Portable track inspection robot

Abstract

The utility model discloses a portable track inspection robot, and belongs to the technical field of inspection robots. Comprising an I-shaped track, a vehicle frame body, T-shaped wheels, a power assembly and a conductive mechanism. Four wheel seats are symmetrically arranged at the top of the frame body, and a cavity is formed in the frame body; the four T-shaped wheels are oppositely arranged on the inner side walls of the four wheel seats in pairs, and the T-shaped wheels are in lap joint with the lower side wings of the I-shaped rail in a rolling mode; the power assembly is arranged in an inner cavity of the vehicle frame body, and the power assembly is used for driving the vehicle frame body to move along the I-shaped track; and the conductive mechanism is arranged between the vehicle frame body and the I-shaped track and is used for supplying power to the power assembly. The steering device is simple in structure, small in size, high in flexibility, not prone to faults, high in safety, rapid in movement, high in self-adaptive steering capacity and capable of achieving the steering reversing function under a certain steering radius.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and particularly relates to a lightweight rail inspection robot. Background Art

[0002] With the development of economy and the progress of technology, at present, in the fields such as urban underground utility tunnel inspection, power line inspection, coal conveyor gallery inspection, large shopping malls and supermarkets where it is necessary to regularly arrange manpower to monitor the operation status of on-site equipment and the on-site environment, most of them have started or already introduced intelligent inspection robots.

[0003] Traditional rail inspection robots have complex structures, heavy overall weights, slow progress, and stop working immediately after sudden power failure, and cannot normally execute inspection tasks and quickly reach the accident site to transmit images and relevant information. Content of the Utility Model

[0004] The purpose of the utility model is to provide a lightweight rail inspection robot, aiming to at least solve one of the technical problems existing in the above-mentioned prior art. To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A lightweight rail inspection robot, comprising:

[0006] An I-shaped rail;

[0007] A vehicle frame body, on the top of which four wheel seats are symmetrically arranged, and a cavity is provided inside the vehicle frame body;

[0008] T-shaped wheels, and the four T-shaped wheels are arranged in pairs on the inner side walls of the four wheel seats, and the T-shaped wheels are in rolling contact with the lower flanks of the I-shaped rail;

[0009] A power assembly, which is arranged in the inner cavity of the vehicle frame body and is used to drive the vehicle frame body to move along the I-shaped rail;

[0010] A conducting mechanism, which is arranged between the vehicle frame body and the I-shaped rail and is used to supply power to the power assembly.

[0011] As a further solution of the present utility model: The power assembly includes a power box, a servo motor, a driving gear, a driven gear, a wheel shaft column, a timing belt and a rubber wheel. The power box is fixedly installed at the top of the inner cavity of the vehicle frame body. The servo motor is fixedly installed in the power box. The wheel shaft column is rotatably installed in the power box. The driving gear is fixedly sleeved on the output shaft of the servo motor. The driven gear and the rubber wheel are fixedly sleeved on the wheel shaft column. The timing belt is connected between the driving gear and the driven gear. The rubber wheel penetrates through the top of the vehicle frame body and is in close contact with the bottom of the I-shaped track.

[0012] As a further solution of the present utility model: The conductive mechanism includes a copper bar, a carbon brush and a support seat. The copper bar is arranged on the side of the I-shaped track. The support seat is fixedly arranged on the top of the vehicle frame body. The carbon brush is arranged on one side of the support seat away from the vehicle frame body. The carbon brush is in close contact with the corresponding copper bar. The end of the carbon brush away from the copper bar is electrically connected to the power assembly.

[0013] As a further solution of the present utility model: Two groups of the copper bars parallel to each other up and down are arranged on the side of the I-shaped track. Two carbon brushes are slidably attached to each group of copper bars.

[0014] As a further solution of the present utility model: A control circuit board is also fixedly arranged in the vehicle frame body. The control circuit board is electrically connected to the servo motor.

