Rail type inspection robot position calibration device

Abstract

The utility model discloses a rail type inspection robot position calibration device which comprises a rail, a moving block is connected to the rail in a sliding mode, an indirect plate is arranged on the side wall of the top of the rail, a mounting plate is arranged on the side, away from the moving block, of the indirect plate, and vertical telescopic rods are arranged on the side wall of the top of the moving block and close to the four corners. The output ends of the vertical telescopic rods are rotationally connected to the four corners of the bottom of the indirect plate, the side wall of the top of the indirect plate is rotationally connected with a rotating disc, and the mounting plate is detachably connected to the side wall of the top of the rotating disc. Along with the movement of the moving block, the top block can be attached to different induction pieces, so that the current position of the track can be accurately positioned through signals sent by the induction pieces, the advancing distance of the moving block can be known, and four vertical telescopic rods are started after the moving block moves to a proper position; and the equipment is adjusted to be in a horizontal state through telescopic movement of the four vertical telescopic rods.

Description

Technical Field

[0001] This utility model relates to the field of calibration structure technology for inspection robots, and specifically to a position calibration device for a track-type inspection robot. Background Technology

[0002] Inspection robots are instruments used for patrol and inspection. They move along a set route through their own walking mechanism and take pictures and inspect the environment along the way through detection components. They are also commonly used inspection equipment in tunnel and pipeline construction. Inspection robots are divided into two types: self-propelled and track-walking.

[0003] Track-walking robots have limited range of motion because they can only move along tracks. Each movement requires adjustment and positioning at a designated location to move the detection components to the inspection point. However, current robots have made redundant component designs in order to increase the adjustment range. The increase in adjustment components leads to an increase in the required control circuitry, which affects the robot's movement, size, and weight. To address this, a track-walking inspection robot position calibration device is proposed. Utility Model Content

[0004] The technical problem this invention aims to solve is that current robots, in order to increase their adjustment range, have relatively redundant component designs. The increase in adjustment components leads to an increase in the required control circuitry, which affects the robot's movement, size, and weight. This invention provides a track-type inspection robot position calibration device that can ensure smooth position adjustment with a limited number of components, while reducing the number of connecting circuits and lightening the robot's burden.

[0005] The technical solution adopted by this utility model to solve the technical problem is: a track-type inspection robot position calibration device, including a track, a movable block slidably connected on the track, an indirect plate provided on the top side wall of the track, an installation plate provided on the side of the indirect plate away from the movable block, a vertical telescopic rod provided on the top side wall of the movable block near each of the four corners, the output end of the vertical telescopic rod being rotatably connected to the four corners of the bottom of the indirect plate, a rotating disk being rotatably connected to the top side wall of the indirect plate, and the installation plate being detachably connected to the top side wall of the rotating disk.

[0006] As a preferred technical solution of this utility model, the top of the movable block and near the four corners are rotatably connected to rotating balls, and the rotating balls are omnidirectional rotating structures. The vertical telescopic rod is detachably connected to the top side wall of the rotating balls through the bottom end.

[0007] As a preferred technical solution of this utility model, a motor is detachably embedded in the middle of the top side wall of the indirect plate, the output end of the motor is detachably connected to the middle of the bottom side wall of the rotating disk, and a sliding groove is provided in the middle of the top side wall of the rotating disk.

[0008] As a preferred technical solution of this utility model, one end of the slide groove is an open structure, a transverse telescopic rod is detachably connected to one end of the slide groove, a slider is slidably connected to the slide groove, the output end of the transverse telescopic rod is detachably connected to one end side wall of the slider, and the slider is fixedly connected to the bottom side wall of the mounting plate through the top end.

[0009] As a preferred technical solution of this utility model, the opposite sidewalls of the slide groove are provided with side grooves, and the slider is fixedly connected to the sidewall opposite to the side groove with a limiting block, and the limiting block is slidably connected in the side groove.

[0010] As a preferred technical solution of this utility model, the top sidewall of the mounting plate is detachably connected to a detector, and the two sidewalls of the mounting plate that are far apart from each other are detachably inlaid with rangefinders. The two sidewalls of the track are provided with side grooves, and the inner walls of the side grooves are uniformly inlaid with sensing plates. The two sides of the opening of the side grooves are fixedly connected with baffles. The moving block is fixedly connected to the sidewall opposite to the side groove, and one end of the top block extending into the side groove is in contact with the sensing plate.

