A track type inspection robot

Abstract

This utility model relates to the field of inspection robot technology, and more particularly to a track-type inspection robot. It includes a suspended track and a shell. The suspended track is a fixed path for the inspection robot's movement, suspended above the factory building. A walking mechanism is installed on the inner side of the shell, an inspection system is installed at the bottom of the shell, and an upper shell is fixed to the top of the shell. The shell is connected to the suspended track via the walking mechanism. An auxiliary mechanism is also provided on the shell to assist the walking mechanism in moving along the suspended track. This utility model provides a track-type inspection robot where, through the design of the walking mechanism, the drive motor remains fixed during the robot's movement, keeping the connected wiring and control panel components fixed and preventing relative displacement of the drive motor that could lead to wiring faults.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a track-type inspection robot. Background Technology

[0002] Inspection robots are intelligent devices specifically designed for automated inspections within designated areas, and their applications are widespread. Track-based inspection robots can be categorized into two types based on their track fixing method: suspended track and ground track. Suspended track robots, installed on the ceiling of the factory building, do not affect ground space and do not interfere with technicians or other intelligent equipment, making them more widely used. In traditional track-based inspection robots, when turning or in other special situations, the two drive wheels will experience slight displacement due to the curvature of the track. This will also cause the drive motor, rigidly connected to the drive wheels via a transmission shaft, to move.

[0003] For example, Chinese utility model patent (CN210361288U) discloses a track-type inspection robot drive device. The track-type inspection robot drive device is mounted on a track and includes side plates, main drive wheels, hub motors and traveling wheels. The side plates are set on both sides of the track and have through holes. The hub motors are inserted through the through holes and the main drive wheels are fitted on the hub motors. The main drive wheels are in contact with the track. Traveling wheels are set on the top and bottom surfaces of the track respectively. The traveling wheel axle is connected between the two side plates and the traveling wheels are fitted on the traveling wheel axle.

[0004] When using the above technology, the following technical problems were found in the existing technology: When the above track-type inspection robot is in a special situation such as turning, the two main drive wheels will have a small displacement due to the curvature of the track. At this time, the motor rigidly connected to the main drive wheels through the transmission shaft will also move. To this end, we designed a track-type inspection robot to provide another technical solution to the above technical problems. Utility Model Content

[0005] Therefore, it is necessary to provide a track-type inspection robot to address the above-mentioned technical problems. Through the design of the walking mechanism, the drive motor will remain fixed during the movement of the inspection robot, so that the wiring and control panel connected to the drive motor and other components will remain fixed, avoiding the phenomenon of wiring failure caused by relative displacement of the drive motor.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A track-type inspection robot includes a suspended track and a shell. The suspended track is a fixed path for the inspection robot to move along and is suspended above the factory building. A walking mechanism is provided on the inner side of the shell, an inspection system is provided on the bottom of the shell, and an upper shell is fixed on the top of the shell. The shell is connected to the suspended track through the walking mechanism. An auxiliary mechanism is also provided on the shell to assist the walking mechanism in moving on the suspended track.

[0008] In a preferred embodiment of the track-type inspection robot provided by this utility model, the walking mechanism includes a drive motor, a reducer, a connecting component, a transmission shaft, a drive wheel, a first connecting plate, and a first fixing plate. Two drive motors are fixed to the bottom inner side of the outer shell. A reducer is fixed to the output end of the drive motor. The reducer is fixedly connected to the outer shell. A connecting component is provided at the output end of the reducer. A transmission shaft is fixed to the top of the connecting component. A drive wheel is rotatably connected to the top outer side of the transmission shaft. The drive wheel is tightly fitted to the overhead track. The first connecting plate is rotatably connected to the bottom outer side of the transmission shaft.

[0009] In a preferred embodiment of the track-type inspection robot provided by this utility model, the walking mechanism further includes a first fixed plate, a connecting rod, a sliding plate, and an end plate. The first fixed plates are fixed to both sides of the bottom of the upper end shell and are fixedly connected to the outer shell. Connecting rods are fixed to both ends of the two first fixed plates on opposite sides and are fixedly connected to the outer shell. Two sliding plates are slidably connected to both sides of the outer sides of the two connecting rods. The two sliding plates are fixedly connected to the first connecting plate located on the same side. Pre-tensioning springs are sleeved on both sides of the outer sides of the connecting rods. There are four pre-tensioning springs in total, located between two sliding plates on the same side, with both sides of the pre-tensioning springs fixedly connected to the corresponding sliding plates.

