Robot inspection system

Abstract

The utility model relates to a robot inspection system, the robot inspection system includes: connecting device, track and inspection robot, the connecting device includes rod body subassembly and clamping piece, the rod body subassembly extends along the vertical direction, the upper end of rod body subassembly is used for installing on the roof, and the lower end of rod body subassembly is used for installing on the roof. The lower end of the rod body assembly is connected with the clamping piece, the track is installed on the clamping piece, and the inspection robot is installed on the track and can move in the extending direction of the track. The robot inspection system provided by the utility model can improve the stability of the inspection robot during data acquisition.

Description

Technical Field

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

[0002] As coal mines develop towards mechanization, automation, intelligence, information technology, and digitalization, the number of electrical equipment underground in coal mines is increasing. Daily inspections and fault warnings for these equipment are becoming increasingly important. Traditional inspection methods involve manual inspections of equipment and data recording multiple times daily. However, these methods lack the ability to analyze historical data in a timely manner, forcing equipment to be repaired or replaced only after a fault occurs, impacting production.

[0003] In recent years, some manufacturers have introduced track-mounted inspection robots that offer customizable daily inspections and include features such as audio and video capture, thermal imaging, gas concentration detection, and instrument / meter status recognition, improving inspection efficiency. However, these robots often utilize chain-mounted tracks. This can cause significant track wobbling as the robot moves along the track, impacting the robot's data collection and inspection effectiveness. Utility Model Content

[0004] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention provides a robot inspection system, which can improve the stability of the inspection robot during data collection.

[0006] The robot inspection system of an embodiment of the present utility model includes: a connecting device, the connecting device includes a rod assembly and a clamping member, the rod assembly extends in the up and down directions, the upper end of the rod assembly is used to be mounted on the top plate, and the lower end of the rod assembly is connected to the clamping member; a track, the track is mounted on the clamping member; the inspection robot, the inspection robot is mounted on the track and is movable along the extension direction of the track.

[0007] According to the robot inspection system of the embodiment of the present invention, since the rod body assembly extends in the up and down directions, the upper end of the rod body assembly is used to be installed on the top plate, and the lower end of the rod body assembly is connected to the clamping member. Therefore, compared with the solution of fixing the clamping member and the track in the form of a hanging chain, the robot inspection system of the embodiment of the present invention can greatly reduce the shaking amplitude of the track when the inspection robot moves, which is beneficial to improving the stability of the inspection robot during data collection.

[0008] In some embodiments, the rod body assembly includes a fixed rod and a movable rod, the upper end of the fixed rod is connected to the top plate, the movable rod is detachably mounted on the lower end of the fixed rod and connected to the clamping member, and the position of the movable rod relative to the fixed rod along the upper and lower directions of the fixed rod is adjustable.

[0009] In some embodiments, a threaded hole is provided in the movable rod, and the lower end of the fixed rod passes through the threaded hole and is threadably engaged with the threaded hole.

[0010] In some embodiments, the rod assembly further includes a cross bar extending in a horizontal direction, one end of the cross bar being connected to the top plate, and the other end of the cross bar being connected to one of the fixed rod and the movable rod.

[0011] In some embodiments, the other end of the cross bar is connected to the lower end of the movable bar.

[0012] In some embodiments, the clamping member includes a clamping body and a first adjusting bolt, a clamping cavity is provided in the clamping body, the upper end of the track is installed in the clamping cavity, the first adjusting bolt is installed on the top wall of the clamping body, and the first adjusting bolt penetrates into the clamping cavity in the up and down directions and abuts against the track.

[0013] In some embodiments, the clamping member further includes a second adjusting bolt, which is mounted on a side wall of the clamping body. The second adjusting bolt penetrates into the clamping cavity along a horizontal direction and abuts against the track.

