A kind of anti-dumping device of rail inspection robot

Abstract

The utility model discloses a track-type anti-dumping device for a patrol robot, comprising a track-type anti-dumping device installed on the top of the patrol robot, the track-type anti-dumping device comprising an I-shaped track and a U-shaped block sleeved on the outside of the I-shaped track, the bottom of the U-shaped block being fixedly connected to a circular tube with an opening at the top. The utility model is provided with a series of structures, which can prevent the patrol robot from being suspended and driven to move for patrol inspection and recording, and can reduce the friction generated with the I-shaped track during movement, improve the smoothness of movement, and facilitate the dust removal of the inside of the I-shaped track during inspection to prevent dust from blocking the moving wheels, further improve the smoothness of movement and the long-term stable operation effect, and facilitate automatic closing and locking when the I-shaped track accidentally dumps and causes the entire robot to tilt, preventing the patrol robot from continuing to move or tilting to a lower place and sliding down and breaking, thereby improving the safety of use.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an anti-dumping device for a track-type inspection robot. Background Art

[0002] The inspection robot carries out non-contact inspection of equipment by means of high-definition cameras, infrared imagers, etc. on its body. It can detect indicators that are difficult to quantify through manual inspections such as touch, hearing, and sight. It can digitize work experience to facilitate experience transfer and data storage and analysis. The robot is a machine device that automatically performs work. It can accept human commands and run pre-programmed programs. The intelligent inspection robot can also assist on-the-job inspection workers and flexibly supervise and manage construction unit personnel.

[0003] A track-mounted inspection robot is an inspection robot that moves by hanging on a track. Compared with traditional ground mobile circulating robots, the track-mounted inspection robot has the advantage of anti-dumping by using the hanging movement method. The existing track-mounted inspection robot has the following shortcomings when in use: 1. The friction with the track is large, and as the inner side of the track is used, dust and impurities accumulate, which may cause jamming during mobile inspections, making it difficult to operate stably for a long time; 2. When one end of the track accidentally falls, the inspection robot cannot be automatically locked, and there is a risk that the robot will continue to move or tilt downward, slide and fall, and be damaged, and the safety of use is not ideal. In view of this, the present application proposes an anti-dumping device for a track-mounted inspection robot. Utility Model Content

[0004] The utility model aims to provide a track type inspection robot anti-dumping device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a track-type inspection robot anti-dumping device, comprising a track-type anti-dumping device installed on the top of the inspection robot, the track-type anti-dumping device comprising an I-shaped track and a U-shaped block sleeved on the outside of the I-shaped track, the bottom of the U-shaped block is fixedly connected to a round-shaped tube with an opening at the top, and four connecting rods are fixedly connected between the bottom of the round-shaped tube and the top of the inspection robot;

[0006] The U-shaped block is rotatably installed with an anti-wear hanging and anti-falling component that is in rolling contact with the inner wall of the bottom of the I-shaped track. The anti-wear hanging and anti-falling component is used to support the U-shaped block against wear and tear, and the hanging method is used to prevent the U-shaped block and the inspection robot from tipping over and falling;

[0007] A PLC controller and a tilt sensor are fixedly connected to the left inner wall of the circular tube, a rectangular hole is opened on the bottom inner wall of the U-shaped block, and a displacement locking component that is in active contact with the bottom of the I-shaped track is fixedly connected to the right inner wall of the rectangular hole. The displacement locking component and the tilt sensor are both electrically connected to the PLC controller. The tilt sensor is used to detect the overall tilt when the I-shaped track accidentally topples over, and transmit the tilt value to the PLC controller. The displacement locking component is used to drive the U-shaped block to move, and the U-shaped block movement is used to drive the inspection robot to perform inspection and recording work, and is used to be controlled by the PLC controller to automatically close the lock when the tilt value exceeds a preset value, so as to prevent the I-shaped track from tilting and sliding downward;

[0008] The circular tube and the U-shaped block are provided with a same blowing and anti-jamming assembly electrically connected to the PLC controller, and the blowing and anti-jamming assembly is used to blow away dust and prevent jamming at the position where the inner side of the I-shaped track is hung.

