Hanging rail inspection robot with protection structure

Abstract

The utility model relates to the technical field of rail-mounted inspection robots, and discloses a rail-mounted inspection robot with a protection structure, which comprises a robot main body, one side of the robot main body is provided with an emergency stop button, the upper ends of the two sides of the robot main body are fixedly connected with limiting plates, and the upper ends of the two sides of the robot main body are provided with clamping grooves; the clamping grooves are matched with the limiting plates, positioning blocks are arranged at the bottoms of the limiting plates, positioning plates matched with the clamping grooves are arranged at the bottoms of the positioning blocks, and fixing bolts are slidably connected to the upper ends of the positioning plates. According to the hanging rail inspection robot with the protection structure, the protection frames are arranged on the front side and the rear side of the robot body, and if tiny or slender objects difficult to detect exist in the advancing direction of the robot body, the protection frames make contact with the tiny or slender objects firstly and are pushed by the objects to move; in this way, the robot body can find obstacles more easily, and the robot body is not prone to being damaged due to the fact that the robot body directly collides with the obstacles.

Description

Technical Field

[0001] The utility model relates to the technical field of rail-hanging inspection robots, in particular to a rail-hanging inspection robot with a protective structure. Background Art

[0002] The rail-mounted inspection robot is a robot that can perform special inspections and customized inspection tasks in harsh and special environments. It usually moves along a preset track and is equipped with various detection equipment (such as infrared thermal imagers, visible light cameras and multiple sensors, etc.). These devices can capture and sense the surrounding environment in real time, and realize remote online monitoring and data analysis. Since the rail-mounted inspection robot can realize autonomous positioning and navigation, it can inspect along the preset track without human intervention, making it widely used in various scenarios such as pipeline corridors, tunnels, subways, chemical plants, power stations, airports and industrial parks.

[0003] At present, the patent authorization announcement number CN218905409U discloses a rail-mounted inspection robot, including an inspection robot, wherein the inspection robot is provided with a shell, the top end of the shell is bolted to the installation box, the side end of the installation box is symmetrically provided with a moving device, the side end of the moving device is engaged with the guide rail, the bottom end of the shell is movably connected to the pan-tilt head, the side end of the pan-tilt head is movably connected to the high-definition camera and the thermal imaging camera, the high-definition camera and the thermal imaging camera are parallel to each other on the same horizontal plane, a fan is bolted to the one end of the shell, and a control box is bolted to the surface of the shell. This type of rail-mounted inspection robot can cool down the inside of the rail-mounted inspection robot through the fan and the heat dissipation port, and dissipate the heat to the outside of the shell. By cooling the inside of the robot, the stable operation of the internal components of the inspection robot is guaranteed. It can also take pictures of multiple angles and types, and remotely notify the area where the problem equipment occurs.

[0004] Although the rail-mounted inspection robot in the above patent can ensure the stable operation of the internal components of the inspection robot by cooling the interior of the robot, it still has certain defects;

[0005] Due to the limited resolution of sensors such as lidar or ultrasonic sensors, it is easy to regard the detected signal as noise or ignore it directly when detecting small or slender objects (such as the frame of a mobile scaffolding, tree branches or temporarily pulled wires, etc.). This makes it difficult for the rail-hanging inspection robot to effectively detect small or slender objects (such as the frame of a mobile scaffolding, tree branches or temporarily pulled wires, etc.). Once a small or slender object (such as the frame of a mobile scaffolding, tree branches or temporarily pulled wires, etc.) is located in front of the rail-hanging inspection robot, the rail-hanging inspection robot will find it difficult to detect these obstacles and will easily collide directly with the obstacles, causing damage to the rail-hanging inspection robot. Utility Model Content

[0006] In view of the shortcomings of the existing technology, the present invention provides a rail-hanging inspection robot with a protective structure to solve the problems raised by the background technology, so that the robot body can more easily find obstacles and is less likely to directly collide with obstacles.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a rail-hanging inspection robot with a protective structure, comprising a robot main body, an emergency stop button installed on one side of the robot main body, the upper ends of both sides of the robot main body are fixedly connected to the limit plates, the upper ends of both sides of the robot main body are provided with card slots, the card slots are located to match the limit plates, a positioning block is provided at the bottom of the limit plate, a positioning plate matching the card slot is provided at the bottom of the positioning block, the upper end of the positioning plate is slidably connected to a fixing bolt, the fixing bolt passes through the positioning plate and is threadedly connected to the limit plate, the middle position of the positioning block is slidably connected to a sliding rod, and both ends of the sliding rod are fixed to a protective frame.

