Rail type inspection robot

Abstract

The utility model discloses a rail type inspection robot which comprises an advancing device, and a lifting device is arranged at the bottom of the advancing device. An I-shaped rail is arranged at the top of the advancing device, a counting synchronous belt is arranged in the middle of the I-shaped rail, and a display screen is arranged on one side of the advancing device; the advancing device comprises a moving frame; according to the track type inspection robot, when the device turns, the four spring auxiliary wheels stretch out and draw back in a self-adaptive mode, the posture of the robot is continuously adjusted, the arc part of the H-shaped track is in smooth transition, and the spring between the movable frame and the rotary arm drives the counting belt wheel to abut against the synchronous counting belt through elastic force. When the robot walks, a photoelectric encoder below a counting belt wheel starts to count, precise counting of a short distance is achieved, the roller horizontally moves under the action of a lead screw mechanism in the rotary take-up process, a steel wire rope is flatly laid on the roller, an oval shrinkage rod shrinks, a limiting lifting table moves up and down, and a camera and an environment sensor stably move.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robot design, especially relates to an orbital inspection robot. Background Art

[0002] The orbital inspection robot is an intelligent inspection device and has wide applications in many fields. The track is the path for the robot to run, usually made of special metal tracks, which can be customized and installed according to the inspection environment. For example, in some large industrial workshops, the tracks can be laid along the production line, equipment layout, etc. to form a complete inspection network.

[0003] The track robot includes a vision detection system, including a high-definition camera, an infrared camera, etc. The high-definition camera can collect real-time images of the inspection area for identifying the appearance status of equipment, whether there are damaged or missing components, etc. For example, in the inspection of a power substation, the high-definition camera can be used to check whether the insulators are damaged and whether there are signs of looseness at the equipment connection parts. The infrared camera can detect the temperature distribution of the equipment and timely discover overheated parts, such as detecting whether the power cable joints are heated due to poor contact.

[0004] It also includes an environmental sensor system: such as a temperature environmental sensor, a humidity environmental sensor, a smoke environmental sensor, etc. The temperature environmental sensor can accurately measure the temperature of the equipment surface, the humidity environmental sensor can monitor the environmental humidity, and the smoke environmental sensor can be used for fire warning. When inspecting a data center, the humidity environmental sensor can prevent damage to equipment such as servers caused by too high or too low humidity, and the temperature environmental sensor can discover whether the server heat dissipation is abnormal.

[0005] Existing inspection robots can only move in a straight line, the movement trajectory of the robot is relatively single, lacking the ability to inspect more complex production environments. At the same time, the traditional counting method is prone to slipping during the movement process, affecting the counting accuracy, with low precision. The cameras and environmental sensors installed on the robot have unstable lifting and low lifting accuracy. Summary of the Utility Model

[0006] The purpose of the utility model is to provide an orbital inspection robot to solve the problems existing in the above background art.

[0007] To achieve the above purpose, the utility model provides the following technical solutions:

[0008] Orbital inspection robot, including a traveling device, with a lifting device provided at the bottom of the traveling device; an I-beam track is provided at the top of the traveling device, a counting synchronous belt is provided in the middle of the I-beam track, a display screen is provided on one side of the traveling device, and a carrier communication box is installed at the top of the traveling device; the traveling device includes a moving frame, a suspension frame is slidably provided at the bottom of the moving frame, a motor is installed in the middle of the suspension frame, a driving pulley is provided at the output end of the motor, a driven pulley is provided on one side of the driving pulley, a driving wheel is provided in front of the driven pulley, four suspension wheels are symmetrically rotatably provided at the top of the moving frame, a spring auxiliary wheel is provided below the suspension wheel, the spring auxiliary wheel is bolted to the moving frame, a rotating arm is rotatably provided at the top of the moving frame, a counting pulley is rotatably provided on one side of the rotating arm, an optical encoder is installed at the bottom of the counting pulley, and a three-color voice alarm light is installed on one side of the moving frame; the lifting device includes a fixed platform, a worm and worm gear power source is installed at the top of the fixed platform, a roller is provided at the output end of the worm and worm gear power source, a lead screw mechanism is installed on the roller, two retractable rods are symmetrically installed on both sides of the fixed platform, a lifting platform is provided at the bottom of the retractable rod, a camera is installed at the bottom of the lifting platform, an environmental sensor is provided on one side of the camera, and two obstacle avoidance sensors are symmetrically installed on both sides of the lifting platform.

[0009] Further: A spring is provided between the suspension frame and the moving frame.

