Rail-mounted inspection robot system

Abstract

The utility model relates to a rail-mounted inspection robot system which comprises two circular rails which are parallel to each other and are arranged at an interval; the hanging racks are arranged at intervals in the length direction of the circular track; the plurality of connecting seats are arranged between the two circular rails, and the connecting seats are connected with the two circular rails; each hanger corresponds to one connecting seat, the upper end of each hanger is connected with a building, and the lower end of each hanger is connected with one connecting seat; the inspection robot comprises a walking device and a visual inspection element and / or an information acquisition sensor for inspection, the walking device comprises at least two walking wheels and at least two limiting wheels, each circular track corresponds to at least one walking wheel and at least one limiting wheel, the walking wheels walk above the circular tracks, and the visual inspection element and / or the information acquisition sensor are / is used for inspection. At least one walking wheel is a driving wheel; the limiting wheel abuts against the side, away from the hanging frame, of the circular track. The inspection tour device can replace manual inspection tour, can be suitable for occasions with high humidity and large temperature difference, and is convenient to install.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a rail-hanging inspection robot system. Background Art

[0002] Wind turbine cabins at high altitudes are very shaky and humid, especially offshore wind turbine cabins. In addition, there is a temperature difference between the bottom (floor) and the ceiling of some high-humidity production line workshops and refrigeration workshops. If an I-shaped circular track inspection robot is used for inspection, due to the temperature difference and humidity, water will often condense on the lower wing plate of the I-shaped circular track, seriously affecting the robot's walking. Therefore, it is necessary to study an inspection robot that can be used in high humidity or where condensation is prone to occur due to temperature difference. Utility Model Content

[0003] The purpose of the utility model is to provide a rail-hanging inspection robot system, which can replace manual inspections, is suitable for use in equipment, factories, workshop assembly lines and other occasions with high humidity or where there is a temperature difference between the ground and the ceiling on the same floor, and is easy to install.

[0004] In order to achieve the above-mentioned object, the utility model discloses a rail inspection robot system, which comprises:

[0005] Two circular tracks, the two circular tracks are parallel to each other and spaced apart;

[0006] A plurality of hangers are arranged at intervals along the length direction of the circular track;

[0007] A plurality of connecting seats are placed between the two circular tracks, and the connecting seats connect the two circular tracks; each of the hanging brackets corresponds to a connecting seat, the upper end of the hanging bracket is connected to the building, and the lower end of the hanging bracket is connected to the connecting seat;

[0008] An inspection robot, the inspection robot includes a walking device and a visual detection element and / or an information collection sensor for inspection, the walking device includes at least two walking wheels and at least two limiting wheels, each of the circular tracks corresponds to at least one walking wheel and at least one limiting wheel, the walking wheels walk above the circular track, and at least one of the walking wheels is a driving wheel; the limiting wheel presses against the side of the circular track away from the hanger.

[0009] Through the above-mentioned setting, by connecting the two circular tracks through the connecting seat, it can be ensured that the two circular tracks maintain parallelism and a constant interval. By connecting the building and the connecting seat through the bracket, the suspended installation of the circular track can be realized. The installation of the circular track is very convenient and will not interfere with the operation of the inspection robot. The inspection robot is limited by the limit wheel, and its running wheels are not easy to leave the circular track, which can ensure the normal walking of the inspection robot. By setting up visual detection elements and / or information acquisition sensors, video shooting and information collection such as temperature and humidity can be performed. The inspection robot can inspect along the laying direction of the circular track, thereby replacing manual inspection. By setting up the inspection robot, the equipment within the entire inspection range can share a set of visual detection elements and information acquisition sensors, and the maintenance cost is also lower. The setting of the circular track can make the condensation of humid air on its surface fall automatically, and the condensation can be easily discharged without water accumulation.