[0009] Preferably, the anti-wear hanging and anti-falling assembly includes four moving wheels, the inner walls on both sides of the U-shaped block are rotatably mounted with the corresponding two moving wheels respectively, the bottom of the moving wheel is in rolling contact with the bottom inner wall of the I-shaped track, two balls are movably embedded on the inner walls on both sides of the U-shaped block, and the bottoms on both sides of the I-shaped track are in movably contact with the corresponding two balls respectively.

[0010] Preferably, the displacement locking assembly includes a brake motor fixedly mounted on the right inner wall of the rectangular hole, the output shaft of the brake motor is fixedly connected to a driving wheel, the outer adhesive sleeve of the driving wheel is provided with an anti-slip rubber sleeve, the top of the anti-slip rubber sleeve is in tight contact with the bottom of the I-shaped rail, and the brake motor is electrically connected to the PLC controller.

[0011] Preferably, the blowing and anti-stuck component includes a ventilation hood connected and fixed on the right inner wall of the circular tube, the left side of the ventilation hood is connected and fixed with a fan with an air outlet on the right side, the fan is electrically connected to the PLC controller, and rectangular grooves connected to the circular tube are provided on both sides of the bottom of the U-shaped block, and two dust-blowing holes inclined downward are provided on the inner wall of one side adjacent to the two rectangular grooves, and the two movable wheels on the same side are located between the corresponding two dust-blowing holes.

[0012] Preferably, a plurality of T-shaped fixing seats are fixedly connected to the top of the I-shaped track, and a plurality of mounting through holes are formed in a circular shape and at equal intervals on the top of the T-shaped fixing seats.

[0013] Preferably, a battery is fixedly mounted on the left inner wall of the circular tube, and the brake motor, PLC controller and fan are all electrically connected to the battery.

[0014] Preferably, the left side of the fan is an air inlet and is fixedly connected with a filter.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. This rail-type inspection robot anti-dumping device can prevent the inspection robot from tipping over by cooperating with the provided circular tube, connecting rod, U-shaped block, I-shaped track and anti-wear hanging and anti-falling components;

[0017] 2. This anti-dumping device for a track-type inspection robot can drive the inspection robot to move for inspection and recording work through the provided circular tube, connecting rod, U-shaped block, I-shaped track, anti-wear hanging and anti-falling components, displacement locking components and PLC controller. The four moving wheels and the driving wheel are used to rotate to form a moving mode, thereby reducing the friction generated with the I-shaped track during movement and improving the smoothness of movement;

[0018] 3. This anti-dumping device for a rail-type inspection robot can blow away dust on the inside of the I-shaped track during inspection by means of the U-shaped block, the circular tube and the blow-cleaning anti-stuck component, so as to avoid the accumulation of dust and impurities on the inside, and prevent dust from stopping the moving wheels, thereby further improving the smoothness of movement and improving the long-term stable operation effect;

[0019] 4. This anti-dumping device for a track-type inspection robot can automatically close the lock when the I-shaped track accidentally dumps and causes the entire track to tilt, through the cooperation of the PLC controller, displacement locking assembly and tilt sensor, to prevent the inspection robot from continuing to move on the I-shaped track or tilting to a lower place and sliding down and breaking, thereby improving safety in use.

[0020] The utility model is provided with a series of structures, which can prevent the inspection robot from tipping over and drive it to move for inspection and recording, and can reduce the friction generated with the I-shaped track when moving, thereby improving the smoothness of movement, and is convenient for blowing away dust on the inside of the I-shaped track during inspection to prevent dust from blocking the moving wheels, thereby further improving the smoothness of movement and the long-term stable operation effect, and is convenient for automatically closing and locking when the I-shaped track accidentally tips over and causes the entire robot to tilt, thereby preventing the inspection robot from continuing to move or tilting to a lower place, sliding down and breaking, thereby improving the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional structural schematic diagram of a track-type inspection robot anti-dumping device proposed by the utility model;

[0022] Figure 2 for Figure 1 A schematic diagram of the structure of the I-shaped track in an uninstalled state;

[0023] Figure 3 for Figure 2 Schematic diagram of the left view structure;

[0024] Figure 4 This is a schematic diagram of the front sectional structure of a track-type inspection robot anti-dumping device proposed by the utility model.