[0010] In a preferred embodiment of the track-type inspection robot provided by this utility model, the connecting assembly includes an end plate, connecting rods, and an intermediate plate. The top of the reducer output end and the bottom of the outer side of the transmission shaft are both fixed with end plates. Three connecting rods are evenly distributed and rotatably connected to the bottom of the end plate at the top end, and three connecting rods are also rotatably connected to the top of the end plate at the bottom end. An intermediate plate is rotatably connected between the six connecting rods.

[0011] In a preferred embodiment of the track-type inspection robot provided by this utility model, the auxiliary mechanism includes a second connecting plate, a connecting frame, a moving rod, a fastening nut, a fastening plate, and a load-bearing wheel. The two ends of the bottom inner side of the upper shell are fixed with the second connecting plate. The two sides of the top of the second connecting plate are slidably connected with the connecting frame. The inner sides of both sides of the second connecting plate are slidably connected with the moving rod. One end of the moving rod is fixed to the connecting frame. The outer side of the moving rod is threaded. The two sides of the outer side of the moving rod are threaded with fastening nuts. Two fastening plates are fixed at both ends of the top of the second connecting plate. The bottom of the connecting frame is located between the fastening plate and the second connecting plate. The inner side of the top of the connecting frame is rotatably connected with a load-bearing wheel, which is in contact with the suspended track.

[0012] In a preferred embodiment of the track-type inspection robot provided by this utility model, the auxiliary mechanism further includes a second fixed plate, a fixed rod, an adjusting plate, a first auxiliary wheel, an adjusting spring, and a second auxiliary wheel. A second fixed plate is fixed to one end of the top side of the connecting frame. A fixed rod is fixed to the inner side of one side of the second fixed plate. An adjusting plate is slidably connected to the outer side of the fixed rod. A first auxiliary wheel is rotatably connected to the inner side of the top of the adjusting plate. An adjusting spring is sleeved on the bottom end of the outer side of the fixed rod. The top of the adjusting spring is fixed to the adjusting plate, and the bottom of the adjusting spring is fixed to the second fixed plate. A second auxiliary wheel is fixed to the bottom of the connecting frame near the second fixed plate, and the second auxiliary wheel is in contact with the suspended track.

[0013] In a preferred embodiment of the track-type inspection robot provided by this utility model, a limiting groove is provided on the inner side of one side of the second fixed plate, and one side of the adjusting plate extends into the inner side of the limiting groove. The adjusting plate is slidably connected to the second fixed plate through the limiting groove.

[0014] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0015] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0016] This utility model provides a track-type inspection robot. Through the design of the walking mechanism, the drive motor will remain fixed during the movement of the inspection robot, so that the wiring and control panel connected to the drive motor and other components will remain fixed, avoiding the phenomenon of wiring failure due to relative displacement of the drive motor. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the connection structure between the drive motor and the reducer of this utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure between the connecting rod and the end plate of this utility model;

[0021] Figure 4 This is a schematic diagram of the connection structure between the transmission shaft and the drive wheel of this utility model;

[0022] Figure 5 This is a schematic diagram of the connection structure between the connecting rod and the intermediate disk of this utility model;

[0023] Figure 6 This is a schematic diagram of the connection structure between the second connecting plate and the fastening plate of this utility model;

[0024] Figure 7 This is a schematic diagram of the connection structure between the fastening plate and the second connecting plate of this utility model.

[0025] Figure 8 This is a schematic diagram of the connection structure between the connecting frame and the load-bearing wheel of this utility model;

[0026] Figure 9 This is a schematic diagram of the connection structure between the second fixing plate and the limiting groove of this utility model.

[0027] In the diagram: 1. Hanging rail; 2. Housing; 3. Inspection system; 4. Upper housing; 5. Drive motor; 6. Reducer; 7. Connecting assembly; 8. Drive shaft; 9. Drive wheel; 10. First connecting plate; 11. First fixing plate; 12. Connecting rod; 13. Sliding plate; 14. End plate; 15. Connecting rod; 16. Intermediate plate; 17. Preload spring; 18. Second connecting plate; 19. Connecting frame; 20. Moving rod; 21. Fastening nut; 22. Fastening plate; 23. Load-bearing wheel; 24. Second fixing plate; 25. Fixing rod; 26. Adjusting plate; 27. First auxiliary wheel; 28. Adjusting spring; 29. ​​Second auxiliary wheel; 30. Limiting groove. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0029] As described in the background art, when the above-mentioned track-type inspection robot is in a special situation such as turning, the two main drive wheels will have a small displacement due to the curvature of the track. At this time, the motor that is rigidly connected to the main drive wheels through the transmission shaft will also move.

