Turning and climbing hanger rail robot capable of collecting complex filling environment information

Abstract

The utility model relates to the technical field of hanger rail robots, and discloses a turning and climbing hanger rail robot capable of collecting complex filling environment information, which comprises a moving module mounted on a hanger rail body and a plurality of moving wheels mounted on the moving module, inclination mechanisms are connected into the two supporting blocks, the output ends of the inclination mechanisms are connected with extension assemblies and lifting mechanisms, and the output ends of the lifting mechanisms are connected with the extension assemblies. According to the turning, climbing and rail hanging robot capable of collecting the complex filling environment information, the lifting mechanism and the extension assembly are arranged at the lower end of the inclination mechanism, and in the moving process, if the sight line of a camera is blocked due to a certain pipeline or other objects, the lifting mechanism can be started through a remote controller; the lifting mechanism can control the extension assembly to descend, so that the horizontal mechanism and the camera can be controlled to descend together until the camera descends to the height which is not hindered.

Description

TECHNICAL FIELD

[0001] The utility model relates to a hanging rail robot technical field, concretely is a turning climbing hanging rail robot that can collect complex filling environment information. BACKGROUND

[0002] In recent years, robot technology has been widely applied in different industries and achieved good results. Relying on the advantages of intelligent control system and with the help of automatic operation and maintenance platform, the use of hanging rail type (pipe gallery) inspection robot to monitor the working state of filling pipeline can significantly reduce the labor intensity of workers and realize real-time monitoring of filling slurry conveying.

[0003] The pipe gallery turning climbing hanging rail robot is an automatic inspection device specially designed for urban underground comprehensive pipe gallery, which can run on a specific track and adapt to the turning and slope changes of the track. This kind of robot is equipped with high-definition cameras and various sensors, which can perform real-time video monitoring and analyze equipment instrument readings using image recognition technology, and monitor pipeline pressure, pipeline wall thickness, flow rate and other parameters, so that abnormalities can be found in time and appropriate warnings can be made.

[0004] The patent with the current announcement number CN219819728U discloses a hanging rail type inspection robot, which comprises a base and a camera installed at the bottom end of the base. A clamping plate extends upward at both ends of the base in the direction of the hanging rail extension. Two groups of symmetrical slide plate pieces are provided above the base. The two groups of slide plate pieces slide back and forth on the top of the base in a direction perpendicular to the hanging rail. A sliding piece is installed on the top of the base. The sliding piece is used to connect the base and the slide plate piece and drive the slide plate piece to slide back and forth. A buckling piece is installed at both ends of the slide plate piece in the direction of the hanging rail extension. The buckling piece extends downward and cooperates with the clamping plate to fix the slide plate piece above the base. The inspection robot adjusts the distance between the two groups of slide plate pieces, so that the slide plate piece can be suitable for hanging rail tracks of different widths. The hanging rail track is clamped and fixed by the buckling piece and the clamping plate, so that the connection between the inspection robot and the hanging rail is stable and not easy to fall off.

[0005] However, the above-mentioned inspection robot still has the following problems in actual use:

[0006] Multiple pipelines are often installed inside the urban pipe gallery, including but not limited to water supply pipes, gas pipes, power cable pipes and communication pipes, etc. The hanging rail type inspection robot is usually located at the top of the pipe gallery when it is patrolling inside the pipe gallery. This will cause some areas to have monitoring blind spots due to the shielding of different pipelines, resulting in incomplete monitoring data or low data accuracy. INVENTION CONTENTS

[0007] To address the shortcomings of existing technologies, this invention provides a turning and climbing overhead rail robot capable of collecting information about complex filling environments, which can monitor blind spots in some complex environments.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a turning and climbing overhead rail robot capable of collecting information about complex filling environments, comprising a mobile module mounted on the overhead rail body and several mobile wheels mounted on the mobile module. Two support blocks are fixedly connected to the bottom surface of the mobile module. An tilting mechanism is connected inside the two support blocks. An extension component and a lifting mechanism are connected to the output end of the tilting mechanism. The output end of the lifting mechanism is connected to the extension component. The other end of the extension component is connected to a horizontal mechanism. A camera is connected to the output end of the horizontal mechanism.

[0009] Furthermore, the tilting mechanism includes a tilting motor, a rotating block, and a transmission rod. The outer wall of the tilting motor is fixedly connected to the side wall of one of the support blocks. The output shaft of the tilting motor is fixedly connected to one end of the transmission rod. The other end of the transmission rod passes through the two support blocks and the rotating block. The outer wall of the transmission rod is rotatably connected to the passage of the two support blocks. The outer wall of the transmission rod is fixedly connected to the passage of the rotating block. The lower end of the rotating block is connected to the extension assembly and the lifting mechanism.

