Indoor hanging rail inspection robot and driving mechanism thereof

Abstract

The utility model relates to the technical field of inspection equipment, in particular to an indoor hanging rail inspection robot and a driving mechanism thereof, the indoor hanging rail inspection robot comprises a driving mechanism, a holder mechanism, a camera arm mechanism and a partial discharge arm mechanism, and the driving mechanism comprises a driving wheel set, a driven wheel set, a floating pressing mechanism and a bearing guide wheel set which are arranged around a rail by 360 degrees. The driving wheel set and the driven wheel set are located on the two sides of the track respectively, the floating pressing mechanism is located at the bottom of the track, the bearing guide wheel set is located at the top of the track, and side limiting guide wheels are arranged on the side of the track and above the driven wheel set. A special driving structure is adopted, a single driving wheel is placed on the side wall of the track for driving, the driven wheel is arranged at the symmetrical position, and the load-bearing wheel which does not provide power is arranged above the track. The design effectively solves the problems that the driving wheel is separated from the track and the speed is differential when the track turns.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection equipment, in particular to an indoor rail-hanging inspection robot and a driving mechanism thereof. Background Art

[0002] Track robots are suitable for indoor inspections in power plants, computer rooms, power stations, etc. When the indoor space is too narrow and indoor wheeled inspection robots cannot operate, track-mounted robots can perform 24-hour uninterrupted inspections and are suitable for inspections of indoor equipment. As a perception complex, the robot is equipped with a variety of sensors, such as visible light, thermal imaging, partial discharge, gas, temperature and humidity, and microphones, which can realize comprehensive detection of equipment and environment.

[0003] Existing rail-mounted inspection robots typically use customized tracks, which are costly and lack universality. Furthermore, when the track needs to turn, the drive wheels often come off the track and experience speed differences, resulting in unstable operation and reduced efficiency.

[0004] In view of this, we propose an indoor rail-hanging inspection robot and its driving mechanism. Utility Model Content

[0005] In order to make up for the above deficiencies, the utility model provides an indoor rail-hanging inspection robot and a driving mechanism thereof.

[0006] The technical solution of the utility model is: including a driving mechanism, a pan-tilt mechanism, a camera arm mechanism, and a partial discharge arm mechanism, and is characterized by:

[0007] The driving mechanism includes a driving wheel group, a driven wheel group, a floating clamping mechanism, and a load-bearing guide wheel group arranged around the track at 360 degrees. The driving wheel group and the driven wheel group are respectively located on both sides of the track. The floating clamping mechanism is located at the bottom of the track. The floating clamping mechanism includes a pressing screw, which longitudinally passes through the lower clamping spring and the bottom plate and is locked to the frame bottom plate. An adjustment lock block is provided at the bottom of the frame bottom plate. An adjustment screw is provided at the center of the adjustment lock block and laterally passes through the adjustment pull block and the side clamping spring in sequence.

[0008] The load-bearing guide wheel group is located at the top of the track, and the side surface of the track is provided with a side limiting guide wheel above the driven wheel group.

[0009] As a preferred technical solution, the center of the driving wheel group is connected to the output end of the driving motor installed at the bottom of the frame base plate through a rotating shaft using a bearing seat.

[0010] As a preferred technical solution, the driven wheel set is mounted on the bottom plate of the floating pressing mechanism by screws.

[0011] As a preferred technical solution, the load-bearing guide wheel group is fixed to the rotating connecting plate by screws, and one end of the rotating connecting plate away from the load-bearing guide wheel group is connected to the frame bottom plate by a rotating shaft.

[0012] As a preferred technical solution, an RFID mounting sheet metal is provided on one side of the frame bottom plate, and the RFID mounting sheet metal is used to install an RFID card reader.

[0013] As a preferred technical solution, a power supply busbar is arranged longitudinally and parallel above the top of the track to supply power to the indoor rail-hanging inspection robot.

[0014] As a preferred technical solution, the track is a universal profile, and an RFID chip is installed on the track.