[0015] As a further solution of the present utility model: An uninterruptible power supply is also arranged in the vehicle frame body. The uninterruptible power supply is electrically connected to both the servo motor and the control circuit board.

[0016] As a further solution of the present utility model: The T-shaped wheel is vertically and telescopically connected to the side wall of the corresponding wheel seat. The T-shaped wheel has a free telescopic adjustment degree of more than 3.2 mm.

[0017] The present utility model has the following beneficial effects:

[0018] The present utility model has a simple structure, a small volume, strong flexibility, is not prone to failure, has high safety, is easy to maintain and repair, and moves quickly;

[0019] The driving mode of the T-shaped wheel structure set by the present utility model allows several millimeters of free movement space in the axial direction of the T-shaped wheel, so that the I-shaped track that the T-shaped wheel can cope with has a change space allowance of several millimeters, enabling the present utility model to have an adaptive turning ability and be able to realize the turning and reversing function under a certain turning radius;

[0020] This utility model itself only requires a very small power to drive. Therefore, by setting up an uninterruptible power supply, the setting of the uninterruptible power supply enables this utility model to have the ability to supply power independently after a power outage. When encountering situations such as a power outage, it can still normally perform the inspection task and quickly reach the accident site to transmit images and relevant information. Brief Description of the Drawings

[0021] The following further describes this utility model with reference to the accompanying drawings.

[0022] Figure 1 It is a schematic diagram of the top structure of the vehicle frame body of this utility model;

[0023] Figure 2 It is a schematic diagram of the power assembly structure of this utility model;

[0024] Figure 3 It is a schematic diagram of the front structure of this utility model.

[0025] In the figure: 100, I-shaped track; 200, wheel seat; 210, T-shaped wheel; 300, power assembly; 310, servo motor; 320, driving gear; 330, driven gear; 340, timing belt; 350, rubber wheel; 360, power box; 370, wheel axle column; 500, vehicle frame body; 600, conducting mechanism; 610, copper bar; 620, carbon brush; 630, support seat. Specific Embodiments

[0026] The following will clearly and completely describe the technical solutions in the embodiments of this utility model with reference to the accompanying drawings in the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, rather than all the embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this utility model.

[0027] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, as well as a specific orientation structure and operation. Therefore, it should not be construed as a limitation to this utility model.

[0028] In addition, unless otherwise clearly defined and limited, terms such as "installation", "connection", and "linkage" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0029] Please refer to Figures 1-3 As shown, the embodiment of the present utility model provides a portable track inspection robot, which at least includes an I-shaped track 100, a vehicle frame body 500, T-shaped wheels 210, a power assembly 300, and a conductive mechanism 600. The I-shaped track 100 is an aluminum track. The I-shaped track 100 can be a straight I-shaped track 100, a curved I-shaped track 100, or a combination of a straight I-shaped track 100 and a curved I-shaped track 100. Please refer to Figure 1 As shown, four wheel seats 200 are symmetrically arranged on the top of the vehicle frame body 500. T-shaped wheels 210 are installed on the inner side walls of each wheel seat 200. The four T-shaped wheels 210 are pairwise opposite, and the T-shaped wheels 210 rollingly lap on the lower flanks of the I-shaped track 100. Each T-shaped wheel 210 has a free movement space of several millimeters in the axial direction of the axis, so that the I-shaped track 100 that the T-shaped wheels 210 can cope with has a change space allowance of several millimeters. When the T-shaped wheels 210 move along the curved I-shaped track 100, the actual cross-sectional width of the curved I-shaped track 100 will be greater than the width of the straight I-shaped track 100. At this time, the outer convex surface of the T-shaped wheels 210 will roll along the arc edge of the curved I-shaped track 100 in a tangential rolling motion, so as to ensure that the vehicle frame body 500 can move freely on both the straight and curved I-shaped tracks 100. After calculation, in an annular I-shaped track 100 with a center distance radius of 800 mm and a width of 100 mm, the effective width required for the T-shaped wheels 210 is 103.2 mm, that is, the T-shaped wheels 210 need a free telescopic adjustment space of more than 3.2 mm, that is, the T-shaped wheels 210 have a free telescopic adjustment degree of more than 3.2 mm.

