Inspection robot

Abstract

A connecting mechanism is arranged above a holder, a moving mechanism is arranged above the connecting mechanism, a guide rail of the moving mechanism is sleeved with a rectangular-frame-shaped connecting frame, guide wheels I are arranged on the two sides of the connecting frame, the outer peripheries of the guide wheels I make contact with the side wall of the guide rail, connecting bases are arranged on the top faces of the guide wheels I, screw holes are formed in the connecting bases, and screw rods are arranged in the screw holes in a penetrating mode. The screw is vertically connected with the side wall of the upper beam of the connecting frame, a spring, a limiting piece and a nut are arranged on the screw, and driving mechanisms matched with each other are further arranged on the connecting frame and the guide rail. The screw, the spring, the limiting piece and the nut are arranged between the connecting frame and the guide wheel I, a gap caused by abrasion of the guide wheel I can be effectively compensated through the spring, it is guaranteed that the guide wheel I is attached to the guide rail all the time, the stable walking state can be maintained even if the guide wheel I is abraded, the shaking phenomenon of the robot in the moving process is remarkably reduced, and the service life of the robot is prolonged. The operation stability and the inspection precision of the inspection robot are improved, and the inspection robot is suitable for safety inspection of electrolytic aluminum enterprises.

Description

Technical Field

[0001] This utility model belongs to the field of inspection technology, and specifically relates to an inspection robot. Background Technology

[0002] In electrolytic aluminum enterprises, inspection work is crucial to ensuring the safe and stable operation of equipment. However, these industries often involve high-risk environments, such as power distribution rooms, switch rooms, relay protection rooms, and rectifier rooms. Manual inspection is not only inefficient but also poses significant safety hazards. In particular, the magnetic field strength in rectifier rooms is high, causing significant interference that prevents conventional electronic components from functioning properly. Manual inspection can also have certain health effects. To address this issue, indoor rail-mounted inspection robots have emerged. These robots use inverted servo-driven movement on rails and are equipped with advanced sensors and image analysis technology to achieve remote and automated monitoring of critical equipment. However, in existing inspection robots, friction between the lateral guide wheels and the rails during long-term operation leads to wear of the guide wheels, creating gaps between them. This affects the robot's stable operation, making it prone to swaying during movement and reducing inspection accuracy. Utility Model Content

[0003] The purpose of this invention is to provide an inspection robot that solves the problem that friction between the lateral guide wheel and the track causes wear on the guide wheel, which in turn creates gaps between the guide wheel and the track, affecting the stable operation of the robot.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] An inspection robot includes a gimbal and a camera and an infrared thermal imager mounted on the gimbal. A connecting mechanism is provided above the gimbal, and a moving mechanism is provided above the connecting mechanism. The moving mechanism includes a guide rail, and a rectangular frame connecting frame is fitted on the guide rail. Guide wheels I are symmetrically arranged on both sides of the connecting frame. The outer periphery of the guide wheels I contacts the side wall of the guide rail. A connecting seat is provided on the top surface of the guide wheels I. A screw hole is provided in the connecting seat, and a screw rod passes through the screw hole. The screw rod is perpendicular to and fixedly connected to the side wall of the upper beam of the connecting frame. A spring, a limiting plate, and a nut are sequentially arranged on the screw rod in the direction away from the connecting seat. The connecting frame and the guide rail are also provided with mutually cooperating drive mechanisms.

[0006] To further realize this utility model, the driving mechanism includes racks symmetrically arranged on both sides of the guide rail and gears meshing with the racks, motors symmetrically arranged on both sides of the connecting frame, the motors being mounted on the lower beam of the connecting frame, and the output end of the motors being connected to the shaft hole of the gears.

[0007] To further realize this utility model, a stabilizing mechanism is provided on the connecting frame. The stabilizing mechanism includes guide wheels II and III. Guide wheels II are located on the top of the connecting frame, and their outer periphery contacts the top surface of the guide rail. A shaft support is symmetrically arranged on the top surface of the upper beam of the connecting frame. The two ends of the shaft of guide wheel II are fixedly connected to the shaft support. Guide wheels III are respectively located on the inner sides of the four vertical rods of the connecting frame, and their shafts pass through the vertical rods. Horizontal wing plates are symmetrically arranged on both sides of the bottom surface of the guide rail, and the outer periphery of guide wheels III contacts the top surface of the horizontal wing plates. Guide wheels II are used to provide auxiliary support for the connecting frame to improve the stability of the connecting frame during movement. The four guide wheels III are evenly arranged inside the connecting frame and roll on the horizontal wing plates to improve the balance of the connecting frame during movement.