[0025] In the figure: 100, inspection robot; 1, I-shaped track; 2, U-shaped block; 3, moving wheel; 4, rectangular hole; 5, brake motor; 6, driving wheel; 7, anti-slip rubber sleeve; 8, dust blowing hole; 9, rectangular groove; 10, ball bearing; 11, circular tube; 12, fan; 13, PLC controller; 14, tilt sensor; 15, battery; 16, connecting rod. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] like Figures 1 to 4 As shown, a track-type inspection robot anti-dumping device proposed in this embodiment includes a track-type anti-dumping device installed on the top of the inspection robot 100, the track-type anti-dumping device includes an I-shaped track 1 and a U-shaped block 2 sleeved on the outside of the I-shaped track 1, the bottom of the U-shaped block 2 is fixedly connected with a round tube 11 with an opening at the top, four connecting rods 16 are fixedly connected between the bottom of the round tube 11 and the top of the inspection robot 100, the top of the I-shaped track 1 is fixedly connected with a plurality of T-shaped fixing seats, the top of the T-shaped fixing seat is annularly provided with a plurality of mounting through holes at equal intervals, and the provided mounting through holes are used for personnel to install and fix the T-shaped fixing seats through external bolts or anchor rods; an anti-wear hanging and anti-falling component that is in rolling contact with the inner wall of the bottom of the I-shaped track 1 is rotatably installed in the U-shaped block 2, the anti-wear hanging and anti-falling component is used for anti-wear hanging support of the U-shaped block 2, and the hanging method is used to prevent the U-shaped block 2 and the inspection robot 100 from falling over;

[0028] A PLC controller 13 and a tilt sensor 14 are fixedly connected to the left inner wall of the loop tube 11, a rectangular hole 4 is opened on the bottom inner wall of the U-shaped block 2, and a displacement locking component that is in active contact with the bottom of the I-shaped track 1 is fixedly connected to the right inner wall of the rectangular hole 4. The displacement locking component and the tilt sensor 14 are both electrically connected to the PLC controller 13. The tilt sensor 14 is used to detect the overall tilt when the I-shaped track 1 accidentally tips over, and transmits the tilt value to the PLC controller 13. The displacement locking component is used to drive the U-shaped block 2 to move, and the movement of the U-shaped block 2 is used to drive the inspection robot 100 to perform inspection and recording work, and is used to automatically close the lock under the control of the PLC controller 13 when the tilt value exceeds a preset value, so as to prevent the I-shaped track 1 from tilting and sliding downward; the loop tube 11 and the U-shaped block 2 are provided with the same blowing and anti-stuck component that is electrically connected to the PLC controller 13, and the blowing and anti-stuck component is used to blow dust and prevent jamming at the position where the I-shaped track 1 is hung.

[0029] Specifically, the anti-wear, hanging and anti-falling components include four moving wheels 3, and the inner walls on both sides of the U-shaped block 2 are rotatably installed with the corresponding two moving wheels 3, wherein two pins are fixedly connected to the inner walls on both sides of the U-shaped block 2, and the repelling sides of the two moving wheels 3 opposite to each other on the left and right are fixedly connected with bearings, and the inner rings of the bearings are fixedly fitted with the outer sides of the corresponding pins, which plays the effect of rotatably installing the moving wheels 3, and the bottom of the moving wheels 3 is in rolling contact with the bottom inner wall of the I-shaped track 1, and two balls 10 are movably embedded on the inner walls on both sides of the U-shaped block 2, and the bottoms on both sides of the I-shaped track 1 are movably contacted with the corresponding two balls 10 respectively; the arranged moving wheels 3 and balls 10 cooperate, and the four moving wheels 3 are used to realize the stable hanging and anti-falling of the U-shaped block 2, and the rolling characteristics of the moving wheels 3 and balls 10 are used to play the effect of anti-wear of the U-shaped block 2, thereby ensuring its smoothness during movement.

[0030] Furthermore, the displacement locking assembly includes a brake motor 5 fixedly mounted on the right inner wall of the rectangular hole 4, the output shaft of the brake motor 5 is fixedly connected to the driving wheel 6, the outer adhesive sleeve of the driving wheel 6 is provided with an anti-skid rubber sleeve 7, the top of the anti-skid rubber sleeve 7 is tightly contacted with the bottom of the I-shaped track 1, and the brake motor 5 is electrically connected to the PLC controller 13; the brake motor 5, the driving wheel 6 and the anti-skid rubber sleeve 7 are arranged to cooperate, the brake motor 5 drives the driving wheel 6 to rotate, the driving wheel 6 drives the anti-skid rubber sleeve 7 to rotate, and the anti-skid rubber sleeve 7 rotates at the bottom of the I-shaped track 1 The moving anti-skid rubber sleeve 7 drives the U-shaped block 2 to move forward and backward through the driving wheel 6 and the brake motor 5 in turn, thereby driving the inspection robot 100 to move for inspection and recording. When the tilt value exceeds the preset value, the PLC controller 13 controls the brake motor 5 to automatically close, stop and self-lock, so as to drive the driving wheel 6 and the anti-skid rubber sleeve 7 to stop rotating, and automatically close and lock when the I-shaped track 1 accidentally topples over and causes the entire track to tilt, thereby preventing the inspection robot 100 from tilting and sliding to a lower place on the I-shaped track 1.

