substantially vertical (hoisted) posture.

[0052] Fig.18 It runs on a track that extends generally downward (i.e., downward toward the right side of the drawing) Fig.14The shown diagram is a side projection diagram of a working posture maintaining device, a driving device, and an inspection robot and a lifting device hoisted on the driving device, wherein the working posture maintaining device installed on the driving device and the lifting device of the inspection robot swings according to the downward inclination angle of the track so that the inspection robot and the lifting device maintain a substantially vertical (hoisted) posture.

[0053] Fig.19 Demonstrated that it can be used Figure 14-18 The schematic diagram of an embodiment of a linear actuator of a working posture maintaining device is shown, and the linear actuator is in a retracted state at this time.

[0054] Fig. 20 Shown Fig.19 Schematic diagram of the linear actuator shown, at which time the linear actuator is in an extended state.

[0055] Fig.21 A schematic principle block diagram showing an example of controlling a linear actuator to adjust the correction angle of the holding device of the utility model to maintain the working posture of the inspection robot.

[0056] Fig. 22 An exemplary schematic installation diagram of installing a control box on a mounting arm of a second embodiment of a working posture maintaining device is shown.

[0057] Figure 23-24 It is a side orthographic schematic diagram of a working posture maintaining device for an inspection robot, a driving device, and an inspection robot hoisted on the driving device according to the third embodiment of the utility model running on a track, wherein the working posture maintaining device is installed on the driving device and the lifting device of the inspection robot.

[0058] Figure 25-26 It is a side orthographic schematic diagram of a working posture maintaining device for an inspection robot, a driving device, and an inspection robot hoisted on the driving device according to the fourth embodiment of the utility model running on a track, wherein the working posture maintaining device is installed on the driving device and the lifting device of the inspection robot. DETAILED DESCRIPTION

[0059] In the following description of the drawings and specific embodiments, details of one or more embodiments of the present utility model will be described. From these descriptions, drawings and claims, other features, purposes and advantages of the present utility model can be clearly seen.

[0060] It should be understood that the illustrated and described embodiments are not limited in application to the details of the construction and arrangement of the components set forth in the following description or illustrated in the accompanying drawings. The illustrated embodiments may be other embodiments and may be implemented or executed in various ways. Each example is provided by explaining the disclosed embodiments rather than limiting them. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made to the various embodiments of the utility model without departing from the scope or essence of the utility model. For example, a feature illustrated or described as part of an embodiment may be used together with another embodiment to still produce another embodiment. Therefore, the utility model discloses such modifications and variations that fall within the scope of the appended claims and their equivalent elements.

[0061] Likewise, it is to be understood that the phrases and expressions used herein are for descriptive purposes and should not be considered restrictive. The use of "includes," "comprising," or "having" and variations thereof herein is intended to include the items listed thereafter and their equivalents as well as additional items in an open manner. In the present utility model, unless otherwise expressly specified and limited, the terms "installed," "connected," "connected," and the like should be understood in a broad sense, for example, it can be directly connected or indirectly connected through an intermediate medium; "fixed connection" can be a direct or indirect fixed connection or assembly, unless otherwise limited or understood in context to have a special meaning.

[0062] In the present utility model, for those of ordinary skill in the art, unless otherwise specified and limited, the terms "up", "down", "left", "right", etc., related to the working posture maintaining device for the inspection robot and its components and related devices such as tracks, drive devices, etc. of the present utility model, are described and limited in conjunction with the orientation of the device in its normal use state (generally as shown in the accompanying drawings). In the present utility model, the expressions of the directions and orientations of "up", "down", "extending upward" and "extending downward" are in conjunction with the orientations shown in the accompanying drawings to facilitate the understanding of the present utility model and its embodiments, and do not have any special limitations. "Tilt" in the present utility model refers to a certain angle or angle component tilted in a vertical plane.

[0063] The present invention will be further described and illustrated in detail below in conjunction with the accompanying drawings and specific embodiments.

[0064] First embodiment

[0065] Figure 1It is a side orthographic schematic diagram of a device 600 for maintaining an inspection robot 300 (or at least one inspection robot module therein) in a working posture according to the first embodiment of the utility model running on a substantially horizontal track 500, a driving device 200, and an inspection robot 300 hoisted and mounted on the driving device 200, and a lifting device 100 thereof, wherein the working posture maintaining device 600 is installed on the driving device 200 and the lifting device 100 of the inspection robot 300, and the orientation of the working posture maintaining device 600 and the lifting device 100 during operation is substantially the same as the orientation shown in the drawing. Figure 2 yes Figure 1 Another side elevational schematic diagram of the working posture maintaining device 600 is shown, in which the housing of the driving device 200 and the outer cover 400 of the lifting device 100 are removed, so as to better show the relevant structure, arrangement and design. Figure 3 yes Figure 1-2 The three-dimensional schematic diagram of the working posture maintaining device 600 shown in the figure better illustrates the working posture maintaining device 600 and the related structure, arrangement and design. Figure 4 yes Figure 3 The partially enlarged three-dimensional schematic diagram of the working posture maintaining device 600 shown in the figure more clearly shows the design of the pivotable hanging seat 602 and the pivoting swing assembly 601 of the working posture maintaining device 600.

[0066] Examples of the drive device 200 may be, for example, the drive devices described in the invention patent application “Drive device for a patrol robot” with application number “2023104346614” filed by the same applicant on April 21, 2023, the invention patent application “Drive device for a patrol robot” with application number “2023104346559” filed on April 21, 2023, and the invention patent application “Drive device for a patrol robot” with application number “202310434653X” filed on April 21, 2023, and the contents of these patent applications related to the drive device, etc. are incorporated into this application by reference, just as described in this application.