[0010] Preferably, the circular track is a circular tube, the circumference of the walking wheel is provided with a first arcuate groove that matches the outer wall of the hollow circular tube, the circumference of the limiting wheel is provided with a second arcuate groove that matches the outer wall of the hollow circular tube, and the connecting seat is provided with an arcuate surface that matches the outer wall of the hollow circular tube. The circular track is a hollow circular tube, and the processing of the circular track is more convenient, especially for the situation where the circular track contains curves and ramps. The first arcuate groove is provided on the walking wheel, and the second arcuate groove is provided on the limiting wheel, so that the rolling of the walking wheel and the limiting wheel can be smoother and more reliable, and the connection relationship between the walking wheel, the limiting wheel and the circular track is more stable. The arcuate surface is provided on the connecting seat to ensure that the contact area between the connecting seat and the circular track is larger and the connection is more stable.

[0011] Preferably, the bracket includes a first vertical pole, a second vertical pole and at least one adjusting bolt, the first vertical pole is connected to the second vertical pole by the adjusting bolt, the first vertical pole is provided with at least one first oblong hole for the adjusting bolt to pass through, and the first oblong hole is arranged at equal intervals along the length direction of the first vertical pole, the second vertical pole is provided with at least one second oblong hole for the adjusting bolt to pass through, and the second oblong hole is arranged at equal intervals along the length direction of the second vertical pole; the first vertical pole is provided with a first connecting plate for easy connection with the building at one end away from the second vertical pole, and the second vertical pole is provided with a second connecting plate connected to the connecting seat at one end away from the first vertical pole. With such a setting, the spacing between the first connecting plate and the second connecting plate can be adjusted by changing the adjustment bolt to pass through different second oblong holes, which is particularly suitable for situations where the circular track installation environment is complex and the circular track needs to be set with a slope, so that the on-site laying of the circular track is more convenient, and the bracket can be made according to standard parts, which is conducive to the stocking and inventory of the bracket and reduces its production cost.

[0012] Preferably, it also includes a first diagonal brace and a second diagonal brace; the first vertical rod and the second vertical rod are both made of angle steel, the first vertical rod includes a first plate surface and a second plate surface, the first oblong hole is arranged on the first plate surface, the second vertical rod includes a third plate surface and a fourth plate surface, the second oblong hole is arranged on the third plate surface, the first plate surface and the third plate surface abut against each other, the second plate surface and the fourth plate surface are parallel to each other and staggered; a plurality of third oblong holes are evenly spaced on the second plate surface, one end of the first diagonal brace is connected to the building, and the other end of the first diagonal brace is bolted to the third oblong hole; a plurality of fourth oblong holes are evenly spaced on the fourth plate surface, one end of the second diagonal brace is connected to the building, and the other end of the second diagonal brace is bolted to the fourth oblong hole. Through the above arrangement, the bracket has a simple structure, is easy to process, and has better structural stability.

[0013] Preferably, the bracket includes a support member, a transition member, at least two first screws and at least two second screws, the upper end of the support member is connected to the building, the upper end of the first screw is locked with the lower end of the support member by a screw-on nut, the lower end of the first screw is locked with the transition member by a screw-on nut, the upper end of the second screw is locked with the transition member by a screw-on nut, and the lower end of the second screw is locked with the connecting seat by a screw-on nut. Through the above arrangement, the distance between the connecting seat and the building can be conveniently adjusted by only adjusting the position of the nut on the first screw and / or the second screw, which is particularly suitable for situations where the circular track installation environment is complex and the circular track needs to be set with a slope, making the on-site laying of the circular track more convenient. The bracket can be made according to standard parts, which is conducive to the preparation and inventory of the bracket and reduces its production cost.

[0014] Preferably, at least one of the racks is provided with a wireless charging pile, the inspection robot is provided with a battery and a wireless charging receiver, the wireless charging receiver can be wirelessly connected to the wireless charging pile, the wireless charging receiver is connected to the battery, and the battery is connected to the controller. The controller can detect the battery energy, or the battery has its own battery management system, which sends the remaining battery energy to the controller. When the battery energy drops to a limited value, the controller sends a charging instruction to the robot, and the robot returns to the wireless charging pile position on the track and receives electromagnetic waves emitted by the wireless charging pile until the battery energy reaches a peak. The inspection robot can be powered by the battery, and the battery can be supplemented with electric energy by the wireless charging pile, thereby ensuring the endurance of the inspection robot.