[0011] This invention has the following advantages: Because a top block is fixed inside the moving block, the top block will abut with different sensing plates as the moving block moves. In this way, the current position of the track can be accurately located through the signals sent by the sensing plates, thereby knowing the travel distance of the moving block. After moving to the appropriate position, four vertical telescopic rods are activated. The telescopic movement of the four vertical telescopic rods adjusts the device to a horizontal state. Then, the motor is started to drive the mounting plate to rotate according to the required detection direction. After rotating to the appropriate position, the horizontal telescopic rod is activated according to the distance, thereby pushing the mounting plate to move outward and shorten the distance with the detection point, thereby improving the accuracy of detection. Through the above, a comprehensive adjustment effect can be achieved with simple components, and the control circuit is reduced, ensuring the simplicity of the equipment. Attached Figure Description

[0012] Figure 1 This is a partial structural schematic diagram of a preferred embodiment of the present invention;

[0013] Figure 2 This is an exploded structural diagram of the indirect plate and the movable block according to a preferred embodiment of the present invention;

[0014] Figure 3 This is an exploded structural diagram of the mounting plate and the indirect plate of a preferred embodiment of the present invention.

[0015] Explanation of reference numerals in the attached drawings: 1. Track; 2. Side groove; 3. Sensor plate; 4. Moving block; 5. Indirect plate; 6. Mounting plate; 7. Rangefinder; 8. Detector; 9. Vertical telescopic rod; 10. Motor; 11. Rotary disk; 12. Slide; 13. Horizontal telescopic rod; 14. Slider. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Please refer to the following: Figure 1-3 This utility model discloses a track-type inspection robot position calibration device, including a track 1, a movable block 4 slidably connected on the track 1, an indirect plate 5 provided on the top side wall of the track 1, an mounting plate 6 provided on the side of the indirect plate 5 away from the movable block 4, a vertical telescopic rod 9 provided on the top side wall of the movable block 4 near each of the four corners, the output end of the vertical telescopic rod 9 being rotatably connected to the four corners of the bottom of the indirect plate 5, a rotating disk 11 being rotatably connected to the top side wall of the indirect plate 5, and the mounting plate 6 being detachably connected to the top side wall of the rotating disk 11.

[0018] The top of the movable block 4 and near its four corners are rotatably connected to rotating balls, which are omnidirectional rotating structures. The vertical telescopic rod 9 is detachably connected to the top side wall of the rotating ball through its bottom end. The motor 10 is detachably embedded in the middle of the top side wall of the indirect plate 5. The output end of the motor 10 is detachably connected to the middle of the bottom side wall of the rotating disk 11. The top side wall of the rotating disk 11 has a sliding groove 12. One end of the sliding groove 12 is an open structure. A horizontal telescopic rod 13 is detachably connected to one end of the sliding groove 12. A slider 14 is slidably connected in the sliding groove 12. The output end of the horizontal telescopic rod 13 is detachably connected to the side wall of one end of the slider 14. The slider 14 is fixedly connected to the bottom side wall of the mounting plate 6 through its top end. The opposite side walls of the sliding groove 12 are provided with side grooves. A limiting block is fixedly connected to the side wall opposite to the side groove of the slider 14, and the limiting block is slidably connected in the side groove.

[0019] The technical effects of this solution are as follows: The starting moving block 4 moves along the track 1. After moving to the designated position, the vertical telescopic rod 9 is activated. By adjusting the movement of the four vertical telescopic rods 9, the indirect plate 5 and the mounting plate 6 can be adjusted to a horizontal or inclined state, depending on the needs. Then, the motor 10 is activated to drive the rotating disk 11 and the mounting plate 6 to rotate synchronously. After adjusting the orientation of the mounting plate 6 to a suitable position, the distance is measured by the rangefinder 7. Then, the horizontal telescopic rod 13 is activated to push the mounting plate 6 along the slide groove 12, thereby reducing the distance between the detection point and improving the accuracy of the detection. Furthermore, all-round adjustment is achieved through simple components, improving the practicality and simplicity of the equipment.

[0020] The top sidewall of the mounting plate 6 is detachably connected to a detector 8. The two sidewalls of the mounting plate 6 that are far apart from each other are detachably inlaid with rangefinders 7. The two sidewalls of the track 1 are provided with side grooves 2. The inner wall of the side grooves 2 is evenly inlaid with sensing plates 3. The two sides of the opening of the side grooves 2 are fixedly connected with baffles. The moving block 4 is fixedly connected to the sidewall opposite to the side grooves 2 with a top block, and one end of the top block extending into the side grooves 2 is in contact with the sensing plates 3.