[0067] Examples of the lifting device 100 and the inspection robot 300 may be, for example, the lifting device and the inspection robot described in the utility model application “Inspection robot and its bidirectionally powered lifting device” with application number “2023205446579” filed on March 20, 2023 by the same applicant, and the utility model application “Inspection robot and its unidirectionally powered lifting device” with application number “202320544616X” filed on March 20, 2023. The contents of these patent applications related to the drive device, etc. are incorporated into this application by reference, just as described in this application. Of course, the reference and description of the above examples are not restrictive to the present utility model. Those skilled in the art can understand that the examples of the drive device, the lifting device and the inspection robot may also be other types suitable for the present utility model in the prior art, or types in the previously submitted patent applications of the same applicant, as long as they are applicable to the present utility model.

[0068] like Figure 1-4 As shown, on a substantially horizontal track 500, the driving device 200 is designed to move on the track 500 and drive the lifting device 100 and the inspection robot 300 (or the inspection robot module) installed therewith (for example, hoisted as shown in the figure) to move along the track 500 for inspection.

[0069] Figure 5-7 The schematic diagram shows the working posture maintaining device 600 of this embodiment running on a track section extending generally upward. Figure 5 It runs on a track 500 that extends generally upward (i.e., extends upward toward the right side of the drawing). Figure 1 The shown diagram is a side projection diagram of a working posture maintaining device 600, a driving device 200, and an inspection robot 300 hoisted on the driving device 200 and its lifting device 100, wherein the working posture maintaining device 600 installed on the driving device 200 and the lifting device 100 of the inspection robot 300 swings according to the upward inclination angle of the track (the linear motion of the linear actuator 603 drives the movement of the lever pivoting around the fulcrum) to keep the inspection robot 300 and the lifting device 100 in a substantially vertical (hoisted) posture. Figure 6 yes Figure 5 Another side elevational schematic diagram of the working posture maintaining device 600 is shown, in which the outer cover of the lifting device 100 is removed, so as to better show the relevant structure, arrangement and design. Figure 7 yes Figure 5-6 The three-dimensional schematic diagram of the working posture maintaining device 600 shown in the figure better illustrates how the working posture maintaining device 600 works (swings) to maintain the inspection robot 300 and the lifting device 100 in a substantially vertical (hoisting) posture.

[0070] Figure 8-10 The schematic diagram shows the working posture maintaining device 600 of this embodiment running on a track section extending generally downward. Figure 8 It runs on a track that extends generally downward (i.e., downward toward the right side of the drawing) Figure 1 The shown diagram is a side projection diagram of a working posture maintaining device 600, a driving device 200, and an inspection robot 300 hoisted on the driving device 200 and its lifting device 100, wherein the working posture maintaining device 600 installed on the driving device 200 and the lifting device 100 of the inspection robot 300 swings according to the downward inclination angle of the track so that the inspection robot 300 and the lifting device 100 maintain a substantially vertical (hoisted) posture. Fig. 9 yes Figure 8 Another side elevational schematic diagram of the working posture maintaining device 600 is shown, in which the outer cover of the lifting device 100 is removed, so as to better show the relevant structure, arrangement and design. Fig.10 yes Figure 8-9 The three-dimensional schematic diagram of the working posture maintaining device 600 shown in the figure better illustrates how the working posture maintaining device 600 works (swings) to maintain the inspection robot 300 and the lifting device 100 in a substantially vertical (hoisting) posture.

[0071] Generally speaking, in the absence of the working posture maintaining device 600 of the present invention, the inspection robot 300 and the lifting device 100 can be fixedly mounted on the driving device 200 (for example, fixed to the mounting arm 230 by screws or screws), or can be pivotally mounted below the driving device 200 via the lifting seat 602 (for example, pivotally mounted on the mounting arm 230 by a pivot, such as Figure 2 In this case, the driving device 200 carries the inspection robot 300 (and the lifting device 100) on the track section extending upwardly (for example Figure 5 as shown) or in a track section extending upwardly at an angle (e.g. Figure 8 When the inspection robot 300 is moving for inspection on the horizontal track section (as shown in the figure), the working posture of the inspection robot 300 will change from the working posture when it is on the horizontal track section. For example, it may tilt (when the inspection robot 300 is fixedly installed on the drive device 200), or it may shake or swing left and right (when the inspection robot 300 is pivotally installed, for example, hoisted on the drive device 200). Such changes in the working posture of the inspection robot 300 will have adverse or even very adverse effects on the inspection work of the inspection robot 300, and may even make the inspection impossible. For example, photography, videography, sampling, and sensing cannot be aligned with the preset inspection points, resulting in poor sampling or even sampling failure, and video images cannot be used normally, and timely and accurate warnings cannot be issued, etc.

[0072] Based on the above defects and deficiencies, such as Figure 1-4 As shown, the utility model proposes a working posture maintaining device 600 of the first embodiment of the utility model, so that no matter it is running on a substantially horizontal or substantially inclined track 500, it can maintain the inspection robot 300 (or the inspection robot module) in the required working posture, thereby enabling the inspection robot to complete the inspection work in a stable working posture, greatly improving the quality and reliability of the inspection work.

[0073] Specifically, if Figure 1-10 As shown, it is respectively shown how to keep the inspection robot 300 (or the inspection robot module) in a desired working posture when the working posture maintaining device 600 of the first embodiment travels on a track section that is substantially horizontal, substantially extends upward, and substantially extends downward. The driving device 200 includes a first mounting seat 210 and a second mounting seat 220 arranged in series on the track 500, and a connecting member (or intermediate connecting plate) 230 connected between the first mounting seat 210 and the second mounting seat 220, which also acts as a mounting arm (lever) in the utility model for installing the working posture maintaining device 600 of the utility model, as described in detail below.