[0015] Preferably, the walking device also includes a supporting round stick wheel corresponding to the walking wheel, and the supporting round stick wheel is pressed against the bottom of the circular track; the inspection robot is provided with a frame and a buffer assembly corresponding to the supporting round stick wheel, and the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member, and the mounting seat is provided with a guide hole corresponding to and adapted to the guide rod, and one end of the guide rod is connected to the frame after passing through the guide hole, and the other end of the guide rod is provided with an end cap that is limited by the guide hole, and the mounting seat can slide along the length direction of the guide rod; the elastic member is pressed between the frame and the mounting seat. Through the above arrangement, the problem of walking stuck can be avoided, and the friction between the walking wheel and the circular track can be increased to ensure the smooth movement of the walking wheel.

[0016] Preferably, the inspection robot also includes a posture adjustment device and a controller, the walking device is provided at the upper end of the frame, the posture adjustment device is provided at the lower end of the frame, the posture adjustment device includes a posture adjustment mechanism and a mounting platform, the posture adjustment mechanism drives the mounting platform to adjust the position and posture, and at least a visual detection element is provided on the mounting platform; the controller connects the walking device, the posture adjustment mechanism, the visual detection element and the information acquisition sensor. By providing the posture adjustment device, the position and posture of some visual detection elements can be adjusted, the inspection range is larger, and the on-site situation can be observed at a close distance, which is conducive to the relevant personnel to grasp the on-site situation more accurately.

[0017] Preferably, the posture adjustment device further comprises a fixed-point unit for determining the stopping position of the frame, and the fixed-point unit is connected to the controller. By stopping the frame at a specified point through the fixed-point unit, the robot can quickly reach the specified position.

[0018] Preferably, one walking wheel, one supporting round stick wheel and at least one limiting wheel constitute a walking assembly, two groups of the walking assemblies constitute a walking mechanism, the number of the walking mechanisms is not less than one group, and the two walking assemblies of the same walking mechanism correspond to a circular track respectively; at least one connecting frame is rotatably connected to the frame, each connecting frame corresponds to a walking mechanism, and the two walking assemblies of the same walking mechanism are respectively arranged on both sides of the connecting frame. The two groups of walking assemblies of the same walking mechanism are rotatably connected to the frame through the connecting frame, and when encountering a turn in the circular track, the walking wheel and the supporting round stick wheel automatically turn under the restriction of the limiting wheel. With this arrangement, when the walking assembly encounters a turning circular track, it can automatically turn without deceleration under the constraint of the limiting wheel, and can be suitable for circular tracks with a smaller turning radius.

[0019] The utility model has the following beneficial effects:

[0020] 1. Replacing manual inspection with hanging rail inspection not only saves effort and labor, but is also particularly suitable for situations where it is inconvenient for personnel to reach or the working environment is harsh or dangerous.

[0021] 2. It can improve management effectiveness and timely discover abnormal working conditions of equipment, pipelines, etc. to prevent problems before they occur.

[0022] 3. The circular track is a round tube, which can not only improve the anti-seismic performance, but also ensure the stable operation of the robot in places with high humidity and large temperature differences. It is also suitable for indoor and outdoor places with large dust. In addition, the production and installation of the circular track are simpler, which is conducive to shortening the system installation period, and the robot can walk more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of embodiment 1.

[0024] Figure 2 It is a schematic diagram of another viewing angle of the first embodiment.

[0025] Figure 3 for Figure 2 Enlarged schematic diagram of part A in the middle.

[0026] Figure 4 This is a schematic diagram of the connection between the connecting seat and the circular track in Example 1.

[0027] Figure 5 Schematic diagram of the rack according to the first embodiment.

[0028] Figure 6 Schematic diagram of the walking device of Example 1.

[0029] Figure 7 This is a schematic diagram of the walking device of Example 1 from another perspective.

[0030] Figure 8 for Figure 7 Enlarged schematic diagram of part B in the middle.

[0031] Fig. 9 This is a schematic diagram of the connection between the connecting frame and the walking mechanism of Example 1.

[0032] Fig.10 Schematic diagram of the bracket of the second embodiment.