[0014] In some embodiments, the robot inspection system also includes an observed device, the observed device includes a device body and a reflective prism, the device body has an observation window, the reflective prism is installed on the outside of the device body, the reflective prism has an incident surface and an exit surface, there is an angle between the incident surface and the exit surface, the incident surface is arranged opposite to the observation window, and the exit surface is used to guide the light incident from the incident surface into the camera of the inspection robot.

[0015] In some embodiments, the reflective prism is a triangular prism, and the angle of the reflective prism relative to the observation window is adjustable.

[0016] In some embodiments, the observed device further includes a mounting bracket, which is detachably mounted on the outside of the device body, and the reflective prism is pivotally mounted on the mounting bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the installation of the connecting device, track and inspection robot of the robot inspection system of the embodiment of the utility model.

[0018] Figure 2 yes Figure 1 A magnified view of center.

[0019] Figure 3 This is a simplified diagram of the layout of the robot inspection system according to an embodiment of the present invention.

[0020] Reference numerals:

[0021] 1. Connecting device; 11. Rod assembly; 111. Fixed rod; 112. Movable rod; 113. Crossbar; 114. Adapter rod; 12. Clamping member; 121. Clamping body; 1211. Clamping cavity; 122. First adjusting bolt; 123. Second adjusting bolt;

[0022] 2. Track;

[0023] 3. Inspection robot; 31. Camera;

[0024] 4. Observed device; 41. Device body; 411. Observation window; 42. Reflecting prism; 421. Incident surface; 422. Exit surface; 43. Mounting bracket;

[0025] 5. Top plate. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0027] Please refer to the following Figures 1 to 3 The present invention is described in detail with reference to a robot inspection system according to an embodiment of the present invention.

[0028] like Figure 1 and Figure 2 As shown, the robot inspection system of the embodiment of the present utility model includes: a connecting device 1, a track 2 and an inspection robot 3.

[0029] The connecting device 1 includes a rod assembly 11 and a clamping member 12. The rod assembly 11 extends in the up and down directions. The upper end of the rod assembly 11 is used to be installed on the top plate 5, and the lower end of the rod assembly 11 is connected to the clamping member 12. It can be understood that the clamping member 12 is fixed to the top plate 5 by a hard connection (connection with the rod assembly 11).

[0030] The track 2 is mounted on the clamping member 12, and the inspection robot 3 is mounted on the track 2 and is movable along the extension direction of the track 2. It is understood that the track 2 can extend along a preset direction, and the inspection robot 3 can move along the preset direction to perform real-time inspection of the observed device 4.

[0031] According to the robot inspection system of the embodiment of the present invention, since the rod body assembly 11 extends in the up and down directions, the upper end of the rod body assembly 11 is used to be installed on the top plate 5, and the lower end of the rod body assembly 11 is connected to the clamping member 12. Therefore, compared with the solution of fixing the clamping member 12 and the track 2 in the form of a hanging chain, the robot inspection system of the embodiment of the present invention can greatly reduce the shaking amplitude of the track 2 when the inspection robot 3 moves, which is beneficial to improving the stability of the inspection robot 3 during data collection.

[0032] Alternatively, as Figure 1 and Figure 2 As shown, the rod assembly 11 includes a fixed rod 111 and a movable rod 112. The upper end of the fixed rod 111 is connected to the top plate 5, and the movable rod 112 is detachably mounted on the lower end of the fixed rod 111 and connected to the clamping member 12. The position of the movable rod 112 relative to the fixed rod 111 is adjustable in the vertical direction. Therefore, when the position of the observed device 4 is adjusted, the operator can adjust the height of the track 2 and the inspection robot 3 by adjusting the vertical position of the movable rod 112 without rearranging or replacing the rod assembly 11. This improves the compatibility of the robot inspection system and facilitates its use.

[0033] Specifically, a threaded hole (not shown) is provided in the movable rod 112, and the lower end of the fixed rod 111 is inserted into the threaded hole and threadedly engaged with the threaded hole. It is understood that the lower end of the fixed rod 111 is screwed into the threaded hole. When the overall length of the rod assembly 11 needs to be adjusted, the movable rod 112 can be screwed to adjust the height of the clamping track 2 of the clamping member 12. By configuring the rod assembly 11 with the above-mentioned structure, the robot inspection system of the embodiment of the present invention can reduce processing costs and facilitate adjustment.