[0074] The lever principle is a basic principle in mechanics. By applying a linear action (force) to the lever (lever), the lever can be rotated around the fulcrum (pivot), so that the lever can be lifted or lowered with a smaller force. The lever consists of a fulcrum and two lever arms, wherein the fulcrum is the rotation axis (or pivot) of the lever, and the two lever arms are the distances from the position of force to the fulcrum. In the present utility model, the connecting member 230 is used as the mounting arm and lever of the working posture holding device 600, and the inspection robot 300 is lifted or lowered in a controlled offsetting manner relative to the mounting arm 230 (lever) by the lever principle, so that the inspection robot 300 can make an offsetting posture change (such as but not limited to a reverse tilt) in time in response to the track tilt, so that even when running on an inclined track, the inspection robot 300 can still maintain a working posture that is substantially the same as when running on a horizontal track. In this embodiment, an example of the normal working posture of the inspection robot 300 can be preset as a posture of natural suspension below the substantially horizontal track section 500, that is, the inspection robot 300 (together with the lifting device 100) is substantially perpendicular to the connecting plate / mounting arm 230 on the drive device 200, or in other words, substantially perpendicular to the horizontal plane. Of course, the working posture of the inspection robot 300 can also be other preset forms, such as but not limited to a horizontal posture (for example, the mounting arm 230 is vertical rather than horizontal, the inspection robot 300 is installed horizontally, tilted, rather than vertically, etc.), a posture tilted within a range of plus or minus 30 degrees relative to the natural plumb line, and the like.

[0075] More specifically, in this embodiment, if Figure 1-10 As shown, a working posture maintaining device 600 of the inspection robot 300 is provided, so that when the inspection robot 300 is running on a horizontal track segment, a track segment extending upwardly inclined, and a track segment extending downwardly inclined, the inspection robot 300 can always maintain a basically consistent working posture, such as a working posture that is basically vertical to the plumb bob. In this regard, it should be understood by those skilled in the art that "consistent working posture" in this embodiment means that the inspection robot 300 can maintain a working posture that is basically consistent with that when it is on the horizontal track regardless of which track segment it is on, and it is not required to be completely consistent, as long as its consistency ensures compliance with the preset routine inspection monitoring quality and reliability. For example, in some cases, a working posture that deviates by plus or minus 15 degrees, preferably plus or minus 5-10 degrees, etc. relative to the working posture on the horizontal track in a vertical plane can be regarded as a "consistent working posture".

[0076] like Figure 1-10As shown, the inspection robot 300 is configured to be carried by the driving device 200 and to travel along the track 500 for inspection together with the driving device 200. The working posture maintaining device 600 for the inspection robot 300, that is, a device for maintaining the inspection robot 300 in a working posture, includes: for example, a connecting member / mounting arm 230 connected between the first mounting seat 210 and the second mounting seat 220 of the driving device 200, at the fulcrum of the mounting arm 230, that is, for example, Figure 2-Figure 10 The middle position of the mounting arm 230 shown, i.e., the approximate midpoint position, is pivotally mounted on a mounting seat (which may be referred to as a hoisting seat 602 in this embodiment) on the mounting arm 230 via a pivot 602A, whereby the hoisting seat 602 may pivot around the pivot 602A at the fulcrum. A lifting device 100 is installed below the hoisting seat 602 via an upper platform 101, and an inspection robot 300 or a robot module for inspection purposes is installed on the lifting device 100 (e.g., hoisted on its lower platform). In this way, the inspection robot 300 is pivotally mounted on the driving device 200 at the fulcrum (pivot 602A) of the mounting arm 230, so that it can swing relative to the mounting arm 230 around the fulcrum (pivot 602A). At one end of the mounting arm 230 or in the vicinity thereof, for example Figure 1-3 At the right end of the figure shown, one end of the linear actuator 603 is pivotally connected to the mounting arm 230 via the pivot swing assembly 601 and is a distance away from the fulcrum, and can apply a lateral force (i.e., a force that generates a lever torque) to the mounting arm 230. The linear actuator 603, which can also be called a linear drive, an electric push rod, etc., can actuate an extension or retraction linear motion. Thus, one end of the linear actuator 603 is operably connected to the mounting arm 230 on one side of the fulcrum, and the other end of the linear actuator 603 is operably connected to the inspection robot 300. Figure 11-Figure 12 As shown, an example of the linear actuator 603 is an electric motor push rod mechanism, which is composed of a motor 603A and a push rod 604 driven by the motor 603A to perform linear telescopic motion. Figure 1-3 As shown, the push rod 604 of the linear actuator 603 is in a position to keep the mounting arm 230 substantially horizontal, and the inspection robot 300 is in a substantially plumb vertical working posture substantially perpendicular to the horizontal mounting arm 230 .

[0077] When the inspection robot 300 runs on the track section extending upwardly, as shown in FIG. Figure 5-7As shown, the mounting arm 230 is tilted upward (i.e., it rotates counterclockwise around the pivot 602A in a vertical plane at an inclination angle relative to the previous mounting arm orientation). At this time, in order to maintain the inspection robot 300 in the previous substantially vertical working posture, the inspection robot 300 needs to make a compensatory posture change, i.e., tilt relatively in the opposite direction (rotate clockwise around the pivot 602A in a vertical plane at a corresponding inclination angle relative to the previous relative posture of the inspection robot). In order to achieve this, the linear actuator 603 applies a controlled compensatory lifting action (i.e., an elongated linear motion) to the right force arm of the mounting arm 230 (lever) through the lever principle, thereby obtaining the posture adjustment made by the inspection robot 300 in response to the upward inclination of the track and the required torque, so as to maintain the previous working posture on the horizontal track unchanged.