[0030] Please refer to Figure 3 As shown, the vehicle frame body 500 has a cavity inside. The power assembly 300 is arranged in the inner cavity of the vehicle frame body 500. The power assembly 300 is used to drive the vehicle frame body 500 to move back and forth along the I-shaped track 100. The conductive mechanism 600 is arranged between the vehicle frame body 500 and the I-shaped track 100. The conductive mechanism 600 is used to supply power to the power assembly 300.

[0031] It should be noted that an imaging camera (not shown in the figure) is also provided on the vehicle frame body 500 of the present utility model. During the process that the power assembly 300 drives the vehicle frame body 500 to move back and forth along the I-shaped track 100, the imaging camera moves synchronously with the vehicle frame body 500, and shoots the on-site picture in real time and transmits it back to the imaging room.

[0032] Please refer to Figure 2 As shown, in this embodiment, the power assembly 300 includes a power box 360, a servo motor 310, a driving gear 320, a driven gear 330, a wheel shaft column 370, a timing belt 340 and a rubber wheel 350. Among them, please refer to Figure 3 As shown, the power box 360 is fixedly installed on the top of the inner cavity of the vehicle frame body 500. Please refer to Figure 2 As shown, the servo motor 310 is fixedly installed in the power box 360, and the wheel shaft column 370 is rotatably installed in the power box 360. Specifically, the servo motor 310 can be fixedly installed at the inner bottom of the power box 360, and the wheel shaft column 370 is rotatably installed at the upper part inside the power box 360. The driving gear 320 is fixedly sleeved on the output shaft of the servo motor 310, the driven gear 330 and the rubber wheel 350 are fixedly sleeved on the wheel shaft column 370, and the timing belt 340 is connected between the driving gear 320 and the driven gear 330. Please refer to Figure 1 As shown, the rubber wheel 350 penetrates through the top of the vehicle frame body 500 and is in close contact with the bottom of the I-shaped track 100.

[0033] During operation, the servo motor 310 rotates to drive the driving gear 320 to rotate. The driving gear 320 drives the driven gear 330 to rotate through the timing belt 340. The driven gear 330 drives the rubber wheel 350 to rotate through the wheel shaft column 370. Since the rubber wheel 350 is in close contact with the bottom of the I-shaped track 100, the rotation of the rubber wheel 350 drives the vehicle frame body 500 to move back and forth along the I-shaped track 100.

[0034] Please refer to Figure 1 As shown, in this embodiment, the conductive mechanism 600 includes a copper bar 610, a carbon brush 620 and a support seat 630. The copper bar 610 is arranged on the side of the I-shaped track 100. The support seat 630 is fixedly arranged on the top of the vehicle frame body 500. A carbon brush 620 is arranged on the side of the support seat 630 away from the vehicle frame body 500. The carbon brush 620 is in close contact with the corresponding copper bar 610. The end of the carbon brush 620 away from the copper bar 610 is electrically connected to the servo motor 310. Specifically, two groups of copper bars 610 parallel up and down are arranged on the side of the I-shaped track 100. Two carbon brushes 620 are slidably attached to each group of copper bars 610. After the copper bar 610 is electrified, the electric power is transmitted to the inside of the vehicle frame body 500 through the carbon brush 620 to supply power to the servo motor 310.

[0035] Further, in this embodiment, a control circuit board is also fixedly arranged inside the vehicle frame body 500. The control circuit board is electrically connected to the carbon brush 620, the servo motor 310, and the imaging camera. The parameters of the servo motor 310 can be adjusted through the control circuit board.

