Rail type inspection robot

Abstract

The utility model provides a track type inspection robot, which relates to the technical field of power plant equipment and comprises a plurality of supports, a lifting plate is arranged at the tops of the supports, and a lifting track is connected among the supports; a detection tube is arranged at the bottom of the robot body, a detection head is arranged at the bottom of the detection tube, and two cameras are arranged in the detection head. According to the device, the guide assembly capable of being dynamically adjusted is matched with the track, the device can adapt to track width change or slight deformation, shaking or deviation of the inspection instrument in the moving process is effectively reduced, the positioning precision and the operation stability are improved, meanwhile, the visual assembly with the multi-angle layout is adopted, and the detection module capable of being adjusted in a lifting mode is combined; detection areas with different heights and directions are synchronously covered, visual dead angles are remarkably reduced, and the detection precision and the data integrity are improved.

Description

Technical Field

[0001] This utility model relates to the field of power plant equipment technology, specifically to a track-mounted inspection robot. Background Technology

[0002] With the rapid development of industrial automation technology, track-mounted inspection robots play an important role in equipment inspection in fields such as power, chemical, and warehousing. Traditional inspection robots typically rely on preset tracks to move and monitor equipment status by carrying sensors or cameras.

[0003] However, the core challenge for such robots lies in achieving stable movement, precise positioning, and comprehensive coverage of the inspection area in complex environments. While existing track-based robots can perform basic inspection functions, they still have certain shortcomings in practical use. Firstly, the guiding structure is often a rigid connection, making it difficult to adapt to changes in track width or slight deformation, easily causing the inspection device to shake or deviate. Secondly, traditional inspection robots typically use visual monitoring, which is prone to blind spots, resulting in poor inspection accuracy. Utility Model Content

[0004] The present invention aims to address the shortcomings of the prior art by providing a track-type inspection robot, which improves upon the defects of common inspection robots on the market, such as low positioning accuracy, easy shaking and deviation, and blind spots in monitoring.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a track-type inspection robot, comprising: multiple supports, each support having a hanging plate at its top and a hanging track connecting the supports; a robot body, the bottom of which has a detection tube, the bottom of which has a detection head, and the detection head having two cameras inside; a guiding component, located between the hanging track and the robot body, for guiding the robot body to move and thus perform roving inspections; and a drive component, located inside the robot body, for driving the detection head to move up and down to prevent blind spots in the inspection field of view.

[0006] Furthermore, the guiding component includes: guide grooves formed on both sides of the hoisting track, the bottom of the hoisting track having multiple teeth that are equidistantly distributed between each other; a guide block located on the top of the robot body, the guide block being slidably connected inside the guide grooves; and a drive motor located on the top of the robot body, one side of the drive motor being driven by a gear that meshes with the teeth.

[0007] Furthermore, the drive assembly includes: a telescopic motor located at the bottom of the robot body, with a threaded tube connected to the bottom of the telescopic motor; and an inner sleeve located at the top of the detection head, with the inner sleeve slidably connected to the detection tube, and the threaded tube and the inner sleeve being threadedly engaged.

[0008] Furthermore, telescopic motors are provided on both sides of the top of the robot body, and the ends of the telescopic motors are connected to the guide blocks, with the two guide blocks facing each other.

[0009] Furthermore, the guide block has a clamping pad on the side away from the robot body, and the clamping pad is made of sponge material.

[0010] Furthermore, limit grooves are provided on both sides of the inner wall of the detection tube, and limit blocks are provided at both ends of the inner sleeve, and the limit blocks are slidably connected to the limit grooves.

[0011] Furthermore, the two cameras are tilted relative to each other, and the angle between the two cameras is an acute angle.

[0012] This utility model provides a track-type inspection robot, which has the following advantages:

[0013] The advantages of this invention are that, through the cooperation of the dynamically adjustable guide component and the track, it can adapt to changes in track width or slight deformation, effectively reducing the shaking or deviation of the inspection instrument during movement, improving positioning accuracy and operational stability. At the same time, the use of a multi-angle layout vision component, combined with an adjustable detection module, can simultaneously cover detection areas at different heights and directions, significantly reducing blind spots and improving detection accuracy and data integrity. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a cross-sectional view of the overall structure of this utility model.