[0033] Main component symbols:

[0034] Circular track 10;

[0035] Connecting seat 20, arc surface 21;

[0036] Hanger 30, first vertical rod 31, first plate surface 311, second plate surface 312, first oblong hole 313, third oblong hole 314, first connecting plate 315, second vertical rod 32, third plate surface 321, fourth plate surface 322, second oblong hole 323, fourth oblong hole 324, second connecting plate 325, adjusting bolt 33, first diagonal brace 34, second diagonal brace 35, supporting member 36, transition member 37, first screw rod 38, second screw rod 39;

[0037] Frame 40, connecting frame 41, rotating shaft 411, bearing seat 42, buffer assembly 43, mounting seat 431, guide rod 432, elastic member 433, end cap 434, wireless charging receiver 44;

[0038] Walking device 50, walking mechanism 51, walking assembly 52, walking wheel 521, limiting wheel 522, supporting round roller wheel 523, first arc groove 524, second arc groove 525;

[0039] Telescopic assembly 61, mechanical arm 62, mounting platform 63;

[0040] Visible light camera 71, depth camera 72, infrared camera 73. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] Embodiment 1:

[0043] like Figures 1 to 9 As shown, the present embodiment discloses a rail inspection robot system, which includes: two circular rails 10, a plurality of hangers 30, a plurality of connecting seats 20 and an inspection robot. In the present embodiment, the circular rails 10 are made of hollow circular tubes to facilitate load reduction and curve forming. The two circular rails 10 are parallel to each other and arranged at intervals, and the connecting seat 20 is placed between the two circular rails 10, one of which is connected to one side of the connecting seat 20 by a plurality of bolts, and the other circular rail 10 is also connected to the other side of the connecting seat 20 by a plurality of bolts. Both sides of the connecting seat 20 are provided with an arc surface 21 adapted to the outer wall of the hollow circular tube. The setting of the arc surface 21 can ensure that the contact area between the connecting seat 20 and the circular rail 10 is larger, the connection is more stable, and the circular rail 10 can be better supported. It is best to arrange the connecting seat 20 at equal intervals along the length direction of the circular rail 10. The setting of the connecting seat 20 can also ensure that the parallelism and spacing of the circular rail 10 are constant. The circular track 10 is extended by inserting an adaptable cylindrical tube at the joint. The length of the cylindrical tube is 5 times greater than the diameter of the circular track 10. It is fastened by bolts without affecting the walking position of the walking mechanism. It is best to set the joint at the connecting seat 20.

[0044] The hangers 30 are also arranged at intervals along the length direction of the circular track 10, and each hanger 30 corresponds to a connecting seat 20. The upper end of the hanger 30 is connected to the building, and the lower end of the hanger 30 is connected to the connecting seat 20. The number of connecting seats 20 can be greater than the number of hangers 30, that is, some connecting seats 20 may not be connected to the hangers 30, and the connecting seats 20 that are not connected to the hangers 30 are generally used at the position where the circular track 10 needs special reinforcement.

[0045] In order to facilitate the standardization of the production of the hanger 30 and to facilitate the adjustment of the distance between the building and the connecting seat 20, the hanger 30 includes a first vertical rod 31, a second vertical rod 32 and at least one adjusting bolt 33, and the first vertical rod 31 and the second vertical rod 32 are connected and fixed by the adjusting bolt 33. The first vertical rod 31 and the second vertical rod 32 are both made of angle steel, and the first vertical rod 31 includes a first plate surface 311 and a second plate surface 312. At least one first oblong hole 313 for the adjusting bolt 33 to pass through is provided on the first plate surface 311, and the first oblong holes 313 are arranged at equal intervals along the length direction of the first vertical rod 31.