[0034] Furthermore, if Figure 2 As shown, the rod body assembly 11 also includes a transfer rod 114, which is installed at the lower end of the movable rod 112. The upper end of the transfer rod 114 is threadedly engaged with the threaded hole, and the lower end of the transfer rod 114 is connected to the clamping member 12, thereby further improving the flexibility of the rod body assembly 11 during adjustment.

[0035] In some embodiments, as Figure 1 and Figure 2 As shown, the rod assembly 11 further includes a crossbar 113 extending horizontally, one end of which is connected to the top plate 5, and the other end of which is connected to one of the fixed rod 111 and the movable rod 112. Thus, the crossbar 113 can provide auxiliary support for the clamping member 12, further reducing the shaking amplitude of the track 2 when the inspection robot 3 moves.

[0036] Alternatively, as Figure 1 As shown, the other end of the crossbar 113 is connected to the lower end of the movable rod 112. It can be understood that the crossbar 113 is arranged close to the clamping member 12, thereby further reducing the shaking amplitude of the track 2 when the inspection robot 3 moves.

[0037] In some embodiments, as Figure 2 As shown, the clamping member 12 includes a clamping body 121 and a first adjusting bolt 122. The clamping body 121 defines a clamping cavity 1211. The upper end of the track 2 is mounted in the clamping cavity 1211. The first adjusting bolt 122 is mounted on the top wall of the clamping body 121. The first adjusting bolt 122 vertically penetrates into the clamping cavity 1211 and abuts against the track 2. It will be understood that the first adjusting bolt 122 can rotate relative to the clamping body 121, that is, the distance the first adjusting bolt 122 is screwed into the clamping cavity 1211 can be adjusted to adjust the levelness of the track 2 within the clamping cavity 1211.

[0038] Furthermore, if Figure 2 As shown, the clamping member 12 further includes a second adjusting bolt 123, which is mounted on a side wall of the clamping body 121. The second adjusting bolt 123 is inserted horizontally into the clamping cavity 1211 and abuts against the track 2. It will be understood that the second adjusting bolt 123 can rotate relative to the clamping body 121, that is, the distance the second adjusting bolt 123 is screwed into the clamping cavity 1211 can be adjusted to adjust the position of the track 2 within the clamping cavity 1211 and to clamp the track 2.

[0039] The robot inspection system of the embodiment of the present invention can improve the installation accuracy and installation stability of the track 2 by providing the first adjustment bolt 122 and the second adjustment bolt 123 .

[0040] In some embodiments, as Figure 3 As shown, the robot inspection system also includes an observed device 4, which includes a device body 41 and a reflective prism 42. The device body 41 has an observation window 411, and the reflective prism 42 is installed on the outside of the device body 41. The reflective prism 42 has an incident surface 421 and an exit surface 422. The incident surface 421 and the exit surface 422 form an angle. The incident surface 421 is arranged opposite to the observation window 411, and the exit surface 422 is used to guide the light incident from the incident surface 421 into the camera 31 of the inspection robot 3. This ensures that the camera 31 of the inspection robot 3 can accurately and clearly observe the data in the observation window 411 of the device body 41, improves the observation effect, and facilitates subsequent status identification and analysis.

[0041] In the example of the present utility model, the height of the camera 31 of the inspection robot 3 is lower than the height of the observed device 4. At this time, the exit surface 422 is arranged opposite to the camera 31 of the inspection robot 3 with an angle downward, so that the camera 31 of the inspection robot 3 can better observe the data in the observation window 411 through the refraction of the light path.

[0042] Optionally, the reflecting prism 42 is a triangular prism, and the angle of the reflecting prism 42 relative to the observation window 411 is adjustable. This allows the reflecting angle of the reflecting prism 42 to be adjusted according to different locations and types of observed devices 4, thereby expanding the application range of the reflecting prism 42, improving versatility, and reducing manufacturing costs.