[0078] When the inspection robot 300 runs on the track section extending downwardly, as shown in FIG. Figure 8-10 As shown, the mounting arm 230 is then tilted downward (i.e., it rotates clockwise within a vertical plane by an inclination angle relative to the previous mounting arm orientation). At this time, in order to maintain the inspection robot 300 in its previous substantially vertical working posture, the inspection robot 300 needs to make a compensatory posture change, i.e., tilt relatively in the opposite direction (rotate counterclockwise around the pivot 602A within a vertical plane by a corresponding inclination angle relative to the previous relative posture of the inspection robot). In order to achieve this, the linear actuator 603 applies a controlled compensatory lowering action (i.e., a retracted linear motion) to the right side force arm of the mounting arm 230 (lever) through the lever principle, thereby obtaining the posture adjustment made by the inspection robot 300 in response to the upward inclination of the track and the required torque, so as to maintain the previous working posture on the horizontal track unchanged. When the inspection robot 300 turns from the upwardly extending track segment to the horizontal track segment again, how will the working posture maintaining device 600 be combined with the previous segment? Figure 5-7 A controlled counteracting lifting action is applied as described, and the inspection robot 300 is again adjusted and maintained in a substantially vertical working posture.

[0079] In order to timely (e.g., in real time) sense the upward and downward inclined extensions and the angle of inclination of the track segment, the present invention further provides an angle sensing device, which is configured to sense and send data related to the inclination angle of the track 500 during the operation of the inspection robot 300 along the track 500. The angle sensing device can be arranged on the mounting arm 230, or can also be installed at other locations where the inclination angle can be sensed, including but not limited to the upper platform 101 of the lifting device, etc.

[0080] In order to allow the linear actuator 603 to extend or retract accordingly according to the inclination of the track segment to maintain the working posture of the inspection robot 300, the utility model also provides a control unit that is connected to the linear actuator 603 in communication (wired or invalid communication is possible), which is configured to receive and process data from the angle sensing device to send an execution instruction to the linear actuator 603 when traveling on the inclined section of the track 500. The execution instruction controls the linear actuator 603 to perform a linear movement of extension or retraction, driving the mounting arm 230 to pivot / swing a correction angle around the fulcrum (pivot 602A) relative to the inspection robot 300. The correction angle substantially offsets the inclination angle of the track 500, so that the inspection robot 300 can always maintain the set working posture when traveling along the inclined section of the track 500. Fig.21 The schematic principle block diagram of an example of controlling the linear actuator 603 to adjust the correction angle of the working posture holding device 600 of the utility model to maintain the working posture of the inspection robot 300 is shown. The angle sensing device, for example, the angle sensing device, senses and sends data related to the inclination angle of the track 500 to the control unit, such as the microcontroller unit MCU, and the microcontroller unit MCU processes the data and sends corresponding control instructions to the motor driver of the linear actuator 603 to control the motor 603A to drive the push rod device (push rod 604) to perform corresponding telescopic linear motion, thereby controlling the torque required for the offsetting lifting or lowering action to be applied to the side arm of the lever, and finally achieving the purpose of controllably maintaining the inspection robot 300 in a substantially vertical working posture. In order to ensure the safety and reliability of the utility model, limit switches and position sensors can be selectively set for position feedback and limit.

[0081] Fig.11 Demonstrated that it can be used Figure 1-10 The schematic diagram of an embodiment of a linear actuator 603 of a working posture maintaining device 600 is shown, and the linear actuator 603 is in a retracted state at this time. Fig.12 Shown Fig.11 Schematic diagram of the linear actuator 603 shown, at this time the linear actuator 603 is in an extended state. Fig.13 Shown Figure 11-12A schematic diagram of the linear actuator 603 connected to other pivoting components of the working posture maintaining device 600 is shown. The pivoting swing assembly 601 includes, for example, a double U-shaped swing body 601C and two pivots 601A and 601B installed near the two ends of the swing body 601C, wherein the pivot 601A at one end of the swing body 601C is connected to a side force arm of the mounting arm 230 through a length of a pivotable swing arm 601C, and the pivot 601B at the other end of the swing body 601C is pivotally connected to one end of the push rod 604. In this way, the linear actuator 603 can not only perform telescopic movement, but also can be adjusted in a wider range of telescopic adjustment with the help of the length of the pivotable swing arm 601C, so that the working posture maintaining device 600 can adapt to and adjust the track inclination angle in a wider and better range. The linear actuator 603 can be, for example, an industrial-grade electric push rod with its own micro DC motor drive, a micro electric telescopic rod, a remote-controlled small DC linear reciprocating motor cylinder, a micro lifter, a linear motor, a linear motor, a linear motor, a linear motor, a push rod motor, etc. These are products that can be directly purchased on the market and can be customized.

[0082] According to one example, the inspection robot 300 is directly or indirectly mounted on the driving device 200 via a first pivot at a fulcrum.

[0083] According to one example, the inspection robot 300 is pivotally mounted directly on the mounting arm 230 via a first pivot and a first mounting member at a fulcrum; or, the inspection robot 300 is mounted on a vertically liftable lifting device 100, and the lifting device 100 is pivotally mounted on the mounting arm 230 via a first pivot and a first mounting member at a fulcrum.

[0084] According to an example, the execution instruction controls the linear actuator 603 to extend or retract in a direction opposite to the inclination direction of the inclined section of the track 500 so that the inspection robot 300 swings around the fulcrum to correct the angle relative to the mounting arm 230 .

[0085] According to one example, the mounting arm 230 is an intermediate connecting plate connecting the first mounting seat and the second mounting seat of the driving device 200 .

[0086] According to one example, when the driving device 200 moves along the track 500 , the mounting arm 230 is substantially parallel to or substantially perpendicular to an extending direction of the track 500 .

[0087] According to one example, the linear actuator 603 includes a motor and a push rod driven by the motor to perform linear motion.

[0088] According to one example, one end of the linear actuator 603 is pivotally connected to the mounting arm 230 on one side of the fulcrum, and the other end of the linear actuator 603 is pivotally connected to the inspection robot 300 .