[0046] On the second plate surface 312, there are a plurality of third oblong holes 314 arranged at equal intervals. The first oblong holes 313 and the third oblong holes 314 may correspond to each other and have the same shape. After such arrangement, the first oblong holes 313 and the third oblong holes 314 may replace each other. The second upright pole 32 comprises a third plate surface 321 and a fourth plate surface 322. The third plate surface 321 is provided with at least one second oblong hole 323 for the adjustment bolt 33 to pass through, and the second oblong holes 323 are arranged at equal intervals along the length direction of the second upright pole 32. On the fourth plate surface 322, there are a plurality of fourth oblong holes 324 arranged at equal intervals. The second oblong holes 323 and the fourth oblong holes 324 may correspond to each other and have the same shape. After such arrangement, the second oblong holes 323 and the fourth oblong holes 324 may replace each other. Furthermore, the first vertical rod 31 and the second vertical rod 32 are made of angle steel of the same specification and have the same length, that is, the first vertical rod 31 and the second vertical rod 32 are exactly the same. Then, the first vertical rod 31 and the second vertical rod 32 can be used interchangeably, which is more convenient for production, storage and use.

[0047] When connected, the first plate surface 311 and the third plate surface 321 are abutted against each other, and the second plate surface 312 and the fourth plate surface 322 are parallel to each other and staggered. By adjusting the bolt 33 through the first oblong hole 313 and the second oblong hole 323 and locking, the first vertical pole 31 and the second vertical pole 32 can be locked. A first connecting plate 315 is provided at one end of the first vertical pole 31 away from the second vertical pole 32, which is convenient for connecting with the building, and a second connecting plate 325 is provided at one end of the second vertical pole 32 away from the first vertical pole 31. Through such a setting, by changing the adjustment bolt 33 to pass through different second oblong holes 323, the spacing between the first connecting plate 315 and the second connecting plate 325 can be adjusted, which is particularly suitable for the situation where the installation environment of the circular track 10 is complex and the circular track 10 needs to be set with a slope, so that the on-site laying of the circular track 10 is more convenient, and the bracket 30 can be made according to standard parts, which is conducive to the stocking and inventory of the bracket 30 and reduces its production cost.

[0048] One end of the first diagonal brace 34 is connected to the building, and the other end of the first diagonal brace 34 is bolted to the third oblong hole 314. One end of the second diagonal brace 35 is connected to the building, and the other end of the second diagonal brace 35 is bolted to the fourth oblong hole 324. The first diagonal brace 34 and the second diagonal brace 35 are inclined in opposite directions. The first diagonal brace 34 and the second diagonal brace 35 are on the same vertical plane, which is parallel or perpendicular to the length direction of the circular track 10. Through the above arrangement, the hanger 30 has a simple structure, is easy to process, and has better structural stability.

[0049] The inspection robot includes a frame 40, a walking device 50, a posture adjustment device, a visual detection element, an information collection sensor and a controller.

[0050] The walking device 50 is arranged at the upper end of the frame 40, and is used for walking on the circular track 10. The walking device 50 includes at least one set of walking mechanisms 51. In this case, two sets of walking mechanisms 51 are used as an example for explanation. The two sets of walking mechanisms 51 can ensure the stability of the robot's walking and balance the overall weight of the robot. Each set of walking mechanisms 51 includes two sets of walking components 52, and this set of walking components 52 corresponds to a circular track 10 respectively. The walking component 52 includes a walking wheel 521, a limiting wheel 522 and a supporting round rod wheel 523. The walking wheel 521 walks on the circular track 10. The wheel circumference of the walking wheel 521 is provided with a first arc groove 524 that matches the outer wall of the hollow circular tube to ensure that the walking wheel 521 walks steadily.

[0051] The limiting wheel 522 presses against the side of the circular track 10 away from the connecting seat 20. Each walking assembly 52 can be provided with multiple limiting wheels 522. The circumference of the limiting wheel 522 is provided with a second arc groove 525 adapted to the outer wall of the hollow circular tube to play a good guiding and limiting role. The supporting round stick wheel 523 presses against the bottom of the circular track 10. It is better to place the supporting round stick wheel 523 directly below the walking wheel 521. The supporting round stick wheel 523 cooperates with the walking wheel 521 to form a situation of clamping the circular track 10. In order to ensure that the supporting round stick wheel 523 can reliably contact the circular track 10, the width of the supporting round stick wheel 523 is not less than the radius of the circular track to ensure that the supporting round stick wheel 523 can still reliably support the circular track 10 during vibration. After such setting, the walking device 50 can be limited relative to the circular track 10, that is, the walking device 50 can only move along the length direction of the circular track 10, and the walking device 50 will not fall. By setting the supporting round rod wheel 523, the robot can also walk more stably.

