A rail-mounted inspection robot

Abstract

The utility model provides a rail-hanging inspection robot, comprising a driving structure clamped on the rail waist and a load-bearing mechanism suspended on the rail bottom, a power supply box is connected to the bottom of the load-bearing mechanism facing the forward direction of the rail-hanging robot, a wire box is connected to the bottom of the load-bearing mechanism facing the backward direction of the rail-hanging robot, a driving control box is arranged on the same side of the power supply box and the wire box, the driving structure comprises a tension spring and a driving wheel, and adjustment plates are respectively connected to the driving wheels, the adjustment plates are pulled by the tension springs to drive the driving wheels to be squeezed toward the rail waist to increase the friction between the driving wheels and the rail waist, and a plurality of rolling guide wheels clamped on both sides of the rail waist are elastically connected to the load-bearing mechanism, so that the rail-hanging inspection robot can obtain the yield force of the guide wheels when turning and can increase the turning radius of the rail-hanging inspection robot, so that the rail-hanging inspection robot can move on a road condition with a steep slope or a small turning radius.

Description

Technical Field

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

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control.

[0003] In the field of robotics, the rail-mounted inspection robot is a robot that can perform special inspections and customized inspection tasks. It can replace manual work to complete routine inspections, fault diagnosis, early warning alarms and other tasks, helping companies to effectively improve the content and frequency of operations and maintenance, break through the limitations of traditional manual inspections, and realize intelligent operations and maintenance.

[0004] Among the existing technologies, the application scenarios of existing rail-mounted inspection robots are mostly patrolling at the same altitude, with small fluctuations in operation, and they are unable to move on roads with steep slopes or small turning radius. Utility Model Content

[0005] Based on this, the purpose of the utility model is to provide a rail-mounted inspection robot, which can effectively solve the problem that the existing rail-mounted inspection robot cannot move on roads with steep slopes or small turning radius.

[0006] A rail-hanging inspection robot comprises a driving structure clamped on a rail waist and a load-bearing mechanism arranged at both ends of the driving structure and suspended on a rail bottom, the load-bearing mechanism comprising a connecting bracket, a plurality of load-bearing wheels rolling on the rail bottom and a plurality of guide wheels clamped on both sides of the rail waist and rolling, a plurality of fixing members for connecting the guide wheels are arranged on the connecting bracket, a spring is connected between the fixing member and the guide wheel, the driving structure comprises a tension spring and driving wheels clamped on both sides of the rail waist and rolling, the driving wheels are respectively connected with adjustment plates, the adjustment plates are respectively connected to both ends of the tension spring, the tension spring pulls the adjustment plates to drive the driving wheels to squeeze toward the rail waist to increase the friction between the driving wheels and the rail waist, and the plurality of guide wheels clamped on both sides of the rail waist and rolling are elastically connected to the load-bearing mechanism, so that the rail-hanging inspection robot obtains the yield force of the guide wheels on the inner side of the rail waist when turning and can increase the turning radius of the rail-hanging inspection robot, so that the rail-hanging inspection robot can move on a road condition with a steep slope or a small turning radius.

[0007] Furthermore, the driving structure includes a transmission shaft, the driving wheel is arranged at one end of the transmission shaft, and a variable frequency motor for rotating the driving wheel is connected to the other end of the transmission shaft.

[0008] Furthermore, the adjustment plate is sleeved on the transmission shaft, and a guide limiting hole for installing a limiting member is provided on one end of the adjustment plate close to the first load-bearing mechanism.

[0009] Furthermore, a fixing plate is provided between the adjusting plate and the variable frequency motor, and the fixing plate is sleeved on the transmission shaft.

[0010] Furthermore, the adjustment plate is detachably connected to the fixing plate, and the limiting member passes through the guide limiting hole and is connected to the fixing plate.

[0011] Furthermore, an RFID card reader is connected to the first load-bearing structure, and a plurality of RFID chip sensors that can be sensed by the RFID card reader are arranged in sections on the rail head on which the rail-mounted inspection robot travels.