[0030] To solve this technical problem, this utility model provides a track-type inspection robot.

[0031] For details, please refer to Figures 1-9 A track-type inspection robot specifically includes: a suspended track 1 and a shell 2. The suspended track 1 is a fixed path for the inspection robot to move along, and is suspended above the factory building. A walking mechanism is provided on the inner side of the shell 2. An inspection system 3 is provided on the bottom of the shell 2. An upper shell 4 is fixed on the top of the shell 2. The shell 2 is connected to the suspended track 1 through the walking mechanism. An auxiliary mechanism is also provided on the shell 2 to assist the walking mechanism in moving on the suspended track 1.

[0032] The present invention provides a track-type inspection robot. Through the design of the walking mechanism, the drive motor 5 will remain fixed during the movement of the inspection robot, so that the wiring and control panel connected to the drive motor 5 and other components will remain fixed, avoiding the phenomenon of wiring failure due to relative displacement of the drive motor 5.

[0033] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] Example 1

[0036] Reference Figures 1-5A track-type inspection robot includes a suspended track 1 and a shell 2. The suspended track 1 is a fixed path for the inspection robot to move along, and is suspended above the factory building. A control panel is provided on the outside of the shell 2, and the control panel is electrically connected to a drive motor 5. A walking mechanism is provided on the inside of the shell 2. An inspection system 3 is provided on the bottom of the shell 2. An upper shell 4 is fixed on the top of the shell 2. The shell 2 is connected to the suspended track 1 through the walking mechanism. An auxiliary mechanism is also provided on the shell 2 to assist the walking mechanism in moving on the suspended track 1.

[0037] The walking mechanism includes a drive motor 5, a reducer 6, a connecting component 7, a transmission shaft 8, a drive wheel 9, a first connecting plate 10, and a first fixed plate 11. Two drive motors 5 are fixed to the bottom of the inner side of the outer casing 2. The output end of the drive motor 5 is fixed with a reducer 6. The reducer 6 is fixedly connected to the outer casing 2. The output end of the reducer 6 is provided with a connecting component 7. The top of the connecting component 7 is fixed with a transmission shaft 8. The top of the outer side of the transmission shaft 8 is rotatably connected with a drive wheel 9. The drive wheel 9 is tightly fitted with the hanging rail 1. The bottom of the outer side of the transmission shaft 8 is rotatably connected with a first connecting plate 10.

[0038] The drive motor 5, reducer 6, inspection system 3, and control panel are all existing technologies. The circuits, electronic components, and modules involved are also existing technologies, which can be fully implemented by those skilled in the art, so there is no need to elaborate. The content protected by this utility model does not involve any improvement to the software and methods.

[0039] The walking mechanism also includes a first fixed plate 11, a connecting rod 12, a sliding plate 13, and an end plate 14. The first fixed plate 11 is fixed on both sides of the bottom of the upper end shell 4. The first fixed plate 11 is fixedly connected to the outer shell 2. The two ends of the two first fixed plates 11 are fixed with the connecting rod 12 on the side closest to each other. The connecting rod 12 is fixedly connected to the outer shell 2. Two sliding plates 13 are slidably connected on both sides of the outer side of the two connecting rods 12. The two sliding plates 13 are fixedly connected to the first connecting plate 10 located on the same side. Pre-tension springs 17 are sleeved on both sides of the outer side of the connecting rod 12. There are four pre-tension springs 17. The pre-tension springs 17 are located between the two sliding plates 13 on the same side. The two sides of the pre-tension springs 17 are fixedly connected to the corresponding sliding plates 13.

[0040] The connecting assembly 7 includes an end plate 14, connecting rods 15 and an intermediate plate 16. The end plate 14 is fixed at the top of the output end of the reducer 6 and at the bottom of the outer side of the transmission shaft 8. Three connecting rods 15 are evenly distributed and rotatably connected to the bottom of the top end plate 14, and three connecting rods 15 are also rotatably connected to the top of the bottom end plate 14. An intermediate plate 16 is rotatably connected between the six connecting rods 15.