[0008] To further realize this utility model, the connecting mechanism includes a protective shell disposed outside the connecting frame. Guide rail through holes are provided at both ends of the protective shell, and the guide rails pass through these holes. From top to bottom, the bottom of the protective shell is sequentially provided with a telescopic rod, a dovetail plate, a dovetail groove plate, and an electronic component protective shell. The dovetail plate is inserted into the dovetail groove plate. A controller is disposed inside the electronic component protective shell, and a touch screen is mounted on the electronic component protective shell. The bottom of the electronic component protective shell is fixedly connected to the top of the pan-tilt unit. The controller is electrically connected to the touch screen, pan-tilt unit, camera, and infrared thermal imager, respectively. The dovetail plate and dovetail groove plate are interlocked, and the inspection unit, including the electronic component protective shell, can be removed after disassembly for easy inspection and maintenance.

[0009] To further realize this utility model, the axis of the guide wheel I overlaps with the axis of the motor's output shaft, and the axis of the guide wheel I is perpendicular to the side wall of the guide rail.

[0010] To further realize this utility model, the shaft of the guide wheel II is parallel to the top surface of the guide rail.

[0011] To further realize this utility model, the shaft of the guide wheel III is perpendicular to the side wall of the guide rail, and the guide wheel III is close to but does not contact the rack.

[0012] To further realize this utility model, a connecting shaft is provided between the connecting seat and the guide wheel I, and two screws are symmetrically arranged on the connecting seat, with the screws perpendicular to the side wall of the guide rail.

[0013] To further realize this utility model, the bottom surface of the guide rail and the bottom surface of the horizontal wing plate are on the same plane, and the top surface of the lower beam of the connecting frame is fixedly connected to the bottom surface of the guide rail and the bottom surface of the horizontal wing plate.

[0014] To further realize this utility model, fixing bolts are installed on the side wall of the dovetail groove plate.

[0015] The advantages of this utility model compared to the prior art are as follows:

[0016] This invention incorporates a screw, spring, limiting plate, and nut between the connecting frame and guide wheel I. The spring effectively compensates for the gap caused by the wear of guide wheel I, ensuring that guide wheel I always fits the guide rail. Even after guide wheel I wears out, it can maintain a stable walking state, significantly reducing the shaking phenomenon of the robot during movement and improving the running stability and inspection accuracy of the inspection robot. It is applicable to safety inspections in electrolytic aluminum enterprises. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a structural schematic diagram of the moving mechanism and the driving mechanism in this utility model (showing the top surface).

[0019] Figure 3 This is a schematic diagram of the moving mechanism and the driving mechanism in this utility model (showing the bottom surface).

[0020] Figure 4 This is a structural schematic diagram of the dovetail plate and dovetail groove plate in this utility model;