[0010] Further: The driving wheel is connected to the suspension frame by bearings, the driven pulley is connected to the driving wheel by a flat key, and the driving pulley and the driven pulley are connected together by a belt.

[0011] Further: A spring is provided between the moving frame and the rotating arm.

[0012] Further: The fixed platform is bolted to the moving frame.

[0013] Further: The environmental sensor is bolted to the lifting platform, and a steel wire rope is provided between the lifting platform and the roller.

[0014] Compared with the prior art, the beneficial effects of the present utility model are:

[0015] 1. The driving wheel and the suspension wheel clamp the I-beam track in the middle to drive the robot to move along the I-beam track. The four spring auxiliary wheels at the top of the moving frame closely adhere to the bottom side of the I-beam track. When the device turns, the four spring auxiliary wheels adaptively expand and contract, continuously adjusting the robot's posture, smoothly transitioning the arc part of the I-beam track, adding a turning function to the robot, improving the diversity of the robot's movement trajectory, and facilitating the inspection of relatively complex production environments.

[0016] 2. The synchronous counting tape is attached in the middle of the I-shaped track. The spring between the moving frame and the rotating arm drives the counting tape wheel to closely adhere to the synchronous counting tape through elastic force. When the robot moves, the photoelectric encoder under the counting tape wheel starts to count, achieving accurate statistics of short distances, improving the problem of easy slipping in the traditional counting method and affecting the counting accuracy. At the same time, the counting tape wheel can also operate on the arc I-shaped track, and accurate counting can also be achieved when the device turns;

[0017] 3. During the process of the roller wheel rotating and winding the wire, it moves horizontally under the action of the lead screw mechanism, realizing the flat laying of the steel wire rope on the roller wheel. The elliptical contraction rod contracts, and the limit lifting platform moves up and down, enabling the camera and the environmental sensor to move smoothly, improving the lifting accuracy and further enhancing the reliability of the device data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a schematic structural diagram of the rail-type inspection robot described in the present invention;

[0020] Figure 2 is a schematic structural diagram of the traveling device of the rail-type inspection robot described in the present invention;

[0021] Figure 3 is a schematic structural diagram of the lifting device of the rail-type inspection robot described in the present invention;

[0022] Figure 4 is an axonometric view of the lifting device of the rail-type inspection robot described in the present invention.

[0023] In the attached drawing reference numerals: 1. Traveling device; 101. Moving frame; 102. Suspension frame; 103. Motor; 104. Driving pulley; 105. Driven pulley; 106. Driving wheel; 107. Suspension wheel; 108. Spring auxiliary wheel; 109. Rotating arm; 110. Counting tape wheel; 111. Photoelectric encoder; 112. Three-color voice alarm lamp; 2. Lifting device; 201. Fixed platform; 202. Worm and worm gear power source; 203. Roller wheel; 204. Lead screw mechanism; 205. Lifting platform; 206. Contraction rod; 207. Camera; 208. Environmental sensor; 209. Obstacle avoidance sensor; 3. I-shaped track; 4. Counting synchronous belt; 5. Display screen; 6. Carrier communication box. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0025] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific circumstances.

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0027] Please refer to Figures 1-4 , a rail-type inspection robot, including a traveling device 1, a lifting device 2 is provided at the bottom of the traveling device 1; an I-beam rail 3 is provided at the top of the traveling device 1, a counting synchronous belt 4 is provided in the middle of the I-beam rail 3, a display screen 5 is provided on one side of the traveling device 1, and a carrier communication box 6 is installed at the top of the traveling device 1.