[0043] Specifically, if Figure 3 As shown, the observed device 4 further includes a mounting bracket 43, which is detachably mounted on the outside of the device body 41, and the reflective prism 42 is pivotally mounted on the mounting bracket 43. It is understood that when assembling the reflective prism 42, the reflective prism 42 can be first assembled to the mounting bracket 43, and then the mounting bracket 43 can be mounted to the outer shell of the device body 41, thereby facilitating the installation of the reflective prism 42 and making it easy to assemble and disassemble.

[0044] For example, Figure 3 As shown, the mounting bracket 43 is mounted on the outer shell of the device body 41 through screws to improve the stability of the mounting bracket 43.

[0045] It should be noted that the operator needs to apply a certain external force to rotate the reflective prism 42, thereby improving the reliability of the arrangement of the reflective prism 42. For example, a damping rubber pad or an interference fit is provided between the reflective prism 42 and the mounting bracket 43 so that the rotation of the reflective prism 42 has a certain damping force.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 present invention. In this specification, the schematic expressions of the above terms do 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. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0051] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments made by ordinary technicians in this field are all within the scope of protection of the present invention.

Claims

1. A robot inspection system, characterized in that: include: A connecting device, the connecting device comprising a rod assembly and a clamping member, the rod assembly extending in an up-down direction, the upper end of the rod assembly being mounted on the top plate, and the lower end of the rod assembly being connected to the clamping member; a track mounted on the clamping member; The inspection robot is installed on the track and can move along the extension direction of the track.

2. The robot inspection system according to claim 1, characterized in that: The rod body assembly includes a fixed rod and a movable rod, the upper end of the fixed rod is connected to the top plate, the movable rod is detachably mounted on the lower end of the fixed rod and connected to the clamping member, and the position of the movable rod relative to the fixed rod along the upper and lower directions of the fixed rod is adjustable.

3. The robot inspection system according to claim 2, characterized in that: A threaded hole is provided in the movable rod, and the lower end of the fixed rod is passed through the threaded hole and threadably matched with the threaded hole.

4. The robot inspection system according to claim 2, characterized in that: The rod assembly further includes a cross bar extending in a horizontal direction, one end of the cross bar being connected to the top plate, and the other end of the cross bar being connected to one of the fixed bar and the movable bar.

5. The robot inspection system according to claim 4, characterized in that: The other end of the cross bar is connected to the lower end of the movable bar.

6. The robot inspection system according to claim 1, characterized in that: The clamping member includes a clamping body and a first adjusting bolt. A clamping cavity is provided in the clamping body. The upper end of the track is installed in the clamping cavity. The first adjusting bolt is installed on the top wall of the clamping body. The first adjusting bolt penetrates into the clamping cavity along the up and down directions and abuts against the track.

7. The robot inspection system according to claim 6, characterized in that: The clamping member further includes a second adjusting bolt, which is mounted on a side wall of the clamping body. The second adjusting bolt penetrates into the clamping cavity along a horizontal direction and abuts against the track.

8. The robot inspection system according to any one of claims 1 to 7, characterized in that: The robot inspection system also includes an observed device, which includes a device body and a reflective prism. The device body has an observation window, and the reflective prism is installed on the outside of the device body. The reflective prism has an incident surface and an exit surface. There is an angle between the incident surface and the exit surface. The incident surface is arranged opposite to the observation window, and the exit surface is used to guide the light incident from the incident surface into the camera of the inspection robot.

9. The robot inspection system according to claim 8, characterized in that: The reflecting prism is a triangular prism, and the angle of the reflecting prism relative to the observation window is adjustable.

10. The robot inspection system according to claim 9, characterized in that: The observed device further comprises a mounting frame which is detachably mounted on the outside of the device body, and the reflecting prism is pivotally mounted on the mounting frame.

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