[0021] The meanings of the reference numerals in the attached diagram are as follows: 1. Pan-tilt unit; 2. Connecting mechanism; 3. Guide rail; 4. Connecting frame; 4-1. Lower beam; 4-2. Upper beam; 4-3. Vertical rod; 5. Guide wheel I; 6. Connecting seat; 7. Screw; 8. Spring; 9. Limiting plate; 10. Nut; 11. Drive mechanism; 12. Rack; 13. Gear; 14. Motor; 15. Guide wheel II; 16. Guide wheel III; 17. Shaft support; 18. Horizontal wing plate; 19. Protective shell; 20. Guide rail perforation; 21. Telescopic rod; 22. Dovetail plate; 23. Dovetail groove plate; 24. Protective shell for electronic components; 25. Touch screen; 26. Camera; 27. Infrared thermal imager; 28. Connecting shaft; 29. ​​Fixing bolt. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1-4As shown, an inspection robot includes a gimbal 1 and a camera and an infrared thermal imager mounted on the gimbal 1. A connecting mechanism 2 is arranged above the gimbal 1, and a moving mechanism is arranged above the connecting mechanism 2. The moving mechanism includes a guide rail 3, on which a rectangular frame-shaped connecting frame 4 is fitted. Guide wheels 15 are symmetrically arranged on both sides of the connecting frame 4. The outer periphery of the guide wheels 15 contacts the side wall of the guide rail 3. A connecting seat 6 is arranged on the top surface of the guide wheels 15. A connecting shaft 28 passes through the connecting seat 6 and the guide wheels 15 to connect them. Two screw holes are provided in the connecting seat 6, and screws 7 pass through the screw holes. That is, two screws 7 are symmetrically arranged on the connecting seat 6. The screws 7 are perpendicular to the side wall of the guide rail 3. The screw 7 is perpendicular to and fixedly connected to the side wall of the upper beam of the connecting frame 4. The screw 7 is sequentially provided with spring 8, limit plate 9 and nut 10 in the direction away from the connecting seat 6. The connecting frame 4 and the guide rail 3 are also provided with a driving mechanism 11 that cooperates with each other. The driving mechanism 11 includes a rack 12 symmetrically arranged on the two side walls of the guide rail 3 and a gear 13 meshing with the rack 12. Motors 14 are symmetrically arranged on both sides of the connecting frame 4. The motors 14 are arranged on the lower beam 4-1 of the connecting frame 4. The output end of the motor 14 is connected to the shaft hole of the gear 13. The axis of the guide wheel I5 overlaps with the axis of the output shaft of the motor 14. The axis of the guide wheel I5 is perpendicular to the side wall of the guide rail 3.

[0024] The connecting frame 4 is also equipped with a stabilizing mechanism, which includes guide wheel II 15 and guide wheel III 16. Guide wheel II 15 is located on the top of the connecting frame 4, and its shaft is parallel to the top surface of the guide rail 3. The outer periphery of guide wheel II 15 is in contact with the top surface of the guide rail 3. Shaft supports 17 are symmetrically arranged on the top surface of the upper beam 4-2 of the connecting frame 4. The two ends of the shaft of guide wheel II 15 are fixedly connected to the shaft supports 17. Guide wheels III 16 are respectively located on the inner side of the four vertical rods 4-3 of the connecting frame 4. The shaft of guide wheel III16 passes through the vertical rod 4-3. The shaft of guide wheel III16 is perpendicular to the side wall of guide rail 3. Guide wheel III16 is close to but does not contact rack 12. Horizontal wing plates 18 are symmetrically arranged on both sides of the bottom surface of guide rail 3. The outer periphery of guide wheel III16 contacts the top surface of horizontal wing plate 18. The bottom surface of guide rail 3 and the bottom surface of horizontal wing plate 18 are on the same plane. The top surface of the lower beam 4-1 of connecting frame 4 is fixedly connected to the bottom surface of guide rail 3 and the bottom surface of horizontal wing plate 18.

[0025] The connecting mechanism 2 includes a protective shell 19 disposed outside the connecting frame 4. The protective shell 19 has guide rail through holes 20 at both ends, and the guide rail 3 passes through the guide rail through holes 20. The bottom of the protective shell 19 is provided with a telescopic rod 21, a dovetail plate 22, a dovetail groove plate 23 and an electronic component protective shell 24 arranged sequentially from top to bottom. The dovetail plate 22 is inserted into the dovetail groove plate 23. The side wall of the dovetail groove plate 23 is provided with fixing bolts 29. The electronic component protective shell 24 is provided with a controller and a touch screen 25. The bottom of the electronic component protective shell 24 is fixedly connected to the top of the pan-tilt unit 1. The controller is electrically connected to the touch screen 25, the pan-tilt unit 1, the camera 26 and the infrared thermal imager 27 respectively.

[0026] Motor 14 drives gear 13 to rotate. Gear 13 and rack 12 work together to drive connecting frame 4 to move. During the movement of connecting frame 4, telescopic rod 21, dovetail plate 22, dovetail groove plate 23, protective shell 19, pan-tilt unit 1, infrared thermal imager 27 and camera 26 are moved. Infrared thermal imager 27 and camera 26 inspect the target area to realize production inspection of electrolytic aluminum enterprise.