[0021] The technical effects of this solution are as follows: a top block is fixed inside the movable block 4. As the movable block 4 moves, the top block presses against different sensing plates 3, thereby determining the current position of the movable block 4 and facilitating subsequent operations by the staff. At the same time, the baffle fixed in the opening of the side groove 2 can prevent external debris from contacting the sensing plates 3 and affecting the distance judgment. The detector 8 is designed as a detachable structure, which makes it easy to replace different detection instruments according to different detection needs.

[0022] Specifically, in use of this utility model, the track 1 is first laid out, and then the moving block 4 is started to move along the track 1. The moving block 4 is driven by a cylinder, which is a mature existing technology and will not be described in detail in this application. As the moving block 4 moves, it is attached to different sensing plates 3 through the top block to determine the current position of the moving block 4. After moving to a suitable position, the movement stops. Then, as needed, the vertical telescopic rod 9 is started to adjust the horizontal state of the indirect plate 5 and the mounting plate 6. After the adjustment is completed, the motor 10 is started to drive the rotating disk 11 and the mounting plate 6 to rotate, thereby adjusting the orientation of the detector 8 on the mounting plate 6. Then, the rotating disk 11 is started in conjunction with the rangefinder 7 to push the mounting plate 6 to a suitable position, so that the detector 8 is close to the detection point, improving the detection accuracy. At the same time, when the mounting plate 6 is pushed out, it can also drive the rotating disk 11 to rotate, thereby expanding the detection coverage. After the detection is completed, the mounting plate 6 is moved back to its original position, and then the equipment can be retrieved or moved again as needed.

[0023] The above are merely preferred embodiments of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

[0024] All other parts of this utility model that are not described in detail belong to the prior art, and therefore will not be described in detail here.

[0025] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A position calibration device for a track-type inspection robot, comprising a track (1), characterized in that, A movable block (4) is slidably connected on the track (1). An indirect plate (5) is provided on the top side wall of the track (1). An installation plate (6) is provided on the side of the indirect plate (5) away from the movable block (4). A vertical telescopic rod (9) is provided on the top side wall of the movable block (4) and near the four corners. The output end of the vertical telescopic rod (9) is rotatably connected to the four corners of the bottom of the indirect plate (5). A rotating disk (11) is rotatably connected to the top side wall of the indirect plate (5). The installation plate (6) is detachably connected to the top side wall of the rotating disk (11).

2. The position calibration device for a track-type inspection robot as described in claim 1, characterized in that, The top of the movable block (4) and near the four corners are rotatably connected to rotating balls, and the rotating balls are omnidirectional rotating structures. The vertical telescopic rod (9) is detachably connected to the top side wall of the rotating balls through the bottom end.

3. The position calibration device for a track-type inspection robot as described in claim 1, characterized in that, A motor (10) is detachably embedded in the middle of the top side wall of the indirect plate (5). The output end of the motor (10) is detachably connected to the middle of the bottom side wall of the rotating disk (11). A groove (12) is provided in the middle of the top side wall of the rotating disk (11).

4. The position calibration device for a track-type inspection robot as described in claim 3, characterized in that, One end of the slide groove (12) is an open structure. A transverse telescopic rod (13) is detachably connected to one end of the slide groove (12). A slider (14) is slidably connected to the slide groove (12). The output end of the transverse telescopic rod (13) is detachably connected to one side wall of the slider (14). The slider (14) is fixedly connected to the bottom side wall of the mounting plate (6) through its top end.

5. The position calibration device for a track-type inspection robot as described in claim 4, characterized in that, The sliding groove (12) has side grooves on its opposite sidewalls. The slider (14) is fixedly connected to the sidewall opposite the side groove with a limiting block, and the limiting block is slidably connected in the side groove.

6. The position calibration device for a track-type inspection robot as described in claim 1, characterized in that, The top sidewall of the mounting plate (6) is detachably connected to a detector (8). The two sidewalls of the mounting plate (6) that are far apart from each other are detachably inlaid with rangefinders (7). The two sidewalls of the track (1) are provided with side grooves (2). The inner wall of the side groove (2) is uniformly inlaid with induction plates (3). The two sides of the opening of the side groove (2) are fixedly connected with baffles. The sidewall opposite to the side groove (2) of the moving block (4) is fixedly connected with a top block, and one end of the top block extending into the side groove (2) is in contact with the induction plate (3).

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