[0089] According to one example, the inspection robot 300 and the linear actuator 603 are both fixed on the lifting device 100, wherein the push rod of the linear actuator 603 is pivotally connected to one end of the pivot swing assembly 601, and the other end of the pivot swing assembly 601 is pivotally connected to the mounting arm 230 on one side of the fulcrum.

[0090] According to one example, the inspection robot 300 is fixed to the lower end of the lifting device 100, and the upper platform of the lifting device 100 is pivotally connected to the fulcrum via the first mounting member and the first pivot.

[0091] According to one example, the working posture is the posture of the inspection robot 300 when it is naturally suspended on the driving device 200 while traveling along the horizontal section of the track 500 .

[0092] According to one example, the range of the working posture includes the real-time posture of the inspection robot 300 that is tilted within plus or minus 15 degrees relative to the posture of the inspection robot 300 naturally suspended on the driving device 200 when traveling along the horizontal section of the track 500 .

[0093] According to one example, the working posture maintaining device is configured to adjust the working posture of the inspection robot 300 within a frequency range of 10-120 times per minute, so that the robot is always in the working posture.

[0094] According to one example, the working posture maintaining device is configured to be able to work within a correction angle range of plus or minus 45 degrees.

[0095] According to one example, the angle sensing device is selected from at least one of a rotation angle sensor, a tilt sensor, and a gyroscope, and the control unit is an MCU.

[0096] According to one example, the angle sensing device is mounted on at least one of the mounting arm 230 , the mounting seat of the driving device 200 , and the mounting platform of the lifting device 100 .

[0097] According to one example, the working posture maintaining device further includes a limit switch cooperating with the linear actuator 603 .

[0098] Another aspect of the present invention further discloses an inspection robot 300, which includes the above device for keeping the inspection robot 300 in a working posture.

[0099] According to one example, the inspection robot 300 is an inspection device integrated as a whole, or an inspection robot module capable of realizing single or multiple inspection functions.

[0100] Second embodiment

[0101] Figure 14-20 The working posture maintaining device 600' for the inspection robot according to the second embodiment of the utility model is shown. Fig.14 It is a side orthographic schematic diagram of a device 600′ for maintaining an inspection robot 300′ in a working posture, a driving device 200′, and an inspection robot 300′ hoisted and mounted on the driving device 200′ according to the second embodiment of the utility model running on a substantially horizontal track 500′, wherein the inspection robot 300′ in this embodiment is not provided with a lifting device, and the working posture maintaining device 600′ is directly mounted on the driving device 200′ and the inspection robot 300′. Fig.15 yes Fig.14 Another side elevational schematic diagram of the working posture holding device 600 ′ is shown, in which the outer cover of the driving device 200 ′ is removed. Fig.16 yes Figure 14-15 The perspective schematic diagram of the second embodiment of the working posture maintaining device 600 ′ shown in the figure better illustrates the working posture maintaining device 600 ′ and the related structure, arrangement and design. Fig.17 It runs on a track that extends generally upwards. Fig.14 The shown diagram is a side projection diagram of a working posture maintaining device 600′, a driving device 200′, and an inspection robot 300′ and a lifting device thereof hoisted on the driving device 200′, wherein the working posture maintaining device 600′ installed on the driving device 200′ and the lifting device of the inspection robot 300′ swings according to the upward inclination angle of the track so that the inspection robot 300′ and the lifting device maintain a substantially vertical posture. Fig.18 It runs on a track that extends generally downward. Fig.14 The shown diagram is a side orthographic projection diagram of a working posture maintaining device 600′, a driving device 200′, and an inspection robot 300′ and a lifting device thereof hoisted on the driving device 200′, wherein the working posture maintaining device 600′ installed on the driving device 200′ and the lifting device of the inspection robot 300′ swings according to the downward inclination angle of the track so as to keep the inspection robot 300′ and the lifting device in a substantially vertical posture.

[0102] The working posture maintaining device 600′ of the second embodiment of the utility model, which can be used to maintain the inspection robot 300′ in a working posture, is basically the same in structure, components and configuration as the working posture maintaining device 600 of the first embodiment, except that one end of the linear actuator 603′ (such as a linear motor) of the second embodiment is operably connected to the force arm on the fulcrum side of the lever of the mounting arm (the structure, configuration and position of the mounting arm / connecting plate 230 of the first embodiment may be basically the same), and the other end of the linear actuator 603′ is operably connected to the mounting seat 602′ (which may be referred to as the lifting seat 602′ in this embodiment), and the inspection robot 300′ is directly installed under the mounting seat 602′ without a lifting device.

[0103] like Figure 14-20 As shown, the inspection robot 300' is carried by the driving device 200' and moves along the track 500' together with the driving device 20'0. The working posture maintaining device 600' of the inspection robot 300', that is, the device 600' for maintaining the inspection robot 300' in a working posture, includes: for example, a connecting member / mounting arm 230' that can be connected between the first mounting seat 210' and the second mounting seat 220' of the driving device 200', a mounting seat 602' (in this embodiment, it can be called a hanging seat) pivotally mounted on the mounting arm 230' through a pivot 602A' at the fulcrum of the mounting arm 230', that is, for example, the middle position of the mounting arm 230' shown in the figure, preferably the midpoint position, so that the hanging seat 602' can pivot around the pivot 602A' at the fulcrum. The inspection robot 300′ is pivotally mounted on the drive device 200′ via a mounting seat 602′ at the fulcrum (pivot 602A′) of the mounting arm 230′, so that it can swing around the fulcrum (pivot 602A′) relative to the mounting arm 230′. At one end of the mounting arm 230′ or in the vicinity thereof, such as the right end shown in the figure, one end of the linear actuator 603′ is pivotally connected to the mounting arm 230′ via a pivot 601A′ and is a distance away from the fulcrum, so that a lateral force (i.e., a force that generates a lever torque) can be applied to the mounting arm 230′. The linear actuator 603′, which can also be called a linear motor, an electric push rod, etc., can be controlled to extend or retract a linear motion. Thus, one end of the linear actuator 603′ is operably connected to the mounting arm 230′ on one side of the fulcrum, and the other end of the linear actuator 603′ is pivotally connected to the inspection robot 300, for example, via a pivot 601B′. As Figure 19-20 As shown, an example of the linear actuator 603′ is a linear motor. Fig.16 As shown), the push rod 604' of the linear actuator 603' is in a position to keep the mounting arm 230' substantially horizontal (the linear actuator 603' at this time is, for example, as shown in FIG. Figure 15-16 The inspection robot 300 ′ is in a substantially plumb vertical working posture substantially perpendicular to the horizontal mounting arm 230 ′.