[0010] Furthermore, the lifting mechanism includes a lifting motor and a lead screw. The outer wall of the lifting motor is fixedly connected to the bottom surface of the rotating block, the output shaft of the lifting motor is fixedly connected to one end of the lead screw, and the other end of the lead screw is connected to the extension assembly.

[0011] Furthermore, the extension assembly includes an outer tube, an auxiliary rod, a connecting block, and a guide rod. One end of the connecting block is fixedly connected to the side wall of the lower end of the rotating block, and the bottom surface of the other end of the connecting block is fixedly connected to the upper end of the guide rod. The outer wall of the auxiliary rod is fixedly connected to the side wall of the outer tube. The outer tube has a threaded opening inside, and the auxiliary rod has a sliding opening inside. The outer wall of the lead screw is threadedly connected to the inner wall of the threaded opening, and the outer wall of the guide rod is slidably connected to the inner wall of the sliding opening. The bottom surface of the outer tube is connected to the horizontal mechanism.

[0012] Furthermore, an anti-detachment block is fixedly connected to the bottom surface of the guide rod, and the outer wall of the anti-detachment block is slidably connected to the inner wall of the sliding opening.

[0013] Furthermore, a No. 1 opening is provided on the upper surface of the outer tube, and a No. 2 opening is provided on the bottom surface of the outer tube. The lifting motor is located in the No. 1 opening, and the horizontal mechanism is located in the No. 2 opening.

[0014] Furthermore, the horizontal mechanism includes a horizontal motor and a connecting plate. The outer wall of the horizontal motor is fixedly connected to the inner wall of port number two, the output shaft of the horizontal motor is fixedly connected to the inner wall of the middle part of the connecting plate, and the bottom surface of the connecting plate is fixedly connected to one end of the camera.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1、This kind of turn climbing hanging rail robot that can collect complex filling environment information, through setting up the tilting mechanism below the mobile module, when the height of monitoring is higher than the initial height of the camera, the tilting mechanism can control the lifting mechanism and extension assembly to rotate and fold, and then the height of the camera can be continuously lifted.

[0017] 2、This kind of turn climbing hanging rail robot that can collect complex filling environment information, through setting up the lifting mechanism and extension assembly at the lower end of the tilting mechanism, in the process of moving, when the line of sight of the camera is blocked due to a certain pipeline or other object, the lifting mechanism can be started through the remote controller, the lifting mechanism will control the extension assembly to descend, and then the horizontal mechanism and the camera can be controlled to descend together until the camera stops after descending to the height that is not blocked.

[0018] 3、This kind of turn climbing hanging rail robot that can collect complex filling environment information, through setting up the horizontal mechanism between the extension assembly and the camera, the horizontal mechanism can control the camera to rotate horizontally 360° to monitor a larger area of the pipe gallery. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall appearance schematic view of the utility model;

[0020] Figure 2 It is the overall appearance schematic view of the utility model; Figure 1 It is the explosion schematic view of each component in the utility model;

[0021] Figure 3 It is the overall appearance schematic view of the utility model; Figure 2 It is the schematic view of each component in another perspective of the utility model;

[0022] Figure 4 It is the cross section schematic view of the outer pipe of the utility model.

[0023] In the drawing: 1, hanging rail body; 2, mobile module; 3, mobile wheel; 4, tilting motor; 5, rotating block; 6, outer pipe; 7, auxiliary rod; 8, connecting plate; 9, camera; 10, support block; 11, transmission rod; 12, connecting block; 13, guide rod; 14, anti-drop block; 15, lifting motor; 16, screw rod; 17, horizontal motor; 601, No. 1 port; 602, threaded port; 603, No. 2 port; 701, sliding port. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0025] Please see Figures 1-4 A turning and climbing overhead rail robot capable of collecting information about complex filling environments includes a mobile module 2 mounted on an overhead rail body 1 and several mobile wheels 3 mounted on the mobile module 2. Two support blocks 10 are fixedly connected to the bottom surface of the mobile module 2. An tilting mechanism is connected inside the two support blocks 10. An extension component and a lifting mechanism are connected to the output end of the tilting mechanism. The output end of the lifting mechanism is connected to the extension component. The other end of the extension component is connected to a horizontal mechanism. A camera 9 is connected to the output end of the horizontal mechanism.

[0026] like Figures 1-4 As shown, the turning and climbing overhead rail robot of this utility model, which can collect information about complex filling environments, can move normally along the surface of the overhead rail body 1 through the moving module 2 and the moving wheels 3. During the movement, if the view of the camera 9 is obstructed by a pipe or other object, the lifting mechanism can be activated through the remote controller. The lifting mechanism will control the extension component to descend, and then control the horizontal mechanism and the camera 9 to descend together until the camera 9 is lowered to a height where it is not obstructed. Then the horizontal mechanism can be activated to control the camera 9 to rotate at a horizontal level to achieve 360° monitoring.