[0015] As an optimal technical solution, ultrasonic sensors are arranged on both sides of the camera arm mechanism and the local discharge arm mechanism.

[0016] As an optimal technical solution, a gas sensor is arranged inside the pan-tilt mechanism.

[0017] As a preferred technical solution, the end of the partial discharge arm mechanism is equipped with a partial discharge detection sensor.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The driving mechanism is composed of a driving wheel group, a driven wheel group, a floating clamping mechanism, and a load-bearing guide wheel group arranged 360° around the periphery of the track. The driven wheel group is clamped with the driving wheel group and the track through the floating clamping mechanism. A single driving wheel group is placed on the side wall of the track for driving, providing driving force for the entire robot. The clamping force is adjusted by adjusting the compression amount of the spring in the floating clamping mechanism. At the same time, when the robot encounters a certain difference in track width during driving, the floating clamping mechanism can be adaptively adjusted, so that when the robot turns, the driving wheel group will not leave the track and lose power, and it also effectively solves the differential problem that occurs when the track turns. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the driving mechanism in the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the drive wheel set in the utility model;

[0022] Figure 3 For this utility model Figure 2 AA cross-sectional view;

[0023] Figure 4 This is the operating state diagram of the utility model;

[0024] Figure 5 It is a three-dimensional diagram of the indoor rail-hanging inspection robot in the present invention.

[0025] In the figure, 10-driving mechanism, 11-driving wheel group, 12-driven wheel group, 13-floating clamping mechanism, 131-pressing screw, 132-pressing spring, 133-base plate, 134-adjusting screw, 135-side clamping spring, 136-adjusting pull block, 137-adjusting lock block, 138-frame base plate, 14-load-bearing guide wheel group, 141-rotating connecting plate, 142-side limiting guide wheel, 15-RFID card reader, 151-RFID mounting sheet metal, 16-RFID chip, 17-rotating shaft, 20-pan-tilt mechanism, 30-camera arm mechanism, 40-partial discharge arm mechanism, A-track, B-power supply busbar. DETAILED DESCRIPTION

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

[0027] 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" 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 on the present invention.

[0028] The (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) involved in the present invention are merely conventional adaptive applications of existing technologies. Therefore, the present invention is an improvement on the existing technologies, which is essentially a structural improvement, rather than an improvement proposed for the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) themselves. That is, although the present invention involves a point (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods), it does not include improvements proposed for the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) themselves. The description of the (electrical devices, electronic components, circuits and power modules, functions, algorithms, methods) in the present invention is for the purpose of better illustrating the present invention and for a better understanding of the present invention.

[0029] See also Figure 1-5 , the utility model provides a technical solution:

[0030] An indoor rail-hanging inspection robot and a driving mechanism thereof include a driving mechanism 10, a pan-tilt mechanism 20, a camera arm mechanism 30, and a partial discharge arm mechanism 40.

[0031] The driving mechanism 10 includes a driving wheel set 11 arranged 360° around the track A, a driven wheel set 12 , a floating pressing mechanism 13 , and a load-bearing guide wheel set 14 .

[0032] The driving wheel set 11 and the driven wheel set 12 are respectively located on both sides of the track A and are arranged opposite to each other.

[0033] In this embodiment, the center of the driving wheel assembly 11 is connected to the output end of the driving motor 112 installed at the bottom of the frame base plate 138 through a rotating shaft using a bearing seat 111.

[0034] It is worth further explaining that the driving motor 112 drives the rotating shaft to drive the driving wheel set 11 to rotate, thereby providing driving force to the entire indoor rail-hanging inspection robot.

[0035] In this embodiment, the driven wheel assembly 12 is mounted on the bottom plate 133 of the floating pressing mechanism 13 by screws.

[0036] The floating pressing mechanism 13 is located at the bottom of the track A.

[0037] The floating clamping mechanism 13 includes a downward pressing screw 131, which passes through the downward pressing spring 132 and the bottom plate 133 longitudinally and is locked on the frame bottom plate 138. An adjustment locking block 137 is provided at the bottom of the frame bottom plate 138. An adjustment screw 134 is provided at the center of the adjustment locking block 137 and passes through the adjustment pull block 136 and the side clamping spring 135 horizontally in sequence.