[0028] In this embodiment: The traveling device 1 includes a moving frame 101. A suspension frame 102 is slidably arranged at the bottom of the moving frame 101. A motor 103 is installed in the middle of the suspension frame 102. A driving pulley 104 is arranged at the output end of the motor 103. A driven pulley 105 is arranged on one side of the driving pulley 104. A driving wheel 106 is arranged in front of the driven pulley 105. Four suspension wheels 107 are symmetrically and rotatably arranged at the top of the moving frame 101. A spring auxiliary wheel 108 is arranged below the suspension wheel 107. The spring auxiliary wheel 108 is bolted to the moving frame 101. A rotating arm 109 is rotatably arranged at the top of the moving frame 101. A counting pulley 110 is rotatably arranged on one side of the rotating arm 109. An optical encoder 111 is installed at the bottom of the counting pulley 110. A three-color voice alarm lamp 112 is installed on one side of the moving frame 101. A spring is arranged between the suspension frame 102 and the moving frame 101. The driving wheel 106 is connected to the suspension frame 102 by a bearing. The driven pulley 105 is connected to the driving wheel 106 by a flat key. The driving pulley 104 and the driven pulley 105 are connected together by a belt. A spring is arranged between the moving frame 101 and the rotating arm 109. The I-beam track 3 is installed in the area to be inspected. The cable for carrier communication and the counting synchronous belt 4 are installed together in the middle of the I-beam track 3. The suspension frame 102 is suspended at the top of the moving frame 101 by a spring. The spring urges the top of the driving wheel 106 to fit against the bottom surface of the I-beam track 3 by its elastic force. The suspension wheels 107 are suspended at the bottom of the I-beam track 3 to bear the overall weight. When the robot starts to inspect, the suspension frame 102 supports the motor 103 to drive the driving pulley 104 to rotate. The driving pulley 104 drives the driven pulley 105 to rotate through the belt, driving the driving wheel 106 to rotate under the support of the suspension frame 102. The driving wheel 106 and the suspension wheels 107 clamp the I-beam track 3 in the middle to drive the robot to move along the I-beam track 3. The four spring auxiliary wheels 108 at the top of the moving frame 101 are closely attached to the bottom side of the I-beam track 3. When the device turns, the four spring auxiliary wheels 108 adaptively expand and contract to continuously adjust the posture of the robot and smoothly transition the arc part of the I-beam track 3. The counting synchronous belt 4 is attached to the middle of the I-beam track 3. The spring between the moving frame 101 and the rotating arm 109 drives the counting pulley 110 to closely lean against the counting synchronous belt 4 by its elastic force. When the robot walks, the optical encoder 111 at the bottom of the counting pulley 110 starts to count to achieve accurate statistics of short distances. The counting pulley 110 can also operate on the arc I-beam track 3;

[0029] In this embodiment: The lifting device 2 includes a fixed platform 201. A worm and worm gear power source 202 is installed on the top of the fixed platform 201. A roller 203 is arranged at the output end of the worm and worm gear power source 202. A lead screw mechanism 204 is installed on the roller 203. Two retractable rods 206 are symmetrically installed on both sides of the fixed platform 201. An elevating platform 205 is arranged at the bottom of the retractable rod 206. A camera 207 is installed at the bottom of the elevating platform 205. An environmental sensor 208 is arranged on one side of the camera 207. Two obstacle avoidance sensors 209 are symmetrically installed on both sides of the elevating platform 205. The fixed platform 201 is bolted to the moving frame 101. The environmental sensor 208 is bolted to the elevating platform 205. A steel wire rope is arranged between the elevating platform 205 and the roller 203. During the movement of the robot, the bottom camera 207 records the on-site pictures, and at the same time, the environmental sensor 208 records and analyzes various data of the on-site environment to complete the on-site inspection synchronously. At the same time, the carrier communication box 6 transmits the inspection data to the outside. When it is necessary to adjust the heights of the camera 207 and the environmental sensor 208, the fixed platform 201 supports the worm and worm gear power source 202 to drive the roller 203 to rotate. The roller 203 pulls the steel wire rope wound thereon to drive the lower elevating platform 205 to move up and down. At the same time, the retractable rod 206 cooperates with the telescopic movement to limit the elevating platform 205 to prevent it from tilting. During the process of the roller 203 rotating and taking up the wire, it translates under the action of the lead screw mechanism 204 to realize the steel wire rope being neatly laid on the roller 203, improving the lifting accuracy of the elevating platform 205. During the inspection process of the robot, the display screen 5 displays the current state of the robot. The obstacle avoidance sensor 209 detects whether there is an obstacle in the moving direction. When an obstacle is detected, a warning broadcast is made through the three-color voice alarm lamp 112.