[0041] Example 2

[0042] Reference Figure 2 and Figures 6-9 A track-type inspection robot has an auxiliary mechanism including a second connecting plate 18, a connecting frame 19, a moving rod 20, a fastening nut 21, a fastening plate 22, and a load-bearing wheel 23. The two ends of the bottom inner side of the upper shell 4 are fixed with the second connecting plate 18. The connecting frame 19 is slidably connected to both sides of the top of the second connecting plate 18. The moving rod 20 is slidably connected to the inner sides of both sides of the second connecting plate 18. One end of the moving rod 20 is fixed to the connecting frame 19. The outer side of the moving rod 20 is threaded. The two outer sides of the moving rod 20 are threaded with fastening nuts 21. The two ends of the top of the second connecting plate 18 are fixed with two fastening plates 22. The bottom of the connecting frame 19 is located between the fastening plate 22 and the second connecting plate 18. The load-bearing wheel 23 is rotatably connected to the inner side of the top of the connecting frame 19. The load-bearing wheel 23 is in contact with the hanging rail 1.

[0043] The auxiliary mechanism also includes a second fixed plate 24, a fixed rod 25, an adjusting plate 26, a first auxiliary wheel 27, an adjusting spring 28, and a second auxiliary wheel 29. The second fixed plate 24 is fixed to one end of the top side of the connecting frame 19. The fixed rod 25 is fixed to the inner side of one side of the second fixed plate 24. The adjusting plate 26 is slidably connected to the outer side of the fixed rod 25. The first auxiliary wheel 27 is rotatably connected to the inner side of the top of the adjusting plate 26. The adjusting spring 28 is sleeved on the bottom of the outer side of the fixed rod 25. The top of the adjusting spring 28 is fixed to the adjusting plate 26, and the bottom of the adjusting spring 28 is fixed to the second fixed plate 24. The second auxiliary wheel 29 is fixed to the bottom of the connecting frame 19 near the second fixed plate 24. The second auxiliary wheel 29 is in contact with the hanging rail 1.

[0044] A limiting groove 30 is provided on the inner side of one side of the second fixed plate 24, and one side of the adjusting plate 26 extends into the inner side of the limiting groove 30. The adjusting plate 26 is slidably connected to the second fixed plate 24 through the limiting groove 30.

[0045] The usage process of the track-type inspection robot provided by this utility model is as follows: When the inspection robot walks on the suspended track 1, the output end of the drive motor 5 is connected to the reducer 6 and drives the end plate 14 fixedly connected to the output end of the reducer 6 to rotate. The two end plates 14 are connected to the connecting rod 15 through the intermediate plate 16, so that the end plate 14 at the top drives the transmission shaft 8 fixedly connected to the end plate 14 to rotate, thus completing the entire power transmission process.

[0046] Through the design of end plate 14, connecting rod 15 and intermediate plate 16, in actual use, the two end plates 14 and connecting rod 15 in the connecting assembly 7 are connected by the intermediate plate 16. This allows the connecting rod 15 to automatically adapt to the radial offset between the two end plates 14 through its own translation and rotation. This ensures that when the drive shaft 8 connected to the end plate 14 and the output end of the reducer 6 are in special situations such as when the robot is turning, the increase in the radius of curvature of the track leads to an increase in the gap between the drive wheels 9, which in turn causes the end plate 14 that cooperates with the drive wheels 9 to have a relative displacement that does not coincide with the axis of the output end of the reducer 6. Power can still be transmitted without the need for the drive motor 5 and the connecting assembly 7 to move. The drive motor 5 will not cause failure of the connected circuits and control panel due to repeated displacement, thus improving the service life of the drive motor 5.

[0047] The drive wheel 9 is separated from the load-bearing wheel 23 by the design of the auxiliary mechanism, and each wheel is connected flexibly. This not only provides shock absorption, but also allows each wheel to return to its initial position by the elasticity of the flexible components after special actions such as turning and lifting.

[0048] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A track-mounted inspection robot, characterized in that, The system includes a suspended track (1) and a housing (2). The suspended track (1) is a fixed path for the inspection robot to move along. It is suspended above the factory building. The inner side of the housing (2) is equipped with a walking mechanism. The bottom of the housing (2) is equipped with an inspection system (3). The top of the housing (2) is fixed with an upper shell (4). The housing (2) is connected to the suspended track (1) through the walking mechanism. The housing (2) is also equipped with an auxiliary mechanism, which is used to assist the walking mechanism in moving on the suspended track (1).