[0052] In order to make the walking device 50 turn better, each walking mechanism 51 is equipped with a connecting frame 41, and two walking components 52 of the same walking mechanism 51 are symmetrically installed on both sides of the connecting frame 41. A rotating shaft is set in the middle of the bottom of the connecting frame 41, and the rotating shaft is installed in the bearing hole of the bearing seat 42 of the frame 40. The mounting frame is rotatably connected relative to the frame 40, so that the walking mechanism 51 can rotate. In this way, when the walking mechanism 51 encounters a curve, it can adaptively reduce the curve without deceleration. Of course, it is not necessary for all walking mechanisms 51 to be equipped with a connecting frame 41, and it is sufficient to ensure that at least one walking mechanism 51 of the walking device 50 can rotate.

[0053] In order to prevent the walking from getting stuck and to improve the walking friction, a buffer assembly 43 is configured for each supporting round roller wheel 523. The buffer assembly 43 includes a mounting seat 431, two guide rods 432 and two elastic members 433. The mounting seat 431 is provided with a guide hole corresponding to and matching the guide rods 432. One end of the guide rod 432 passes through the guide hole and is threadedly connected to the connecting frame 41 (when the connecting frame 41 is not provided, it is connected to the frame 40). The other end of the guide rod 432 is provided with an end cap 434 that is limitedly matched with the guide hole. The mounting seat 431 can slide along the length direction of the guide rod 432. The elastic member 433 is selected as a spring, which is sleeved on the guide rod 432, and the elastic member 433 is pressed between the connecting frame 41 (when there is no connecting frame 41, it is the frame 40) and the mounting seat 431.

[0054] In this case, at least one walking wheel 521 is required to be a driving wheel, and the driving wheel is connected to the motor so that the operation of the driving wheel is controlled by the controller, that is, the motor is connected to the controller, so that the robot can walk on the circular track 10. Each driving wheel can be independently configured with a motor, or multiple driving wheels can share one motor.

[0055] The posture adjustment device is arranged on the frame 40, and the posture adjustment device includes a posture adjustment mechanism, a mounting platform 63 and a fixed point unit for determining the stop position of the frame 40, and the fixed point unit is a pedometer sensor, which is connected to the controller. The pedometer sensor is arranged on at least one supporting round stick wheel 523, so that the supporting round stick wheel 523 with the pedometer sensor is constituted as a pedometer wheel, and the walking stroke of the robot can be made more controllable by pedometer, so that the robot can quickly reach the designated position.

[0056] Preferably, the posture adjustment mechanism includes a mechanical arm 62 and a telescopic assembly 61. The telescopic assembly 61 is installed at the bottom of the frame 40 to avoid interfering with the walking device 50. The telescopic assembly 61 can adopt a scissor-type lifting platform, or a linear moving module based on a motor. These are all existing technologies and will not be repeated here. The telescopic assembly 61 drives the mechanical arm 62 to rise and fall, and the mechanical arm 62 drives the mounting platform 63 to adjust the position and posture. The telescopic assembly 61 and the mechanical arm 62 are both connected to the controller. By setting the mechanical arm 62, the posture adjustment flexibility can be higher, and the setting of the telescopic assembly 61 can make the range of motion of the mounting platform 63 larger.

[0057] The visual detection element is used for the video or photo feedback of the scene. The visual detection element is connected to the controller for image feedback. The visual detection element can be a visible light camera 71, a depth camera 72, an infrared camera 73, etc., which can be increased or decreased according to the actual application occasion. Setting up multiple types of cameras at the same time can meet the effective inspection and control coordination in complex environments. For example, during the day, the visible light camera 71 will be more advantageous. The setting of the depth camera 72 can be more conducive to the controller to control the telescopic control rod to move into place. The infrared camera 73 can perform thermal imaging and has a certain sensing ability for temperature anomalies. When someone enters, it can also control the robot to stop and avoid in time. In order to ensure the detection range, a visual detection element needs to be set at least on the mounting table 63. In this case, the visible light camera 71 is set at the end of the telescopic component 61 that is not connected to the frame 40, and the depth camera 72 and the infrared camera 73 are set on the mounting table 63.