[0031] Furthermore, the blow-cleaning anti-stuck component includes a ventilation hood connected and fixed on the right inner wall of the circular tube 11, and the left side of the ventilation hood is connected and fixed with a fan 12 with an air outlet on the right side. The fan 12 is electrically connected to the PLC controller 13. Rectangular grooves 9 connected to the circular tube 11 are provided on both sides of the bottom of the U-shaped block 2. Two dust blowing holes 8 inclined downward are provided on the inner wall of one side adjacent to the two rectangular grooves 9. The two moving wheels 3 on the same side are located between the corresponding two dust blowing holes 8. A battery 15 is fixedly installed on the left inner wall of the circular tube 11, and a brake motor 5 and a PLC controller The controller 13 and the fan 12 are both electrically connected to the battery 15, which serves to power the brake motor 5, the PLC controller 13 and the fan 12. The left side of the fan 12 is an air inlet and is fixedly connected to a filter screen; the fan 12, the ventilation hood, the rectangular slot 9 and the dust blowing hole 8 are arranged in cooperation, and the fan 12 is used to blow air into the circular tube 11, and the wind is diverted to the two rectangular slots 9, and then blown out to the inner side of the I-shaped track 1 through the four dust blowing holes 8, so as to achieve the effect of blowing away dust on the inner side of the I-shaped track 1 during inspection, thereby preventing dust from stopping the moving wheel 3 and further improving the smoothness of movement.

[0032] The method of using the present embodiment is as follows: the anti-dumping device for the rail-type inspection robot, when in use, utilizes four moving wheels 3 to achieve stable hanging and anti-dropping of the U-shaped block 2, utilizes the rolling characteristics of the moving wheels 3 and the ball 10 to achieve the effect of anti-wear of the U-shaped block 2, and utilizes the hanging method, compared with the traditional ground roller mobile inspection robot 100, has the advantage of good anti-dumping effect of the inspection robot 100;

[0033] During inspection, the PLC controller 13 controls the brake motor 5 and the fan 12 to start. When the brake motor 5 starts, it drives the driving wheel 6 to rotate, and the driving wheel 6 drives the anti-skid rubber sleeve 7 to rotate. The anti-skid rubber sleeve 7 rotates and rubs at the bottom of the I-shaped track 1 and moves. The moving anti-skid rubber sleeve 7 drives the U-shaped block 2 to move forward or backward through the driving wheel 6 and the brake motor 5 in turn. The U-shaped block 2 drives the inspection robot 100 to move through the round tube 11 and the connecting rod 16 to perform inspection and recording work. When the U-shaped block 2 moves, it also drives the four moving wheels 3 to rotate and walk on the bottom inner wall of the I-shaped track 1. The moving wheel 3 and the driving wheel 6 rotate and walk to reduce the friction generated with the I-shaped track 1 during movement, thereby improving the smoothness of movement.

[0034] When the fan 12 is started, air is blown into the loop-shaped tube 11 through the ventilation hood, and the air is diverted into the two rectangular slots 9, and then blown out to the inner side of the I-shaped track 1 through the four dust blowing holes 8, so as to achieve the effect of blowing away dust on the inner side of the I-shaped track 1 during inspection. By automatically blowing away dust on the inner side of the I-shaped track 1 during mobile inspection, it is possible to avoid the accumulation of a lot of dust and impurities, thereby preventing the phenomenon of dust blocking the moving wheel 3, further improving the smoothness of movement, and improving the long-term stable operation effect;