Claims

1. A patrol robot comprising a holder and a camera and an infrared thermal imager arranged on the holder, characterized in that: A connecting mechanism (2) is provided above the gimbal (1), and a moving mechanism is provided above the connecting mechanism (2). The moving mechanism includes a guide rail (3), a rectangular frame connecting frame (4) is fitted on the guide rail (3), and guide wheels I (5) are symmetrically arranged on both sides of the connecting frame (4). The outer periphery of the guide wheel I (5) contacts the side wall of the guide rail (3). A connecting seat (6) is provided on the top surface of the guide wheel I (5). A screw hole is provided in the connecting seat (6), and a screw rod (7) is inserted in the screw hole. The screw rod (7) is perpendicular to and fixedly connected to the side wall of the upper beam of the connecting frame (4). A spring (8), a limiting piece (9) and a nut (10) are sequentially arranged on the screw rod (7) in a direction away from the connecting seat (6). A driving mechanism (11) that cooperates with each other is also provided on the connecting frame (4) and the guide rail (3).

2. The patrol robot of claim 1, wherein: The drive mechanism (11) includes a rack (12) symmetrically arranged on both sides of the guide rail (3) and a gear (13) meshing with the rack (12). Motors (14) are symmetrically arranged on both sides of the connecting frame (4). The motors (14) are arranged on the lower beam (4-1) of the connecting frame (4). The output end of the motor (14) is connected to the shaft hole of the gear (13).

3. The patrol robot of claim 2, wherein: The connecting frame (4) is provided with a stabilizing mechanism, which includes guide wheel II (15) and guide wheel III (16). Guide wheel II (15) is located on the top of the connecting frame (4). The outer periphery of guide wheel II (15) is in contact with the top surface of guide rail (3). Shaft support (17) is symmetrically provided on the top surface of the upper beam (4-2) of the connecting frame (4). The two ends of the shaft of guide wheel II (15) are fixedly connected to the shaft support (17). Guide wheel III (16) is respectively located on the inner side of the four vertical rods (4-3) of the connecting frame (4). The shaft of guide wheel III (16) passes through the vertical rod (4-3). Horizontal wing plates (18) are symmetrically provided on both sides of the bottom surface of guide rail (3). The outer periphery of guide wheel III (16) is in contact with the top surface of horizontal wing plate (18).

4. The patrol robot of claim 3, wherein: The connecting mechanism (2) includes a protective shell (19) set outside the connecting frame (4). The protective shell (19) has guide rail through holes (20) at both ends. The guide rail (3) passes through the guide rail through holes (20). The bottom of the protective shell (19) is provided with a telescopic rod (21), a dovetail plate (22), a dovetail groove plate (23) and an electronic component protective shell (24) in sequence from top to bottom. The dovetail plate (22) is inserted into the dovetail groove plate (23). The electronic component protective shell (24) is provided with a controller. The electronic component protective shell (24) is provided with a touch screen (25). The bottom of the electronic component protective shell (24) is fixedly connected to the top of the gimbal (1). The controller is electrically connected to the touch screen (25), the gimbal (1), the camera (26) and the infrared thermal imager (27) respectively.

5. The patrol robot of claim 4, wherein: The axis of the guide wheel I (5) overlaps with the axis of the output shaft of the motor (14), and the axis of the guide wheel I (5) is perpendicular to the side wall of the guide rail (3).

6. The patrol robot of claim 5, wherein: The shaft of the guide wheel II (15) is parallel to the top surface of the guide rail (3).

7. The patrol robot of claim 6, wherein: The shaft of the guide wheel III (16) is perpendicular to the side wall of the guide rail (3), and the guide wheel III (16) is close to but does not contact the rack (12).

8. The patrol robot of claim 7, wherein: A connecting shaft (28) is provided between the connecting seat (6) and the guide wheel I (5). Two screws (7) are symmetrically arranged on the connecting seat (6), and the screws (7) are perpendicular to the side wall of the guide rail (3).

9. The inspection robot as described in claim 8, characterized in that: The bottom surface of the guide rail (3) and the bottom surface of the horizontal wing plate (18) are on the same plane, and the top surface of the lower beam (4-1) of the connecting frame (4) is fixedly connected to the bottom surface of the guide rail (3) and the bottom surface of the horizontal wing plate (18).

10. The patrol robot of claim 9, wherein: Fixing bolts (29) are installed on the side wall of the dovetail groove plate (23).

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