[0104] When the inspection robot 300 ′ runs on the track section extending upwardly, as shown in FIG. Fig.17 As shown, the mounting arm 230′ is then tilted upward (i.e., it rotates counterclockwise around the pivot 602A′ in a vertical plane at an inclination angle relative to the previous mounting arm orientation). At this time, in order to maintain the inspection robot 300′ in the previous substantially vertical working posture, the inspection robot 300′ needs to make a compensatory posture change, i.e., tilt relatively in the opposite direction (rotate clockwise around the pivot 602A′ in a vertical plane at a corresponding inclination angle relative to the previous relative posture of the inspection robot). In order to achieve this, the linear actuator 603′ applies a controlled compensatory lifting action (i.e., an extended linear motion) to the right force arm of the mounting arm 230′ (lever) through the lever principle, thereby obtaining the posture adjustment made by the inspection robot 300′ in response to the upward inclination of the track and the required torque, so as to maintain the previous working posture on the horizontal track unchanged.

[0105] When the inspection robot 300 ′ runs on the track section extending downwardly, as shown in FIG. Fig.18 As shown, the mounting arm 230′ then tilts downward (i.e., rotates clockwise by an inclination angle in a vertical plane relative to the previous mounting arm orientation). At this time, in order to maintain the inspection robot 300′ in its previous substantially vertical working posture, the inspection robot 300′ needs to make a compensatory posture change, i.e., tilt relatively in the opposite direction (rotate counterclockwise around the pivot 602A′ in a vertical plane relative to the previous relative posture of the inspection robot by a corresponding inclination angle). In order to achieve this, the linear actuator 603′ applies a controlled compensatory downward pressing action (i.e., a retracted linear motion) to the right side force arm of the mounting arm 230′ (lever) through the lever principle, thereby obtaining the posture adjustment made by the inspection robot 300′ in response to the upward tilt of the track and the required torque, so as to maintain the previous working posture on the horizontal track unchanged. When the inspection robot 300′ turns from the upwardly tilted extending track segment to the horizontal track segment again, how will the working posture maintaining device 600′ be combined with the previous section? Fig.17 A controlled counteracting lifting action is applied as described, and the inspection robot 300 ′ is again adjusted and maintained in a substantially vertical working posture.

[0106] Fig.19 Demonstrated that it can be used Figure 14-18The schematic diagram of an embodiment of a linear actuator 603' of a working posture maintaining device 600' is shown, at which time the telescopic rod (or push rod) 604' of the linear actuator 603' is in a retracted state. Fig. 20 Shown Fig.19 The schematic diagram of the linear actuator 603' is shown, at this time, the telescopic rod (or push rod) 604' of the linear actuator 603' is in an extended state. According to one example, the linear actuator 603' may include a motor and a telescopic rod (or push rod) 604' driven by the motor, wherein the motor may be any type suitable for the present invention, such as a stepping motor, etc., but it is not restrictive in any way.

[0107] In order to sense the upward and downward inclined extensions and the inclination angles of the track segments, an angle sensing device such as an angle sensor is also provided, which is configured to sense data related to the inclination angle of the track 500' during the operation of the inspection robot 300' along the track 500'. The angle sensing device can be arranged on the mounting arm 230', for example, or can be installed at other locations for sensing the inclination angle of the track segments. Fig. 22 A schematic installation diagram of a control box 700 arranged on the mounting arm / connecting plate 230' in the working posture maintaining device 600' of the second embodiment is shown. A circuit board with an angle sensing device and an MCU may be arranged in the control box 700. Alternatively, the angle sensing device may be arranged separately in the control box 700, and the MCU may be arranged at a position outside the control box 700 to communicate with the angle sensing device in a wired or wireless manner. For example, an example of an angle sensing device may be the three-axis acceleration angle gyroscope magnetic field inclination sensor integrated module MPU9250-JY901 of Zhiyue Intelligent Control available on the market, and the like.

[0108] The other configurations, structures, components, working principles, etc. of the working posture maintaining device 600′ of the second embodiment may be basically the same as those of the working posture maintaining device 600 of the first embodiment. Therefore, the other configurations, structures, components, installation operations, etc. of the working posture maintaining device 600′ of the second embodiment will not be described repeatedly.

[0109] Third embodiment

[0110] Figure 23-24 The figure is a schematic side orthographic projection diagram of a working posture holding device 800 for an inspection robot, a driving device 200 and an inspection robot 300 suspended on the driving device 200 according to the third embodiment of the utility model running on a track. The working posture holding device 800 is installed on the lifting device 100 of the driving device 200 and the inspection robot 300, wherein Fig.24The shield 400 is removed to better show the internal details. The working posture holding device 800 and the lifting device 100 are in the same position when working. Figure 23-24 Other configurations, structures, etc. related to the working posture holding device 800 of the second embodiment, such as the track 500, the shield 400, the drive device 200, etc., can be substantially the same as the corresponding equipment in the first embodiment, so they are not described repeatedly.