[0012] Furthermore, a power supply box is connected to the bottom of the connection bracket facing the forward direction of the rail-mounted robot, and a wire box is connected to the bottom of the connection bracket facing the backward direction of the rail-mounted robot. A drive control box electrically connected to the power supply box is provided on the same side of the power supply box and the wire box, and the drive structure is fixed on the drive control box and the drive control box is electrically connected to the drive structure.

[0013] Furthermore, a wireless charging box is provided on the other side of the power supply box and the wire passing box, and a wireless charging pile matching the wireless charging box is provided on one side of the starting position of the rail-mounted inspection robot.

[0014] Furthermore, a sensor box electrically connected to the power supply box is arranged at the bottom of the power supply box, and a pan / tilt camera electrically connected to the power supply box is arranged at the bottom of the wire box.

[0015] Furthermore, ultrasonic sensors are provided on the power supply box and on one end of the wire box away from the driving structure, and the ultrasonic sensors are electrically connected to the sensor box.

[0016] Compared with the prior art, the utility model has the following beneficial effects: by respectively arranging adjustment plates on the driving wheels, by respectively connecting the adjustment plates to the two ends of the tension spring, by pulling the adjustment plates through the tension spring to drive the driving wheels to squeeze toward the rail waist, so as to increase the friction between the driving wheels and the rail waist, by adjusting the driving force of the rail-hanging inspection robot and increasing the friction between the driving wheels and the rail waist, the rail-hanging inspection robot can move on a road with a steeper slope. By connecting the guide wheel to the fixing member through a spring, the guide wheel of the rail-hanging inspection robot will still roll against the rail waist when turning, and the guide wheel on the inner side of the rail waist will face the forward direction of the rail-hanging inspection robot, and the guide wheel on the outer side of the rail waist will face the backward direction of the rail-hanging inspection robot, through the elastic deformation of the spring, the rail-hanging inspection robot can simultaneously obtain the yield force of the guide wheel on the inner side of the rail waist and the thrust of the guide wheel on the outer side of the rail waist when turning, and the turning radius of the rail-hanging inspection robot can be increased, so that the rail-hanging inspection robot can move on a road with a smaller turning radius. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the rail-mounted inspection robot in an embodiment of the utility model;

[0018] Figure 2 It is an enlarged schematic diagram of a part A in an embodiment of the utility model;

[0019] Figure 3 This is a side view of the overall structure of the rail-mounted inspection robot in the embodiment of the utility model;

[0020] Figure 4 This is a schematic diagram of the overall mechanism of the driving structure in the embodiment of the utility model;

[0021] Description of main component symbols:

[0022]

[0023] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0027] See also Figures 1 to 4, shown is a rail-mounted inspection robot in an embodiment of the utility model, comprising a driving structure 60 clamped on the rail waist and two load-bearing mechanisms 10 respectively arranged at both ends of the driving structure 60 and suspended on the rail bottom, the load-bearing mechanism 10 comprising a connecting bracket 15, two load-bearing wheels 14 rolling on the rail bottom and four guide wheels 11 clamped on both sides of the rail waist and rolling, eight fixing members 13 for connecting the guide wheels 11 are arranged on the connecting bracket 15, and springs 12 are connected between the fixing members 13 and the guide wheels 11, a power supply box 30 is connected to the bottom of the connecting bracket 15 facing the forward direction of the rail-mounted robot, a sensor box 90 electrically connected to the power supply box 30 is arranged at the bottom of the power supply box 30, a wire box 40 is connected to the bottom of the connecting bracket 15 facing the backward direction of the rail-mounted robot, a drive control box 50 electrically connected to the power supply box 30 is arranged on the same side of the power supply box 30 and the wire box 40, and a drive control box 50 electrically connected to the power supply box 30 is arranged on the power supply box 30. An ultrasonic sensor 91 is provided on one end of the rail 30 and the wire box 40 away from the driving structure 60, and the ultrasonic sensor 91 is electrically connected to the sensor box 90. The driving structure 60 is fixed to the driving control and electrically connected to the driving structure 60. The driving structure 60 includes a tension spring 64 and a driving wheel 61 clamped on both sides of the rail waist and rolling. Adjustment plates 63 are respectively connected to the driving wheel 61, and the adjustment plates 63 are respectively connected to the two ends of the tension spring 64. The tension spring 64 pulls the adjustment plate 63 to drive the driving wheel 61 to be squeezed toward the rail waist to increase the friction between the driving wheel 61 and the rail waist. Four guide wheels 11 clamped on both sides of the rail waist and rolling are elastically connected to the load-bearing mechanism 10, so that the rail-mounted inspection robot can obtain the yield force of the guide wheel 11 on the inner side of the rail waist when turning and can increase the turning radius of the rail-mounted inspection robot, so that the rail-mounted inspection robot can move on a road condition with a steep slope or a small turning radius.