[0008] Furthermore, a reset elastic member is sleeved on one end of the slide rod away from the emergency stop button, one end of the reset elastic member is fixedly connected to the positioning block, and the other end of the reset elastic member is fixedly connected to the protective frame.

[0009] Furthermore, connecting reinforcement rods are provided on both sides between the two protection frames, and both ends of the connecting reinforcement rods are respectively fixedly connected to the two protection frames.

[0010] Furthermore, a push plate is fixed to the middle position of the protective frame near the emergency stop button, a sleeve is fixed to the side of the push plate near the emergency stop button, an end of the sleeve near the emergency stop button is slidably connected to an extrusion rod, an outward push elastic part is provided inside the sleeve, one end of the outward push elastic part is fixed to the push plate, and the other end of the outward push elastic part is fixed to the extrusion rod.

[0011] Furthermore, a gasket is fixedly connected to one end of the extrusion rod close to the emergency stop button.

[0012] Furthermore, the end of the positioning plate is L-shaped, and the lower end of the positioning plate and one side of the limiting plate are U-shaped.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This type of rail-hanging inspection robot with a protective structure has protective frames on the front and rear sides of the robot body. If there are small or slender objects that are difficult to detect in the forward direction of the robot body (such as the frame of a mobile scaffolding, tree branches or temporarily pulled wires, etc.), during the movement of the robot body, the protective frame will first contact these small or slender objects and be pushed to move by these objects. Therefore, as long as the robot body observes or detects the relative displacement between the protective frame and the robot body, it indicates that there are small or slender objects that are difficult to detect on the front side of the robot body. This makes it easier for the robot body to find obstacles and is less likely to directly collide with the obstacles, causing damage to the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the robot body of the utility model;

[0017] Figure 3 This is a schematic diagram of the connection structure between the protective frame and the sliding rod of the utility model;

[0018] Figure 4 For this utility model Figure 3 Schematic diagram of the local enlarged structure at A in the middle;

[0019] Figure 5 This is a structural diagram of the positioning plate of the utility model.

[0020] In the figure: 1. Robot body; 2. Emergency stop button; 3. Limit plate; 4. Slot; 5. Positioning block; 6. Slide rod; 7. Reset elastic member; 8. Protective frame; 9. Positioning plate; 10. Fixing bolt; 11. Connecting reinforcement rod; 12. Push plate; 13. Sleeve; 14. Outward push elastic member; 15. Extrusion rod; 16. Gasket. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] See also Figure 1-5A rail-hanging inspection robot with a protective structure includes a robot body 1, an emergency stop button 2 is installed on one side of the robot body 1, the upper ends of both sides of the robot body 1 are fixedly connected to the limit plates 3, and the upper ends of both sides of the robot body 1 are provided with card slots 4, which are located at the limit plates 3 and match the limit plates 3. A positioning block 5 is provided at the bottom of the limit plates 3, and a positioning plate 9 matching the card slot 4 is provided at the bottom of the positioning block 5. A fixing bolt 10 is slidably connected to the upper end of the positioning plate 9, and the fixing bolt 10 passes through the positioning plate 9 and is threadedly connected to the limit plate 3. A sliding rod 6 is slidably connected to the middle position of the positioning block 5, and both ends of the sliding rod 6 are fixedly connected to a protective frame 8.