[0030] Working principle: The I-shaped track 3 is installed in the area to be inspected. The cable for carrier communication and the counting synchronous belt 4 are installed together in the middle of the I-shaped track 3. The suspension bracket 102 is suspended on the top of the moving bracket 101 by springs. The springs urge the top of the driving wheel 106 to fit against the bottom surface of the I-shaped track 3 through elastic force. The suspension wheel 107 is suspended at the bottom of the I-shaped track 3 to bear the overall weight. When the robot starts to inspect, the suspension bracket 102 supports the motor 103 to drive the driving pulley 104 to rotate. The driving pulley 104 drives the driven pulley 105 to rotate through the belt, driving the driving wheel 106 to rotate under the support of the suspension bracket 102. The driving wheel 106 and the suspension wheel 107 clamp the middle I-shaped track 3 to drive the robot to move along the I-shaped track 3. The four spring auxiliary wheels 108 on the top of the moving bracket 101 are closely attached to the bottom side of the I-shaped track 3. When the device turns, the four spring auxiliary wheels 108 adaptively expand and contract to continuously adjust the posture of the robot and smoothly transition the arc part of the I-shaped track 3. The spring between the moving bracket 101 and the rotating arm 109 drives the counting pulley 110 to closely adhere to the counting synchronous belt 4 through elastic force. When the robot walks, the photoelectric encoder 111 at the bottom of the counting pulley 110 starts to count to achieve accurate statistics of short distances. The counting pulley 110 can also operate on the arc I-shaped track 3. During the movement of the robot, the on-site picture is recorded by the bottom camera 207, and at the same time, the environmental sensor 208 records and analyzes various data of the on-site environment to complete the on-site inspection synchronously. At the same time, the carrier communication box 6 transmits the inspection data to the outside. When it is necessary to adjust the heights of the camera 207 and the environmental sensor 208, the fixed platform 201 supports the worm and gear power source 202 to drive the roller 203 to rotate. The roller 203 pulls the steel wire rope wound on it to drive the lifting platform 205 below to move up and down. At the same time, the retractable rod 206 cooperates to expand and contract, and the limit lifting platform 205 prevents it from tilting. During the process of the roller 203 rotating and taking in the wire, it translates under the action of the lead screw mechanism 204 to realize the neat laying of the steel wire rope on the roller 203 and improve the lifting accuracy of the lifting platform 205. During the inspection process of the robot, the display screen 5 shows the current state of the robot. The obstacle avoidance sensor 209 detects whether there is an obstacle in the moving direction. When an obstacle is detected, a warning broadcast is made through the three-color voice alarm light 112.

[0031] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Orbital inspection robot, characterized in that: It includes a traveling device (1), and a lifting device (2) is provided at the bottom of the traveling device (1); An I-beam track (3) is provided at the top of the traveling device (1), a counting synchronous belt (4) is provided in the middle of the I-beam track (3), a display screen (5) is provided on one side of the traveling device (1), and a carrier communication box (6) is installed on the top of the traveling device (1); The traveling device (1) includes a moving frame (101), a suspension frame (102) is slidably provided at the bottom of the moving frame (101), a motor (103) is installed in the middle of the suspension frame (102), a driving pulley (104) is provided at the output end of the motor (103), a driven pulley (105) is provided on one side of the driving pulley (104), a driving wheel (106) is provided in front of the driven pulley (105), four suspension wheels (107) are symmetrically rotatably provided at the top of the moving frame (101), a spring auxiliary wheel (108) is provided below the suspension wheel (107), the spring auxiliary wheel (108) is bolted to the moving frame (101), a rotating arm (109) is rotatably provided at the top of the moving frame (101), a counting pulley (110) is rotatably provided on one side of the rotating arm (109), an optical encoder (111) is installed at the bottom of the counting pulley (110), and a three-color voice alarm light (112) is installed on one side of the moving frame (101); The lifting device (2) includes a fixed platform (201), a worm and worm gear power source (202) is installed at the top of the fixed platform (201), a roller (203) is provided at the output end of the worm and worm gear power source (202), a lead screw mechanism (204) is installed on the roller (203), two retractable rods (206) are symmetrically installed on both sides of the fixed platform (201), a lifting platform (205) is provided at the bottom of the retractable rod (206), a camera (207) is installed at the bottom of the lifting platform (205), an environmental sensor (208) is provided on one side of the camera (207), and two obstacle avoidance sensors (209) are symmetrically installed on both sides of the lifting platform (205).

2. The orbital inspection robot according to claim 1, characterized in that: A spring is provided between the suspension frame (102) and the moving frame (101).

3. The orbiting inspection robot according to claim 1, wherein: The driving wheel (106) is connected to the suspension frame (102) by bearings, the driven pulley (105) is connected to the driving wheel (106) by a flat key, and the driving pulley (104) and the driven pulley (105) are connected together by a belt.

4. The orbiting inspection robot according to claim 1, wherein: A spring is provided between the moving frame (101) and the rotating arm (109).

5. The rail type inspection robot according to claim 1, characterized in that: The fixed platform (201) is bolted to the moving frame (101).

6. The orbital inspection robot according to claim 1, characterized in that: The environmental sensor (208) is bolted to the lifting platform (205), and a steel wire rope is provided between the lifting platform (205) and the roller (203).

Images