[0016] Figure 3 This is a cross-sectional view of the main structure of the robot of this utility model.

[0017] Figure 4 This is a top view of the inner sleeve structure of this utility model.

[0018] Figure 5 This is a schematic diagram of the main structure of the robot of this utility model.

[0019] Figure 6 This is a schematic diagram of the inner sleeve structure of this utility model.

[0020] Figure 1-6 In the middle: 1-Bracket; 101-Hanging plate; 102-Hanging rail; 103-Guide groove; 104-Gear; 2-Robot body; 201-Detection tube; 202-Inner sleeve; 203-Detection head; 204-Camera; 205-Telescopic motor; 206-Threaded tube; 3-Guide block; 301-Electric push rod; 302-Clamping pad; 303-Drive motor; 304-Gear. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0023] This application provides a track-mounted inspection robot. This robot, through a dynamically adjustable guide component that works in conjunction with the track, can adapt to changes in track width or slight deformations, effectively reducing swaying or deviation during movement and improving positioning accuracy and operational stability. Simultaneously, it employs a multi-angle layout of vision components, combined with an adjustable detection module, to simultaneously cover detection areas at different heights and directions, significantly reducing blind spots and improving detection accuracy and data integrity. The track-mounted inspection robot will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0024] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0025] Example 1

[0026] A track-mounted inspection robot includes: multiple supports 1, each with a hanging plate 101 on its top and a hanging track 102 connecting them; a robot body 2, with a detection tube 201 at its bottom and a detection head 203 at its bottom, the detection head 203 housing two cameras 204; a guide assembly located between the hanging track 102 and the robot body 2, used to guide the robot body 2 to move and perform roving inspections; and a drive assembly located inside the robot body 2, used to drive the detection head 203 to move up and down to prevent blind spots in the inspection field of view.

[0027] During use, the support frame 1 supports the hoisting track 102 via the top hanging plate 101, while the robot body 2 collects data via the bottom detection head 203 and camera 204. The guiding component drives the robot body 2 to move along the hoisting track 102, and the driving component adjusts the height by raising and lowering the detection head 203 to eliminate blind spots. Multiple supports 1 and the hoisting track 102 provide stable support. The guiding component and the driving component work together to achieve automated movement of the robot body 2 and expand the detection range, improving detection efficiency and coverage.

[0028] The guiding components include: guide grooves 103 on both sides of the hoisting track 102, with multiple teeth 104 at the bottom of the hoisting track 102 and the teeth 104 being equidistantly distributed among them; a guide block 3 on the top of the robot body 2, which is slidably connected inside the guide grooves 103; and a drive motor 303 on the top of the robot body 2, with a gear 304 driven and connected on one side of the drive motor 303, and the gear 304 meshing with the teeth 104.

[0029] During use, the drive motor 303 drives the gear 304 to mesh with the teeth 104 at the bottom of the hoisting track 102, pushing the robot body 2 to slide along the guide groove 103; the guide block 3 slides in the guide groove 103 to assist in guidance, and the meshing of the gear 304 with the teeth 104 ensures the movement accuracy. The guide groove 103 and the guide block 3 provide double limit to prevent the robot body 2 from deviating.

[0030] Among them, telescopic motors 205 are provided on both sides of the top of the robot body 2. The ends of the telescopic motors 205 are connected to the guide blocks 3, and the two guide blocks 3 are arranged opposite each other.

[0031] During use, the telescopic motor 205 extends and retracts to adjust the clamping force of the guide block 3 in the guide groove 103. The opposing guide block 3 can adapt to changes in track width. The telescopic motor 205 dynamically adjusts the clamping force to enhance the stability of the robot body 2 under different track conditions.

[0032] The guide block 3 has a clamping pad 302 on the side away from the robot body 2. The clamping pad 302 is made of sponge material. During use, the clamping pad 302 contacts the inner wall of the guide groove 103. The elastic deformation of the sponge material buffers the vibration, thereby reducing the frictional wear between the guide block 3 and the guide groove 103, reducing noise and extending the component life.