[0058] The information collection sensor is used to collect the temperature, humidity and other information on site. There are many types of information collection sensors that can be configured according to actual needs. The information collection sensor is connected to the controller.

[0059] During routine inspections, the controller controls the running device 50 to run, and the robot walks along the direction of the rail laying while filming or taking pictures. The controller can remotely send the collected video or image to the control center or the mobile terminal of relevant personnel, and the relevant personnel can remotely monitor the on-site status. When it is necessary to enlarge and image a certain component, a certain device or a certain place, the posture adjustment device can be controlled to move so that the camera is closer to the shooting point.

[0060] In addition, in order to ensure the endurance of the robot, the inspection robot is provided with a battery and a wireless charging receiver 44, and a wireless charging pile is provided on at least one bracket 30. The wireless charging receiver 44 can be wirelessly connected to the wireless charging pile for charging, and the wireless charging receiver 44 is connected to the battery, and the battery is connected to the controller. The controller can detect the battery energy, or the battery has its own battery management system, which sends the remaining battery energy to the controller. When the battery energy drops to a limited value, the controller sends a charging instruction to the robot, and the robot returns to the wireless charging pile position on the track to receive the electromagnetic waves emitted by the wireless charging pile until the battery energy reaches the peak. This setting can avoid problems such as inaccurate and unreliable docking of the contact charging interface, and the charging of the robot is more convenient, which can ensure the reliable operation and cruising ability of the robot.

[0061] Embodiment 2

[0062] The difference between this embodiment and the first embodiment is that the structure of the rack 30 is different. Specifically, Fig.10 As shown, the bracket 30 includes a support member 36, a transition member 37, at least two first screws 38 and at least two second screws 39. The upper end of the support member 36 is connected to the building. The upper end of the first screw 38 is locked with the lower end of the support member 36 by a screw-on nut, the lower end of the first screw 38 is locked with the transition member 37 by a screw-on nut, the upper end of the second screw 39 is locked with the transition member 37 by a screw-on nut, and the lower end of the second screw 39 is locked with the connecting seat 20 by a screw-on nut. Through the above arrangement, the distance between the connecting seat 20 and the building can be conveniently adjusted by only adjusting the position of the nut on the first screw 38 and / or the second screw 39. It is particularly suitable for the situation where the installation environment of the circular track 10 is complex and the circular track 10 needs to be set with a slope, so that the on-site laying of the circular track 10 is more convenient. The bracket 30 can be made according to standard parts, which is conducive to the stocking and inventory of the bracket 30 and reduces its production cost. In addition, the transition member 37 can be used as the installation base of the power supply busbar.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A rail inspection robot system, characterized in that: include: Two circular tracks, the two circular tracks are parallel to each other and spaced apart; A plurality of hangers are arranged at intervals along the length direction of the circular track; A plurality of connecting seats are placed between the two circular tracks, and the connecting seats connect the two circular tracks; each of the hanging brackets corresponds to a connecting seat, the upper end of the hanging bracket is connected to the building, and the lower end of the hanging bracket is connected to the connecting seat; An inspection robot, the inspection robot includes a walking device and a visual detection element and / or an information collection sensor for inspection, the walking device includes at least two walking wheels and at least two limiting wheels, each of the circular tracks corresponds to at least one walking wheel and at least one limiting wheel, the walking wheels walk above the circular track, and at least one of the walking wheels is a driving wheel; the limiting wheel presses against the side of the circular track away from the hanger.

2. The rail inspection robot system according to claim 1, characterized in that: The circular track is a hollow circular tube, the circumference of the walking wheel is provided with a first arc groove adapted to the outer wall of the hollow circular tube, the circumference of the limiting wheel is provided with a second arc groove adapted to the outer wall of the hollow circular tube, and the connecting seat is provided with an arc surface adapted to the outer wall of the hollow circular tube.