[0023] The rail-hanging inspection robot with a protective structure in the present invention is provided with a protective frame 8 on the front and rear sides of the robot body 1. If there are small or slender objects that are difficult to detect in the forward direction of the robot body 1 (such as the frame of a mobile scaffolding, branches or temporarily pulled wires, etc.), the protective frame 8 will first contact with these small or slender objects during the movement of the robot body 1 and be pushed to move by these objects. Since the protective frame 8 is easier to observe and detect, the robot body 1 only needs to observe or detect that there is a relative displacement between the protective frame 8 and the robot body 1, which indicates that there is a small or slender object that is difficult to detect on the front side of the robot body 1. The robot body 1 can find obstacles more easily and is not prone to directly colliding with obstacles, causing damage to the robot body 1. At the same time, when the robot body 1 is removed from the track for inspection, the protective frame 8 can act as a bracket. When the robot body 1 is removed from the track and placed on the ground, the various sensors located at the bottom of the robot body 1 do not need to contact the ground, thereby avoiding damage to the sensors, so that the robot body 1 can be inspected without turning over. In addition, the structure of the robot body 1 in the present utility model is similar to the structure of a rail-mounted inspection robot disclosed in the prior art, patent authorization announcement number CN218905409U, so it will not be elaborated on here.

[0024] like Figure 1 and Figure 3 As shown, a reset elastic member 7 is sleeved on one end of the slide rod 6 away from the emergency stop button 2 , one end of the reset elastic member 7 is fixedly connected to the positioning block 5 , and the other end of the reset elastic member 7 is fixedly connected to the protective frame 8 .

[0025] Specifically, after the protective frame 8 comes into contact with an obstacle (the obstacle refers to a small or slender object that is difficult to detect in the forward direction of the robot body 1), the protective frame 8 will be pushed toward the robot body 1 by the obstacle. Under the action of the reset elastic member 7, the protective frame 8 will not collide with the robot body 1, and after the protective frame 8 is away from the obstacle, the reset elastic member 7 will push the protective frame 8 back to its original position, so that the protective frame 8 can continue to play a warning and protection role.

[0026] like Figure 1 and Figure 3 As shown, connecting reinforcement rods 11 are provided on both sides between the two protection frames 8 , and both ends of the connecting reinforcement rods 11 are fixedly connected to the two protection frames 8 respectively.

[0027] Specifically, the two protection frames 8 are connected and fixed by connecting the reinforcing rods 11, so that the protection frames 8 are not easily deformed or damaged after contacting an obstacle.

[0028] like Figure 3 and Figure 4 As shown, a push plate 12 is fixed to the middle position of the protective frame 8 near the emergency stop button 2, and a sleeve 13 is fixed to the side of the push plate 12 near the emergency stop button 2. The end of the sleeve 13 near the emergency stop button 2 is slidably connected to an extrusion rod 15, and an outward push elastic member 14 is provided inside the sleeve 13. One end of the outward push elastic member 14 is fixed to the push plate 12, and the other end of the outward push elastic member 14 is fixed to the extrusion rod 15.

[0029] Specifically, if the robot body 1 moves at a fast speed and fails to detect the obstacle in front in time or fails to detect that the protective frame 8 is in contact with the obstacle and has shifted, the protective frame 8 will push the extrusion rod 15 through the sleeve 13 to press the emergency stop button 2 of the robot body 1, thereby stopping the robot body 1. At the same time, since the robot body 1 will slide forward a certain distance under the action of inertia, the extrusion rod 15 will be pushed back into the sleeve 13 by the emergency stop button 2 during the sliding process of the robot body 1. After the robot body 1 is away from the obstacle and the protective frame 8 is no longer hindered by the obstacle, the extrusion rod 15 will return to its original position under the action of the outward-pushing elastic member 14.

[0030] like Figure 4 As shown, one end of the extrusion rod 15 near the emergency stop button 2 is fixed with a gasket 16. When the extrusion rod 15 contacts the emergency stop button 2, the gasket 16 plays a buffering effect, making the emergency stop button 2 more difficult to be damaged.

[0031] like Figure 2 and Figure 5 As shown, the end of the positioning plate 9 is L-shaped, and the lower end of the positioning plate 9 and one side of the limiting plate 3 are both U-shaped.

[0032] Specifically, the lower end of the positioning plate 9 and one side of the limiting plate 3 are both U-shaped, which can limit the positioning block 5 and prevent the positioning block 5 from being displaced.