[0111] Unlike the linear actuators used in the working posture holding devices 600 and 600' in the first and second embodiments, the actuator used in the working posture holding device 800 in this embodiment is a motor-gear combination, that is, a combination of a first gear 801 and a second gear 802 that are meshed with each other and driven by a motor 803. Among them, the first gear 801 is rotatably mounted on the mounting arm / connecting plate 230 (for example, at a substantially middle position thereof), and the second gear 802 is rotatably mounted on, for example, the upper platform of the lifting device 100 (for example, at a substantially central position thereof). One of the first gear 801 and the second gear 802, such as the first gear 801 shown in the figure, can be driven by the motor 803 to rotate in a clockwise or counterclockwise direction to perform relative rotation between the meshing first gear 801 and the second gear 802, thereby causing relative swinging between the inspection robot 300 (fixed at the lower end of the lifting device 100 as shown in the figure) and the mounting arm / connecting plate 230.

[0112] This embodiment may be provided with an angle sensing device such as an angle sensor to sense the inclination angle of the track similar to the first and second embodiments. When the inspection robot is running from a horizontal track segment to an inclined track segment, or from an inclined track segment to a horizontal track segment, the working posture maintaining device 800 controls the motor 803 to perform the rotation angle and rotation direction required for the offset driving rotation according to the angle-related data sensed by the angle sensing device, so as to maintain the working posture unchanged, for example, always keep the working posture substantially the same as that on the horizontal track.

[0113] Fourth embodiment

[0114] Figure 25-26 1 is a schematic side orthographic projection diagram of a working posture holding device 900 for an inspection robot, a driving device 200, and an inspection robot 300 hoisted on the driving device 200 according to the fourth embodiment of the utility model running on a track. The working posture holding device 900 is installed on the lifting device 100 of the driving device 200 and the inspection robot 300, wherein Fig.26 The shield 400 is removed to better show the internal details. The working posture holding device 900 and the lifting device 100 are in the same position when working. Figure 25-26Other configurations, structures, etc. related to the working posture holding device 900 of the second embodiment, such as the track 500, the shield 400, the drive device 200, etc., can be substantially the same as the corresponding equipment in the first embodiment, so they are not repeatedly described.

[0115] Unlike the linear actuators used in the working posture holding devices 600 and 600' in the first and second embodiments, the actuator used in the working posture holding device 900 of this embodiment is a joint motor 903. An example of the joint motor 903 is, for example, the Haitai HT-04 reduction motor set available on the market from Haitai Electromechanical Company, or the large torque exoskeleton joint motor of the mechanical arm. One side of the joint motor 903 is mounted on, for example, the upper platform of the lifting device 100 (at its substantially central position as shown in the figure), through a mounting member 901, and the other opposite side of the joint motor 903 is mounted on the mounting arm / connecting plate 230 (for example, at its substantially middle position) through a mounting member 902. Due to the inherent properties and characteristics of the joint motor 903, when the joint motor 903 is driven to rotate in a clockwise or counterclockwise direction, the two opposite sides of the joint motor 903 rotate relative to each other, thereby driving the relative swing between the inspection robot 300 (fixed at the lower end of the lifting device 100 as shown in the figure) and the mounting arm / connecting plate 230 installed therewith.

[0116] This embodiment may be provided with an angle sensing device such as an angle sensor to sense the inclination angle of the track similar to the first and second embodiments. When the inspection robot is running from a horizontal track segment to an inclined track segment, or from an inclined track segment to a horizontal track segment, the working posture maintaining device 800 controls the motor 803 to perform the rotation angle and rotation direction required for the offset driving rotation according to the angle-related data sensed by the angle sensing device, so as to maintain the working posture unchanged, for example, always keep the working posture substantially the same as that on the horizontal track.

[0117] Based on the above, those skilled in the art can understand that the working posture maintaining device of the utility model can adjust and maintain the inspection robot in a controlled manner to always complete the inspection in a preset working posture, and it can maintain the inspection robot (or the inspection robot module) in the required working posture regardless of whether it is running on a generally horizontal track or a track extending upward or downward. Moreover, when the inspection robot is running on the track, when switching between horizontally extending track operation and inclined extending track operation, and when the running speed changes, the working posture maintaining device of the utility model can also prevent the inspection robot from swinging or shaking significantly, so that the inspection robot can always complete the inspection work in a stable working posture, greatly improving the quality and reliability of the inspection work.

[0118] The above describes the basic concept of the utility model in combination with the embodiments. Note that the above are only preferred embodiments of the utility model and the technical principles used. Those skilled in the art will understand that the utility model is not limited to the specific embodiments described here, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the utility model. The scope of the utility model is determined by the scope of the attached claims.

Claims

1. A working posture maintaining device for an inspection robot, wherein: The inspection robot is configured to be driven by a driving device and run along a track for inspection, and is characterized in that the working posture maintaining device comprises: a mounting arm, wherein the inspection robot is pivotally mounted on the drive device at a fulcrum of the mounting arm so as to be able to swing relative to the mounting arm about the fulcrum; an actuator, the actuator being configured to be operably connected to the inspection robot and the installation arm to perform relative movement between the inspection robot and the installation arm; an angle sensing device configured to sense and transmit data related to an inclination angle of the track during movement of the inspection robot along the track; A control unit communicatively connected to the actuator is configured to receive and process the data from the angle sensing device so as to send an execution instruction to the actuator when traveling on the inclined section of the track, wherein the execution instruction controls the movement of the actuator so that the inspection robot swings around the fulcrum at a correction angle relative to the mounting arm, wherein the correction angle substantially offsets the inclination angle of the track so that the inspection robot always maintains a set working posture when traveling along the track for inspection.