2. The track-mounted inspection robot according to claim 1, characterized in that, The walking mechanism includes a drive motor (5), a reducer (6), a connecting component (7), a transmission shaft (8), a drive wheel (9), a first connecting plate (10), and a first fixing plate (11). Two drive motors (5) are fixed to the bottom of the inner side of the outer shell (2). The output end of the drive motor (5) is fixed with a reducer (6). The reducer (6) is fixedly connected to the outer shell (2). The output end of the reducer (6) is provided with a connecting component (7). The top of the connecting component (7) is fixed with a transmission shaft (8). The top of the outer side of the transmission shaft (8) is rotatably connected with a drive wheel (9). The drive wheel (9) is tightly fitted with the hanging rail (1). The bottom of the outer side of the transmission shaft (8) is rotatably connected with a first connecting plate (10).

3. The track-mounted inspection robot according to claim 2, characterized in that, The walking mechanism also includes a first fixed plate (11), a connecting rod (12), a sliding plate (13), and an end plate (14). The two sides of the bottom of the upper end shell (4) are fixed with the first fixed plate (11). The first fixed plate (11) is fixedly connected to the outer shell (2). The two ends of the two first fixed plates (11) are fixed with the connecting rod (12) on the side close to each other. The connecting rod (12) is fixedly connected to the outer shell (2). The two sides of the outer side of the two connecting rods (12) are slidably connected with two sliding plates (13). The two sliding plates (13) are fixedly connected to the first connecting plate (10) located on the same side. The two sides of the outer side of the connecting rod (12) are fitted with pre-tension springs (17). There are four pre-tension springs (17). The pre-tension springs (17) are located between the two sliding plates (13) on the same side. The two sides of the pre-tension springs (17) are fixedly connected to the corresponding sliding plates (13).

4. The track-mounted inspection robot according to claim 2, characterized in that, The connecting assembly (7) includes an end plate (14), connecting rods (15) and an intermediate plate (16). The top of the output end of the reducer (6) and the bottom of the outer side of the transmission shaft (8) are both fixed with end plates (14). Three connecting rods (15) are evenly distributed and rotatably connected to the bottom of the end plate (14) at the top end, and three connecting rods (15) are also rotatably connected to the top of the end plate (14) at the bottom end. An intermediate plate (16) is rotatably connected between the six connecting rods (15).

5. The track-mounted inspection robot according to claim 1, characterized in that, The auxiliary mechanism includes a second connecting plate (18), a connecting frame (19), a moving rod (20), a fastening nut (21), a fastening plate (22), and a load-bearing wheel (23). The two ends of the bottom inner side of the upper shell (4) are fixed with the second connecting plate (18). The connecting frame (19) is slidably connected to both sides of the top of the second connecting plate (18). The moving rod (20) is slidably connected to the inner sides of both sides of the second connecting plate (18). One end of the moving rod (20) is connected to the connecting frame (21). 19) Fixed, the outer side of the moving rod (20) is threaded, and both sides of the outer side of the moving rod (20) are threaded with fastening nuts (21). Two fastening plates (22) are fixed at both ends of the top of the second connecting plate (18). The bottom of the connecting frame (19) is located between the fastening plates (22) and the second connecting plate (18). The inner side of the top of the connecting frame (19) is rotatably connected with a load-bearing wheel (23). The load-bearing wheel (23) is in contact with the hanging rail (1).

6. The track-mounted inspection robot according to claim 5, characterized in that, The auxiliary mechanism also includes a second fixed plate (24), a fixed rod (25), an adjusting plate (26), a first auxiliary wheel (27), an adjusting spring (28), and a second auxiliary wheel (29). The second fixed plate (24) is fixed at one end of the top side of the connecting frame (19). The fixed rod (25) is fixed on the inner side of one side of the second fixed plate (24). The adjusting plate (26) is slidably connected to the outer side of the fixed rod (25). The first auxiliary wheel (27) is rotatably connected to the inner side of the top of the adjusting plate (26). The adjusting spring (28) is sleeved on the bottom of the outer side of the fixed rod (25). The top of the adjusting spring (28) is fixed to the adjusting plate (26). The bottom of the adjusting spring (28) is fixed to the second fixed plate (24). The second auxiliary wheel (29) is fixed to the bottom of the connecting frame (19) near the second fixed plate (24). The second auxiliary wheel (29) is in contact with the hanging rail (1).

7. A track-mounted inspection robot according to claim 6, characterized in that, A limiting groove (30) is provided on the inner side of one side of the second fixing plate (24), and one side of the adjusting plate (26) extends into the inner side of the limiting groove (30). The adjusting plate (26) is slidably connected to the second fixing plate (24) through the limiting groove (30).

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