3. The rail inspection robot system according to claim 1, characterized in that: The bracket includes a first vertical pole, a second vertical pole and at least one adjusting bolt, the first vertical pole is connected to the second vertical pole by the adjusting bolt, the first vertical pole is provided with at least one first oblong hole for the adjusting bolt to pass through, and the first oblong holes are arranged at equal intervals along the length direction of the first vertical pole, the second vertical pole is provided with at least one second oblong hole for the adjusting bolt to pass through, and the second oblong holes are arranged at equal intervals along the length direction of the second vertical pole; the first vertical pole is provided with a first connecting plate at one end away from the second vertical pole for easy connection to the building, and the second vertical pole is provided with a second connecting plate connected to the connecting seat at one end away from the first vertical pole.

4. The rail inspection robot system according to claim 3, characterized in that: It also includes a first diagonal brace and a second diagonal brace; the first vertical pole and the second vertical pole are both made of angle steel, the first vertical pole includes a first plate surface and a second plate surface, the first oblong hole is arranged on the first plate surface, the second vertical pole includes a third plate surface and a fourth plate surface, the second oblong hole is arranged on the third plate surface, the first plate surface and the third plate surface abut against each other, the second plate surface and the fourth plate surface are parallel to each other and staggered; a plurality of third oblong holes are evenly spaced on the second plate surface, one end of the first diagonal brace is connected to the building, and the other end of the first diagonal brace is bolted to the third oblong hole; a plurality of fourth oblong holes are evenly spaced on the fourth plate surface, one end of the second diagonal brace is connected to the building, and the other end of the second diagonal brace is bolted to the fourth oblong hole.

5. The rail inspection robot system according to claim 1, characterized in that: The bracket includes a support member, a transition member, at least two first screw rods and at least two second screw rods. The upper end of the support member is connected to the building, the upper end of the first screw rod is locked with the lower end of the support member through a screw-on nut, the lower end of the first screw rod is locked with the transition member through a screw-on nut, the upper end of the second screw rod is locked with the transition member through a screw-on nut, and the lower end of the second screw rod is locked with the connecting seat through a screw-on nut.

6. The rail inspection robot system according to claim 1, characterized in that: The walking device also includes a supporting round stick wheel corresponding to the walking wheel one by one, and the supporting round stick wheel is against the bottom of the circular track; the inspection robot is provided with a frame and a buffer assembly corresponding to the supporting round stick wheel one by one, and the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member, and the mounting seat is provided with a guide hole corresponding to and adapted to the guide rod one by one, and one end of the guide rod is connected to the frame after passing through the guide hole, and the other end of the guide rod is provided with an end cap that is limited by the guide hole, and the mounting seat can slide along the length direction of the guide rod; the elastic member is pressed between the frame and the mounting seat.

7. The rail inspection robot system according to claim 6, characterized in that: The inspection robot also includes a posture adjustment device and a controller. The walking device is arranged at the upper end of the frame, and the posture adjustment device is arranged at the lower end of the frame. The posture adjustment device includes a posture adjustment mechanism and a mounting platform. The posture adjustment mechanism drives the mounting platform to adjust the position and posture, and at least a visual detection element is provided on the mounting platform; the controller is connected to the walking device, the posture adjustment mechanism, the visual detection element and the information acquisition sensor.

8. The rail inspection robot system according to claim 7, characterized in that: The posture adjustment device also includes a fixed-point unit for determining a stop position of the frame, and the fixed-point unit is connected to the controller.

9. The rail inspection robot system according to claim 6, characterized in that: One walking wheel, one supporting round stick wheel and at least one limiting wheel constitute a walking assembly, two groups of the walking assemblies constitute a walking mechanism, the number of the walking mechanisms is not less than one group, and the two walking assemblies of the same walking mechanism correspond to a circular track respectively; at least one connecting frame is rotatably connected to the frame, each connecting frame corresponds to a walking mechanism, and the two walking assemblies of the same walking mechanism are respectively arranged on both sides of the connecting frame.

10. The rail inspection robot system according to claim 1, characterized in that: At least one of the brackets is provided with a wireless charging pile, and the inspection robot is provided with a battery and a wireless charging receiver. The wireless charging receiver can be wirelessly connected to the wireless charging pile for charging, the wireless charging receiver is connected to the battery, and the battery is connected to the controller.

Images