2. The working posture maintaining device according to claim 1, characterized in that: The actuator is a linear actuator that can be controlled to extend or retract a linear motion, one end of the linear actuator is operably connected to a mounting arm on one side of the fulcrum and a distance away from the fulcrum, and the other end of the linear actuator is operably connected to the inspection robot; The control unit is configured to receive and process the data from the angle sensing device and send an execution instruction to the linear actuator, wherein the execution instruction controls the linear actuator to extend or retract so that the inspection robot swings around the fulcrum relative to the mounting arm to the correction angle.

3. The working posture maintaining device according to claim 1, characterized in that: The inspection robot is directly or indirectly mounted on the driving device via a first pivot at the fulcrum.

4. The working posture maintaining device according to claim 3, characterized in that: The inspection robot is pivotally mounted directly on the mounting arm via the first pivot and the first mounting member at the fulcrum; or, the inspection robot is mounted on a vertically liftable lifting device, and the lifting device is pivotally mounted on the mounting arm via the first pivot and the first mounting member at the fulcrum.

5. The working posture maintaining device according to claim 2, characterized in that: The execution instruction controls the linear actuator to extend or retract in a direction opposite to the inclination direction of the inclined section of the track so that the inspection robot swings around the fulcrum relative to the mounting arm by the correction angle.

6. The working posture maintaining device according to any one of claims 1 to 4, characterized in that: The mounting arm acts as a lever, wherein the fulcrum is located at a mid-point of the mounting arm.

7. The working posture maintaining device according to any one of claims 1 to 4, characterized in that: The mounting arm is an intermediate connecting plate connecting the first mounting seat and the second mounting seat of the driving device.

8. The working posture maintaining device according to any one of claims 1 to 4, characterized in that: The mounting arm is substantially parallel to or substantially perpendicular to an extension direction of the track.

9. The working posture maintaining device according to claim 2, characterized in that: The linear actuator comprises a motor and a push rod driven by the motor to perform linear motion.

10. The working posture maintaining device according to claim 2, characterized in that: One end of the linear actuator is pivotally connected to the mounting arm at one side of the fulcrum, and the other end of the linear actuator is pivotally connected to the inspection robot.

11. The working posture maintaining device according to claim 4, characterized in that: The inspection robot and the actuator are both fixed on the lifting device, wherein the push rod of the actuator is pivotally connected to one end of the pivoting and swinging assembly, and the other end of the pivoting and swinging assembly is pivotally connected to the mounting arm on one side of the fulcrum.

12. The working posture maintaining device according to claim 11, characterized in that: The inspection robot is fixed at the lower end of the lifting device, and the upper platform of the lifting device is pivotally connected to the fulcrum via the first mounting member and the first pivot.

13. The working posture maintaining device according to claim 1, characterized in that: The actuator is a motor-gear combination or a joint motor.

14. The working posture maintaining device according to claim 13, characterized in that: The motor-gear combination comprises: a first gear rotatably mounted on the mounting arm; a second gear rotatably mounted directly or indirectly with the inspection robot, wherein the second gear meshes with the first gear; and a motor configured to drive the first gear or the second gear to rotate clockwise or counterclockwise; The control unit is configured to receive and process the data from the angle sensing device and send an execution instruction to the motor-gear combination, wherein the execution instruction controls the motor-gear combination to perform rotational movement so that the inspection robot swings the correction angle around the fulcrum relative to the mounting arm.

15. The working posture maintaining device according to claim 14, characterized in that: The first gear is rotatably mounted at a middle position on the mounting arm, and the second gear is rotatably mounted on a platform of a lifting device, and the inspection robot is fixed on the lifting device.

16. The working posture maintaining device according to claim 13, characterized in that: One side of the joint motor is fixed to the mounting arm, and the other side opposite to the joint motor is directly or indirectly fixed to the inspection robot; The control unit is configured to receive and process the data from the angle sensing device and send an execution instruction to the joint motor, wherein the execution instruction controls the joint motor to rotate clockwise or counterclockwise, so that the inspection robot swings around the fulcrum at the correction angle relative to the mounting arm.

17. The working posture maintaining device according to any one of claims 1-4 and 12-16, characterized in that: The working posture is a hanging posture of the inspection robot when it is suspended on the driving device.

18. The working posture maintaining device according to any one of claims 1-4 and 12-16, characterized in that: The range of the working posture includes the real-time posture of the inspection robot tilted within plus or minus 5 degrees in a vertical plane relative to the hanging posture presented when the inspection robot is suspended on the driving device.

19. The working posture maintaining device according to any one of claims 1-4 and 12-16, characterized in that: The working posture maintaining device is configured to adjust the working posture of the inspection robot within a frequency range of 10-120 times per minute so that the inspection robot is always in the working posture.

20. The working posture maintaining device according to any one of claims 1-4 and 12-16, characterized in that: The working posture maintaining device is configured to be able to work within a correction angle range of plus or minus 45 degrees.

21. The working posture maintaining device according to any one of claims 1-4 and 12-16, characterized in that: The angle sensing device is selected from at least one of a rotation angle sensor, a tilt sensor and a gyroscope, and the control unit is an MCU.

22. The working posture maintaining device according to any one of claims 4, 12 and 15, characterized in that: The angle sensing device is mounted on at least one of the mounting arm, the mounting seat of the driving device, and the mounting platform of the lifting device.

23. The working posture maintaining device according to claim 2, characterized in that: The working posture maintaining device also includes a limit switch that cooperates with the linear actuator.

24. A patrol robot, characterized in that: The inspection robot comprises a working posture maintaining device for the inspection robot according to any one of claims 1-23.

25. The inspection robot according to claim 24, characterized in that: The inspection robot is an inspection device integrated into a whole, or an inspection robot module capable of realizing single or multiple inspection functions.

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