[0027] In addition, during normal monitoring, the monitored height may be higher than the initial height of camera 9 (i.e., when the extension component is not extended and is in a vertically downward state). At this time, the lifting mechanism and the extension component can be rotated and folded by the tilting mechanism, so that the height of camera 9 can be raised further.

[0028] It is important to note here that:

[0029] The rail body 1, the moving module 2, and the moving wheels 3 are all existing mature technologies, so they will not be described in detail here. When the moving module 2 and the moving wheels 3 move along the surface of the rail body 1, they can move normally when encountering turns or climbing slopes. This is also existing technology and will not be described in detail here.

[0030] In some utility tunnels, there may be relatively small spaces. In order not to affect the passage of the mobile module 2 and camera 9, the camera 9 can be folded up by a tilting mechanism when passing through this area.

[0031] like Figures 1-4As shown, the tilting mechanism includes a tilting motor 4, a rotating block 5, and a transmission rod 11. The outer wall of the tilting motor 4 is fixedly connected to the side wall of one of the support blocks 10. The output shaft of the tilting motor 4 is fixedly connected to one end of the transmission rod 11. The other end of the transmission rod 11 passes through the two support blocks 10 and the rotating block 5. The outer wall of the transmission rod 11 is rotatably connected to the through-hole of the two support blocks 10. The outer wall of the transmission rod 11 is fixedly connected to the through-hole of the rotating block 5. The lower end of the rotating block 5 is connected to the extension assembly and the lifting mechanism.

[0032] More specifically, when the camera 9 needs to be folded, simply turn on the tilt motor 4. The output shaft of the tilt motor 4 will rotate the transmission rod 11, which will then rotate the rotating block 5 between the two support blocks 10, thereby rotating the lifting mechanism and extension assembly connected to it.

[0033] like Figures 1-4 As shown, the lifting mechanism includes a lifting motor 15 and a lead screw 16. The outer wall of the lifting motor 15 is fixedly connected to the bottom surface of the rotating block 5. The output shaft of the lifting motor 15 is fixedly connected to one end of the lead screw 16, and the other end of the lead screw 16 is connected to the extension assembly.

[0034] More specifically, when it is necessary to control the lifting of the camera 9, simply turn on the lifting motor 15. The output shaft of the lifting motor 15 rotates, causing the lead screw 16 to rotate, which in turn can extend or shorten the extension component.

[0035] like Figures 1-4 As shown, the extension assembly includes an outer tube 6, an auxiliary rod 7, a connecting block 12, and a guide rod 13. One end of the connecting block 12 is fixedly connected to the side wall of the lower end of the rotating block 5, and the bottom surface of the other end of the connecting block 12 is fixedly connected to the upper end of the guide rod 13. The outer wall of the auxiliary rod 7 is fixedly connected to the side wall of the outer tube 6. The outer tube 6 has a threaded opening 602 inside, and the auxiliary rod 7 has a sliding opening 701 inside. The outer wall of the lead screw 16 is threadedly connected to the inner wall of the threaded opening 602. The outer wall of the guide rod 13 is slidably connected to the inner wall of the sliding opening 701. The bottom surface of the outer tube 6 is connected to the horizontal mechanism.

[0036] More specifically, when the lead screw 16 rotates, the outer tube 6 cannot rotate with the lead screw 16 due to the restriction of the connecting block 12 and the guide rod 13. Therefore, after the lead screw 16 rotates, the outer tube 6 can only move up and down, thus allowing the horizontal mechanism at the lower end of the outer tube 6 and the camera 9 to move up and down together.

[0037] like Figures 1-4 As shown, an anti-detachment block 14 is fixedly connected to the bottom surface of the guide rod 13, and the outer wall of the anti-detachment block 14 is slidably connected to the inner wall of the slide 701.

[0038] More specifically, by setting the anti-falling block 14, the guide rod 13 can be prevented from falling out of the sliding opening 701 of the auxiliary rod 7, and a pressure sensor or other contact sensor can be further arranged on the anti-falling block 14, so that an electrical signal can be triggered when the anti-falling block 14 moves to the bottom or top of the sliding opening 701, thereby stopping the lifting motor 15.

[0039] As shown in Figures 1-4 the upper surface of the outer tube 6 is provided with a first opening 601, and the bottom surface of the outer tube 6 is provided with a second opening 603, and the lifting motor 15 is located in the first opening 601, and the horizontal mechanism is located in the second opening 603.