[0038] It is worth further explaining that the pressing screw 131 passes through the lower pressing spring 132 and is locked to the frame bottom plate 138, so that the floating pressing mechanism 13 is tightly fitted to the frame bottom plate 138 and can move left and right.

[0039] It is worth further explaining that an adjustment block 136 is provided at the bottom of the base plate 133 and connected by screws. An adjustment lock block 137 is provided at the bottom of the frame base plate 138 and connected by screws. The adjustment screw 134 passes through the side compression spring 135 and the adjustment block 136 and is locked to the adjustment lock block 137. The adjustment block 136 can move left and right on the adjustment screw 134. By tightening the adjustment screw 134, it squeezes the side compression spring 135. The compressed side compression spring 135 applies an elastic force in the direction of the track to the adjustment block 136, driving the floating clamping mechanism 13 to clamp toward the side of track A, thereby achieving clamping. At the same time, when the width of track A varies during the robot's driving process, the floating clamping mechanism 13 can perform adaptive adjustments to maintain the clamping state of track A, so that when the robot turns, the drive wheel group 11 will not leave the track and lose power.

[0040] The load-bearing guide wheel group 14 is located at the top of the track A, and the side of the track A is located above the driven wheel group 12 and is provided with a side limiting guide wheel 142.

[0041] In this embodiment, the load-bearing guide wheel group 14 is fixed to the rotating connecting plate 141 by screws, and the end of the rotating connecting plate 141 away from the load-bearing guide wheel group 14 is connected to the frame bottom plate 138 through the rotating shaft 17.

[0042] It is worth further explaining that there are two sets of front and rear load-bearing guide wheel groups 14, which are connected by a rotating shaft 17 and can rotate when turning, so as to reduce the friction between the wheels and the track when the robot turns, avoid abnormal noise and wheel loss, and ensure the service life and stability of the robot. At the same time, the load-bearing guide wheel group 14 is provided with a side limiting guide wheel 142, so that the track A is located between the load-bearing guide wheel group 14, ensuring that the robot can turn smoothly.

[0043] In this embodiment, the track A is a universal profile, and an RFID chip 16 is installed on the track A.

[0044] It is worth further explaining that by replacing track A with a universal profile, the versatility of the track is enhanced and the cost is reduced.

[0045] It is worth further explaining that when the robot runs to the position of the RFID chip 16, the RFID reader 15 will read the data written in the RFID chip 16, thereby performing positioning calibration on the robot.

[0046] In this embodiment, an RFID mounting sheet metal 151 is provided on one side of the frame bottom plate 138 . The RFID mounting sheet metal 151 is used to mount the RFID card reader 15 .

[0047] In this embodiment, a power supply busbar B is arranged longitudinally and parallel above the top of the track A to supply power to the indoor track-hanging inspection robot.

[0048] It is worth further explaining that track A is the robot's walking track. The robot is mounted on track A, and a power supply busbar B is provided above it. The robot is powered by the current collector carried by the robot, thereby realizing 24-hour uninterrupted inspection operations.

[0049] In this embodiment, ultrasonic sensors are arranged on both sides of the camera arm mechanism 30 and the local discharge arm mechanism 40.

[0050] It is worth further explaining that the ultrasonic sensor is facing sideways. When the robot is setting out to perform a task or returning, the ultrasonic sensor can detect whether there are obstacles in the area where the robot passes in front, and feed back the detection data to the drive mechanism 10, which will determine whether it can pass.

[0051] In this embodiment, a gas sensor is arranged inside the pan / tilt mechanism 20 .

[0052] It is worth further explaining that gas sensors include sensors for sulfur hexafluoride, methane, carbon monoxide, sulfur dioxide, ammonia, temperature and humidity, and particles.

[0053] It is worth further explaining that the robot can detect the environmental conditions of the environment through the gas sensors arranged inside the pan-tilt mechanism 20, and feed back real-time data to the background. If the indicator of a certain sensor exceeds the range, an early warning will be issued.