[0033] Example 2

[0034] Based on Embodiment 1, the drive assembly includes: a telescopic motor 205 located at the bottom of the robot body 2, with a threaded tube 206 connected to the bottom of the telescopic motor 205; an inner sleeve 202 located at the top of the detection head 203, with the inner sleeve 202 slidably connected to the detection tube 201, and the threaded tube 206 threadedly engaged with the inner sleeve 202.

[0035] During use, the telescopic motor 205 drives the threaded tube 206 to rotate, which engages with the thread of the inner sleeve 202 to move the detection head 203 up and down; the inner sleeve 202 slides inside the detection tube 201, and precise lifting control is achieved through threaded transmission to ensure that the height of the detection head 203 is adjustable to cover different detection areas.

[0036] The detection tube 201 has limit grooves on both sides of its inner wall, and the inner sleeve 202 has limit blocks at both ends. The limit blocks are slidably connected to the limit grooves. During use, the limit blocks of the inner sleeve 202 slide along the limit grooves of the detection tube 201, restricting the inner sleeve 202 to move only along the axial direction, thereby preventing the inner sleeve 202 from rotating and deviating, and improving the stability of the detection head 203 lifting and lowering.

[0037] The two cameras 204 are tilted relative to each other, and the angle between the two cameras 204 is an acute angle. By installing the two cameras 204 at an acute angle, detection data from different angles can be collected simultaneously, thereby expanding the field of view of a single detection, reducing blind spots and improving image stitching efficiency.

[0038] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0039] The above provides a detailed description of a track-type inspection robot provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. 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 of the technical features. These 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 application.

Claims

1. A track-mounted inspection robot, characterized in that, include: Multiple supports (1), each of the multiple supports (1) is equipped with a hanging plate (101) on its top, and the multiple supports (1) are connected by a hoisting rail (102); The robot body (2) has a detection tube (201) at the bottom and a detection head (203) at the bottom of the detection tube (201). The detection head (203) has two cameras (204) inside. A guiding component is provided between the hoisting track (102) and the robot body (2) to drive and guide the robot body (2) to move, thereby performing roving inspections; and A drive component is located inside the robot body (2) and is used to drive the detection head (203) to move up and down to prevent blind spots in the detection field of view.

2. The track-mounted inspection robot according to claim 1, characterized in that, The boot component includes: Guide grooves (103) are provided on both sides of the hoisting rail (102), and the bottom of the hoisting rail (102) is provided with a plurality of teeth (104), and the plurality of teeth (104) are evenly distributed among each other; A guide block (3) is provided on the top of the robot body (2), and the guide block (3) is slidably connected inside the guide groove (103); A drive motor (303) is provided on the top of the robot body (2). A gear (304) is driven and connected to one side of the drive motor (303), and the gear (304) and the teeth (104) are meshed with each other.

3. The track-mounted inspection robot according to claim 1, characterized in that, The driving component includes: A telescopic motor (205) is provided at the bottom of the robot body (2), and a threaded pipe (206) is connected to the bottom of the telescopic motor (205); An inner sleeve (202) is provided on the top of the detection head (203), the inner sleeve (202) is slidably connected to the detection tube (201), and the threaded tube (206) is threadedly engaged with the inner sleeve (202).

4. The track-mounted inspection robot according to claim 2, characterized in that, The robot body (2) has telescopic motors (205) on both sides of its top. The ends of the telescopic motors (205) are connected to the guide blocks (3), and the two guide blocks (3) are arranged opposite to each other.

5. The track-mounted inspection robot according to claim 2, characterized in that, The guide block (3) has a clamping pad (302) on the side away from the robot body (2), and the clamping pad (302) is made of sponge material.

6. The track-mounted inspection robot according to claim 3, characterized in that, Limiting grooves are provided on both sides of the inner wall of the detection tube (201), and limiting blocks are provided at both ends of the inner sleeve (202), and the limiting blocks are slidably connected to the limiting grooves.

7. The track-mounted inspection robot according to claim 1, characterized in that, The two cameras (204) are tilted relative to each other, and the included angle between the two cameras (204) is an acute angle.

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