[0040] More specifically, by setting the first opening 601 and the second opening 603, the lifting motor 15 and the horizontal mechanism can be provided with storage and support, and the appearance is also more beautiful.

[0041] As shown in Figures 1-4 the horizontal mechanism includes a horizontal motor 17 and a connecting plate 8, the outer wall of the horizontal motor 17 is fixedly connected with the inner wall of the second opening 603, the output shaft of the horizontal motor 17 is fixedly connected with the inner wall of the middle part of the connecting plate 8, and the bottom surface of the connecting plate 8 is fixedly connected with one end of the camera 9.

[0042] More specifically, when it is necessary to control the horizontal rotation of the camera 9 to realize 360° rotation monitoring, only the switch of the horizontal motor 17 needs to be turned on, and then the output shaft of the horizontal motor 17 can drive the connecting plate 8 to rotate, and then the connecting plate 8 can drive the camera 9 to rotate.

[0043] It should be particularly noted that the camera 9 is generally connected with a power line and other control lines, in order to avoid cable winding during 360° rotation, the camera 9 can only be reversely rotated after 360° rotation, and cannot continue to rotate in the same direction.

[0044] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A turning and climbing overhead track robot capable of collecting complex filling environment information, comprising a moving module (2) mounted on an overhead track body (1) and a plurality of moving wheels (3) mounted on the moving module (2), characterized in that: The bottom surface of the mobile module (2) is fixedly connected with two supporting blocks (10), the inside of the two supporting blocks (10) is connected with an inclination mechanism, the output end of the inclination mechanism is connected with an extension assembly and a lifting mechanism, the output end of the lifting mechanism is connected with the extension assembly, the other end of the extension assembly is connected with a horizontal mechanism, and the output end of the horizontal mechanism is connected with a camera (9).

2. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 1, characterized in that: The inclination mechanism comprises an inclination motor (4), a rotating block (5) and a transmission rod (11), the outer wall of the inclination motor (4) is fixedly connected with the side wall of one of the supporting blocks (10), the output shaft of the inclination motor (4) is fixedly connected with one end of the transmission rod (11), the other end of the transmission rod (11) penetrates through the two supporting blocks (10) and the rotating block (5), the outer wall of the transmission rod (11) is rotatably connected with the penetration positions of the two supporting blocks (10), the outer wall of the transmission rod (11) is fixedly connected with the penetration position of the rotating block (5), and the lower end of the rotating block (5) is connected with the extension assembly and the lifting mechanism.

3. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 2, characterized in that: The lifting mechanism comprises a lifting motor (15) and a lead screw (16), the outer wall of the lifting motor (15) is fixedly connected with the bottom surface of the rotating block (5), the output shaft of the lifting motor (15) is fixedly connected with one end of the lead screw (16), and the other end of the lead screw (16) is connected with the extension assembly.

4. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 3, characterized in that: The extension assembly comprises an outer tube (6), an auxiliary rod (7), a connecting block (12) and a guide rod (13), one end of the connecting block (12) is fixedly connected with the side wall of the lower end of the rotating block (5), the bottom surface of the other end of the connecting block (12) is fixedly connected with the upper end of the guide rod (13), the outer wall of the auxiliary rod (7) is fixedly connected with the side wall of the outer tube (6), the inner portion of the outer tube (6) is provided with a threaded opening (602), the inner portion of the auxiliary rod (7) is provided with a sliding opening (701), the outer wall of the lead screw (16) is threadedly connected with the inner wall of the threaded opening (602), the outer wall of the guide rod (13) is slidingly connected with the inner wall of the sliding opening (701), and the bottom surface of the outer tube (6) is connected with the horizontal mechanism.

5. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 4, characterized in that: The bottom surface of the guide rod (13) is fixedly connected with an anti-dropping block (14), and the outer wall of the anti-dropping block (14) is slidingly connected with the inner wall of the sliding opening (701).

6. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 4, characterized in that: The upper surface of the outer tube (6) is provided with a first opening (601), the bottom surface of the outer tube (6) is provided with a second opening (603), the lifting motor (15) is located in the first opening (601), and the horizontal mechanism is located in the second opening (603).

7. The turning and climbing overhead track robot capable of collecting complex filling environment information according to claim 6, characterized in that: The horizontal mechanism comprises a horizontal motor (17) and a connecting plate (8), the outer wall of the horizontal motor (17) is fixedly connected with the inner wall of the second opening (603), the output shaft of the horizontal motor (17) is fixedly connected with the inner wall of the middle portion of the connecting plate (8), and the bottom surface of the connecting plate (8) is fixedly connected with one end of the camera (9).

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