[0054] In this embodiment, a partial discharge detection sensor is mounted on the end of the partial discharge arm mechanism 40 .

[0055] It is worth further explaining that the electric push rod can be extended to a certain distance. When the robot performs partial discharge detection on the cabinet, the partial discharge arm mechanism 40 can rotate 90° in the vertical direction. At the same time, the electric push rod extends the partial discharge detection sensor to contact the cabinet to perform partial discharge detection and feed back the detection data to the background. If the indicator exceeds the range, an early warning will be initiated.

[0056] When the driving mechanism of the present invention is in use, by tightening the adjusting screw 134, it squeezes the side compression spring 135. The compressed side compression spring 135 applies an elastic force in the direction of the track to the adjustment pull block 136, driving the floating compression mechanism 13 to clamp the track A side, thereby achieving compression. At the same time, when the robot encounters a certain difference in the width of track A during driving, the floating compression mechanism 13 can be adaptively adjusted to maintain the clamping state of track A, so that when the robot turns, the driving wheel group 11 will not leave the track and lose power, and can rotate when turning, thereby reducing the friction between the wheel and the track when the robot turns, avoiding abnormal noise and wheel loss, and ensuring the service life and stability of the robot. At the same time, the load-bearing guide wheel group 14 is provided with a side limit guide wheel 142, so that track A is located between the load-bearing guide wheel group 14, ensuring that the robot can turn smoothly.

[0057] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An indoor rail-mounted inspection robot and its driving mechanism, comprising a driving mechanism (10), a pan-tilt mechanism (20), a camera arm mechanism (30), and a partial discharge arm mechanism (40), characterized in that: The driving mechanism (10) includes a driving wheel group (11), a driven wheel group (12), a floating clamping mechanism (13), and a load-bearing guide wheel group (14) arranged around the track (A) at 360 degrees. The driving wheel group (11) and the driven wheel group (12) are respectively located on both sides of the track (A). The floating clamping mechanism (13) is located at the bottom of the track (A). The floating clamping mechanism (13) includes a downward pressing screw (131). The downward pressing screw (131) longitudinally passes through a downward clamping spring (132) and a bottom plate (133) and is locked on a frame bottom plate (138). An adjustment lock block (137) is provided at the bottom of the frame bottom plate (138). An adjustment screw (134) is provided at the center of the adjustment lock block (137) and laterally passes through an adjustment pull block (136) and a side clamping spring (135). The load-bearing guide wheel group (14) is located at the top of the track (A), and the side of the track (A) is located above the driven wheel group (12) and is provided with a side limiting guide wheel (142).

2. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: The center of the driving wheel group (11) is connected to the output end of the driving motor (112) installed at the bottom of the frame bottom plate (138) through a rotating shaft using a bearing seat (111).

3. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: The driven wheel set (12) is mounted on the bottom plate (133) of the floating pressing mechanism (13) via screws.

4. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: The load-bearing guide wheel group (14) is fixed to the rotating connecting plate (141) by screws, and one end of the rotating connecting plate (141) away from the load-bearing guide wheel group (14) is connected to the frame bottom plate (138) by a rotating shaft (17).

5. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: An RFID mounting sheet metal (151) is provided on one side of the frame bottom plate (138), and the RFID mounting sheet metal (151) is used to mount an RFID card reader (15).

6. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: A power supply busbar (B) is longitudinally and parallelly arranged above the top of the track (A) to supply power to the indoor track-hanging inspection robot.

7. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: The track (A) is a universal profile, and an RFID chip (16) is installed on the track (A).

8. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: Ultrasonic sensors are arranged on both sides of the camera arm mechanism (30) and the local discharge arm mechanism (40).

9. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: A gas sensor is arranged inside the pan / tilt mechanism (20).

10. The indoor rail-hanging inspection robot and its driving mechanism according to claim 1, characterized in that: The end of the partial discharge arm mechanism (40) is equipped with a partial discharge detection sensor.

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