[0035] The tilt sensor 14 is used to detect the overall tilt value through the circular tube 11 in real time, and transmit the tilt value to the PLC controller 13. When the track accidentally tips over and one end falls, causing a tilt, the tilt value increases. When the tilt value exceeds the preset value, the PLC controller 13 controls the brake motor 5 and the fan 12 to automatically shut down. The self-locking characteristics of the brake motor 5 after closing are used to drive the drive wheel 6 and the anti-slip rubber sleeve 7 to stop rotating, thereby achieving the effect of stopping movement and self-locking. In this way, when the I-shaped track 1 accidentally tips over and causes the entire track to tilt, it is automatically closed and locked, thereby preventing the inspection robot 100 from continuing to move on the I-shaped track 1 or tilting to a lower place and sliding down to be damaged, thereby improving the safety of use.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A track-type inspection robot anti-dumping device, comprising a track-type anti-dumping device installed on the top of the inspection robot (100), characterized in that: The track-type anti-dumping device comprises an I-shaped track (1) and a U-shaped block (2) sleeved on the outside of the I-shaped track (1), the bottom of the U-shaped block (2) is fixedly connected to a round-shaped tube (11) with an open top, and four connecting rods (16) are fixedly connected between the bottom of the round-shaped tube (11) and the top of the inspection robot (100); An anti-wear hanging and anti-falling component is rotatably installed in the U-shaped block (2) and is in rolling contact with the inner wall of the bottom of the I-shaped track (1); A PLC controller (13) and a tilt sensor (14) are fixedly connected to the left inner wall of the circular tube (11); a rectangular hole (4) is provided on the bottom inner wall of the U-shaped block (2); a displacement locking component that is in active contact with the bottom of the I-shaped track (1) is fixedly connected to the right inner wall of the rectangular hole (4); and the displacement locking component and the tilt sensor (14) are both electrically connected to the PLC controller (13); The circular tube (11) and the U-shaped block (2) are provided with a same blow-out and anti-jamming component which is electrically connected to a PLC controller (13).

2. The anti-dumping device of a track-type inspection robot according to claim 1, characterized in that: The anti-wear hanging and anti-falling assembly comprises four moving wheels (3), the inner walls on both sides of the U-shaped block (2) are rotatably mounted on the corresponding two moving wheels (3), the bottom of the moving wheel (3) is in rolling contact with the bottom inner wall of the I-shaped track (1), two balls (10) are movably embedded on the inner walls on both sides of the U-shaped block (2), and the bottoms on both sides of the I-shaped track (1) are in movably contact with the corresponding two balls (10).

3. The anti-dumping device of a track-type inspection robot according to claim 2, characterized in that: The displacement locking assembly comprises a brake motor (5) fixedly mounted on the right inner wall of the rectangular hole (4); the output shaft of the brake motor (5) is fixedly connected to a driving wheel (6); an outer adhesive sleeve of the driving wheel (6) is provided with an anti-slip rubber sleeve (7); the top of the anti-slip rubber sleeve (7) is in tight contact with the bottom of the I-shaped track (1); and the brake motor (5) is electrically connected to a PLC controller (13).

4. The anti-dumping device of a track-type inspection robot according to claim 3, characterized in that: The blow-cleaning anti-stuck component comprises a ventilation hood connected and fixed on the right inner wall of the circular tube (11); a fan (12) with an air outlet on the right is connected and fixed on the left side of the ventilation hood; the fan (12) is electrically connected to a PLC controller (13); rectangular grooves (9) connected to the circular tube (11) are provided on both sides of the bottom of the U-shaped block (2); two dust blowing holes (8) inclined downward are provided on the inner wall of one side adjacent to the two rectangular grooves (9); and two moving wheels (3) located on the same side are located between the corresponding two dust blowing holes (8).

5. The anti-dumping device for a track-type inspection robot according to claim 1, characterized in that: A plurality of T-shaped fixing seats are fixedly connected to the top of the I-shaped track (1), and a plurality of mounting through holes are formed in a circular shape and at equal intervals on the top of the T-shaped fixing seats.

6. The anti-dumping device for a track-type inspection robot according to claim 4, characterized in that: A storage battery (15) is fixedly mounted on the left inner wall of the circular tube (11), and the brake motor (5), the PLC controller (13) and the fan (12) are all electrically connected to the storage battery (15).

7. The anti-dumping device for a track-type inspection robot according to claim 4, characterized in that: The left side of the fan (12) is an air inlet and is fixedly connected to a filter screen.

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