[0033] It is worth noting that: since the robot body 1 is a rail-mounted inspection robot, the equipment is located below both sides of the track (i.e. below both sides of the robot body 1), and the connecting reinforcement rod 11 is located above the camera of the robot body 1. Therefore, the protective frame 8 and the connecting reinforcement rod 11 will neither affect the shooting angle of the camera of the robot body 1 nor easily hinder the inspection of the robot body 1.

[0034] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A rail inspection robot with a protective structure, comprising a robot body (1), an emergency stop button (2) installed on one side of the robot body (1), characterized in that: The upper ends of both sides of the robot body (1) are fixedly connected to the limit plates (3), and the upper ends of both sides of the robot body (1) are provided with card slots (4), the card slots (4) are located and matched with the limit plates (3), a positioning block (5) is provided at the bottom of the limit plates (3), a positioning plate (9) matching with the card slots (4) is provided at the bottom of the positioning block (5), the upper end of the positioning plate (9) is slidably connected with a fixing bolt (10), the fixing bolt (10) passes through the positioning plate (9) and is threadedly connected with the limit plates (3), the middle position of the positioning block (5) is slidably connected with a slide bar (6), and both ends of the slide bar (6) are fixedly connected with a protective frame (8).

2. The rail-hanging inspection robot with a protective structure according to claim 1, characterized in that: A reset elastic member (7) is sleeved on one end of the slide bar (6) away from the emergency stop button (2); one end of the reset elastic member (7) is fixedly connected to the positioning block (5); and the other end of the reset elastic member (7) is fixedly connected to the protective frame (8).

3. A rail-hanging inspection robot with a protective structure according to claim 1 or 2, characterized in that: Connecting reinforcement rods (11) are provided on both sides between the two protection frames (8), and both ends of the connecting reinforcement rods (11) are respectively fixedly connected to the two protection frames (8).

4. A rail-hanging inspection robot with a protective structure according to claim 1 or 2, characterized in that: A push plate (12) is fixedly connected to the middle position of the protective frame (8) near the emergency stop button (2), a sleeve (13) is fixedly connected to the side of the push plate (12) near the emergency stop button (2), an end of the sleeve (13) near the emergency stop button (2) is slidably connected to an extrusion rod (15), an outward-pushing elastic member (14) is provided inside the sleeve (13), one end of the outward-pushing elastic member (14) is fixedly connected to the push plate (12), and the other end of the outward-pushing elastic member (14) is fixedly connected to the extrusion rod (15).

5. The rail-hanging inspection robot with a protective structure according to claim 3, characterized in that: A push plate (12) is fixedly connected to the middle position of the protective frame (8) near the emergency stop button (2), a sleeve (13) is fixedly connected to the side of the push plate (12) near the emergency stop button (2), an end of the sleeve (13) near the emergency stop button (2) is slidably connected to an extrusion rod (15), an outward-pushing elastic member (14) is provided inside the sleeve (13), one end of the outward-pushing elastic member (14) is fixedly connected to the push plate (12), and the other end of the outward-pushing elastic member (14) is fixedly connected to the extrusion rod (15).

6. The rail-hanging inspection robot with a protective structure according to claim 4, characterized in that: A gasket (16) is fixedly connected to one end of the extrusion rod (15) close to the emergency stop button (2).

7. The rail-hanging inspection robot with a protective structure according to claim 5, characterized in that: A gasket (16) is fixedly connected to one end of the extrusion rod (15) close to the emergency stop button (2).

8. A rail-hanging inspection robot with a protective structure according to claim 1, 2, 5, 6 or 7, characterized in that: The end of the positioning plate (9) is L-shaped, and the lower end of the positioning plate (9) and one side of the limiting plate (3) are both U-shaped.

9. The rail-hanging inspection robot with a protective structure according to claim 3, characterized in that: The end of the positioning plate (9) is L-shaped, and the lower end of the positioning plate (9) and one side of the limiting plate (3) are both U-shaped.

10. The rail-hanging inspection robot with a protective structure according to claim 4, characterized in that: The end of the positioning plate (9) is L-shaped, and the lower end of the positioning plate (9) and one side of the limiting plate (3) are both U-shaped.

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