[0028] It can be understood that by electrically connecting the drive control box 50 with the drive structure 60, the driving force of the rail-mounted inspection robot can be adjusted remotely or on-site through the drive control box 50, and by respectively arranging the adjustment plates 63 on the driving wheels 61, and by respectively connecting the adjustment plates 63 to the two ends of the tension spring 64, the tension spring 64 pulls the adjustment plates 63 to drive the driving wheel 61 to be squeezed toward the rail waist to increase the friction between the driving wheel 61 and the rail waist, and by adjusting the driving force of the rail-mounted inspection robot and increasing the friction between the driving wheel 61 and the rail waist, the rail-mounted inspection robot can move on roads with steeper slopes.

[0029] It can be understood that by connecting the guide wheel 11 to the fixing part 13 through the spring 12, the guide wheel 11 of the rail-mounted inspection robot will still roll against the rail waist when turning, and the guide wheel 11 on the inner side of the rail waist will face the forward direction of the rail-mounted inspection robot, and the guide wheel 11 on the outer side of the rail waist will face the backward direction of the rail-mounted inspection robot. Through the elastic deformation of the spring 12, the rail-mounted inspection robot can obtain the yield force of the guide wheel 11 on the inner side of the rail waist and the thrust of the guide wheel 11 on the outer side of the rail waist when turning, and the turning radius of the rail-mounted inspection robot can be increased, so that the rail-mounted inspection robot can move under road conditions with a smaller turning radius.

[0030] It should be noted that, in the present embodiment, the driving structure 60 includes a driving wheel 61, a transmission shaft 62, an adjustment plate 63, a tension spring 64, a fixing plate 65, a limiter 66 and a variable frequency motor 67. The driving wheel 61 is clamped on the rail waist and the driving wheel 61 is arranged at one end of the transmission shaft 62. The variable frequency motor 67 is arranged at the other end of the transmission shaft 62. The adjusting plate 63 and the fixing plate 65 are sleeved on the transmission shaft 62. The adjusting plate 63 is detachably connected to the fixing plate 65. The limiter 66 is installed on the fixing plate 65 through the guide limiter hole on the adjusting plate 63. The two ends of the tension spring 64 are respectively connected to the adjusting plate 63. The adjusting plate 63 is pulled by the tension spring 64, thereby driving the driving wheel 61 to be squeezed toward the rail waist.

[0031] Furthermore, an RFID card reader 70 is connected to the load-bearing mechanism 10 , and a plurality of RFID chip sensors 72 that can be sensed by the RFID card reader 70 are arranged in sections on the rail head on which the rail-mounted inspection robot travels.

[0032] It can be understood that by arranging multiple RFID chip sensors 72 that can be sensed by the RFID card reader 70 in sections on the rail head, the rail-mounted inspection robot can be positioned in intervals during the operation process.

[0033] Furthermore, a wireless charging box 80 is provided on the other side of the power supply box 30 and the wire passing box 40, and a wireless charging pile matching the wireless charging box is provided on one side of the starting position of the rail-mounted inspection robot.

[0034] It can be understood that by arranging a wireless charging pile on one side of the starting position of the rail-mounted inspection robot, the rail-mounted inspection robot can be automatically charged at the starting position.

[0035] Furthermore, a pan / tilt camera 100 electrically connected to the power supply box 30 is provided at the bottom of the wire box 40 .