[0036] It should be noted that an uninterruptible power supply (UPS) is also arranged inside the vehicle frame body 500 of the present utility model. The uninterruptible power supply is electrically connected to both the servo motor 310 and the control circuit board. The setting of the uninterruptible power supply enables the present utility model to have the ability to supply power independently after a power failure. When encountering situations such as a power failure, it can still normally perform the inspection task and quickly reach the accident site to transmit images and relevant information. In addition, low-voltage direct current power supply (DC) can be used, which has high safety.

[0037] The above has described the preferred embodiments of the present utility model in detail, and it cannot be considered as limiting the scope of implementation of the present utility model. All equivalent changes and improvements made according to the scope of the application of the present utility model should still fall within the scope covered by the patent of the present utility model.

Claims

1. A lightweight rail inspection robot, characterized in that: include: I-shaped track (100); A vehicle frame (500), wherein four wheel seats (200) are symmetrically arranged on the top of the vehicle frame (500), and the vehicle frame (500) has a cavity inside; T-shaped wheels (210), wherein four T-shaped wheels (210) are arranged on the inner side walls of the four wheel seats (200) in pairs and opposite to each other, and the T-shaped wheels (210) are rollingly overlapped on the lower side wings of the I-shaped track (100); A power assembly (300), the power assembly (300) being disposed in the inner cavity of the vehicle frame (500), the power assembly (300) being used to drive the vehicle frame (500) to move along the I-shaped track (100); A conductive mechanism (600) is provided between the vehicle frame (500) and the I-shaped track (100), and the conductive mechanism (600) is used to supply power to the power assembly (300).

2. A portable rail inspection robot according to claim 1, characterized in that: The power assembly (300) comprises a power box (360), a servo motor (310), a driving gear (320), a driven gear (330), an axle column (370), a timing belt (340) and a rubber wheel (350); the power box (360) is fixedly mounted on the top of the internal cavity of the vehicle frame (500); the servo motor (310) is fixedly mounted in the power box (360); and the axle column (370) is rotatably mounted on the power box. (360), the driving gear (320) is fixedly mounted on the output shaft of the servo motor (310), the driven gear (330) and the rubber wheel (350) are fixedly mounted on the wheel axle column (370), the timing belt (340) is connected between the driving gear (320) and the driven gear (330), and the rubber wheel (350) passes through the top of the vehicle frame (500) and is tightly attached to the bottom of the I-shaped track (100).

3. A portable rail inspection robot according to claim 1, characterized in that: The conductive mechanism (600) comprises a copper bar (610), a carbon brush (620) and a support seat (630); the copper bar (610) is arranged on the side of the I-shaped track (100); the support seat (630) is fixedly arranged on the top of the vehicle frame (500); the carbon brush (620) is arranged on the side of the support seat (630) away from the vehicle frame (500); the carbon brush (620) is in close contact with the corresponding copper bar (610); and the end of the carbon brush (620) away from the copper bar (610) is electrically connected to the powertrain (300).

4. A lightweight rail inspection robot according to claim 3, characterized in that: Two groups of copper bars (610) are arranged in parallel up and down on the side of the I-shaped track (100), and two carbon brushes (620) are slidably fitted on each group of copper bars (610).

5. A lightweight rail inspection robot according to claim 2, characterized in that: A control circuit board is also fixedly disposed in the vehicle frame (500), and the control circuit board is electrically connected to the servo motor (310).

6. A lightweight rail inspection robot according to claim 5, characterized in that: An uninterruptible power supply is also provided in the vehicle frame (500), and the uninterruptible power supply is electrically connected to the servo motor (310) and the control circuit board.

7. The portable rail inspection robot according to claim 1 is characterized in that: The T-shaped wheel (210) is vertically telescopically connected to the corresponding side wall of the wheel seat (200), and the T-shaped wheel (210) has a free telescopic adjustment degree of more than 3.2 mm.

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