[0036] It can be understood that by arranging a pan-tilt camera 100 electrically connected to the power supply box 30 at the bottom of the wire box 40, real-time monitoring can be performed through the manual background of the pan-tilt camera 100.

[0037] In summary, the rail-mounted inspection robot in the above-mentioned embodiment of the utility model is provided with adjustment plates on the driving wheels, and the adjustment plates are connected to the two ends of the tension springs respectively, and the adjustment plates are pulled by the tension springs to drive the driving wheels to squeeze toward the rail waist, so as to increase the friction between the driving wheels and the rail waist, and the driving force of the rail-mounted inspection robot is adjusted and the friction between the driving wheels and the rail waist is increased, so that the rail-mounted inspection robot can move on the road conditions with steeper slopes. The guide wheels are connected to the fixing parts through springs, so that the guide wheels of the rail-mounted inspection robot will still roll against the rail waist when turning, and the guide wheels on the inner side of the rail waist will face the forward direction of the rail-mounted inspection robot, and the guide wheels on the outer side of the rail waist will face the backward direction of the rail-mounted inspection robot, and through the elastic deformation of the springs, the rail-mounted inspection robot can simultaneously obtain the yield force of the guide wheels on the inner side of the rail waist and the thrust of the guide wheels on the outer side of the rail waist when turning, and the turning radius of the rail-mounted inspection robot can be increased, so that the rail-mounted inspection robot can move on the road conditions with a smaller turning radius.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A rail-mounted inspection robot, characterized in that: The invention relates to a method for adjusting the rotation of the wheel base and a method for adjusting the rotation of the wheel base, wherein the wheel base has a plurality of movable parts and a plurality of movable parts which are movable along the wheel base, and the movable parts have the plurality of movable parts being movable along the wheel base.

2. The rail-mounted inspection robot according to claim 1, characterized in that: The driving structure comprises a transmission shaft, the driving wheel is arranged at one end of the transmission shaft, and a variable frequency motor for rotating the driving wheel is connected to the other end of the transmission shaft.

3. The rail-mounted inspection robot according to claim 2, characterized in that: The adjustment plate is sleeved on the transmission shaft, and a guide limiting hole for installing a limiting member is provided on one end of the adjustment plate close to the load-bearing mechanism.

4. The rail-mounted inspection robot according to claim 3, characterized in that: A fixing plate is arranged between the adjusting plate and the variable frequency motor, and the fixing plate is sleeved on the transmission shaft.

5. The rail-mounted inspection robot according to claim 4, characterized in that: The adjusting plate is detachably connected to the fixing plate, and the limiting member passes through the guide limiting hole and is connected to the fixing plate.

6. The rail-mounted inspection robot according to claim 1, characterized in that: An RFID card reader is connected to the load-bearing mechanism, and a plurality of RFID chip sensors which can be sensed by the RFID card reader are arranged in sections on the rail head on which the rail-mounted inspection robot travels.

7. The rail-mounted inspection robot according to claim 1, characterized in that: A power supply box is connected to the bottom of the connecting bracket facing the forward direction of the rail-mounted robot, and a wire box is connected to the bottom of the connecting bracket facing the backward direction of the rail-mounted robot. A drive control box electrically connected to the power supply box is arranged on the same side of the power supply box and the wire box, and the drive structure is fixed on the drive control box and the drive control box is electrically connected to the drive structure.

8. The rail-mounted inspection robot according to claim 7, characterized in that: A wireless charging box is arranged on the other side of the power supply box and the wire passing box, and a wireless charging pile matching the wireless charging box is arranged on one side of the starting position of the rail-mounted inspection robot.

9. The rail-mounted inspection robot according to claim 8, characterized in that: A sensor box electrically connected to the power supply box is arranged at the bottom of the power supply box, and a pan / tilt camera electrically connected to the power supply box is arranged at the bottom of the wire box.

10. The rail-mounted inspection robot according to claim 9, characterized in that: Ultrasonic sensors are respectively arranged on the power supply box and on one end of the wire box away from the driving structure, and the ultrasonic sensors are electrically connected to the sensor box.

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