A hanging rail type inspection robot

Abstract

This utility model relates to a rail-mounted inspection robot, comprising a walking mechanism, a gimbal, a core housing, and a power supply housing. The walking mechanism slides on a track and includes two U-shaped frames. The bottom of the U-shaped frames is connected to the gimbal via pads. The core housing is detachably connected to one side of the track via the U-shaped frames, and the power supply housing is detachably connected to the other side of the track via the U-shaped frames. A wireless charging receiving coil is installed on the side of the core housing facing away from the track. The wireless charging receiving coil is electrically connected to a power source inside the power supply housing, and the power source is electrically connected to the motor wheel via wires. The rail-mounted inspection robot designed using this utility model can solve the problems of traditional inspection robots being generally bulky, heavy, lacking stability and inspection accuracy, having high maintenance workload and costs, and poor energy supply and information transmission efficiency.

Description

Technical Field

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

[0002] Existing inspection robots are mainly used for equipment inspection and maintenance in industries such as industry, power, and transportation. They are designed to replace manual labor in long-term, high-frequency, and hazardous inspection operations. These robots are generally equipped with functional units such as walking mechanisms, sensors, and wireless communication modules. By following preset inspection routes, they can monitor the operating status of equipment or facilities in real time, collect data, and provide fault warnings, thereby improving inspection efficiency, reducing labor intensity, and ensuring stable operation even in harsh or unsuitable environments for manual work.

[0003] However, current inspection robots have some inherent shortcomings in practical applications, mainly in structural design and maintenance management. Traditional inspection robots are generally bulky and heavy. Their complex integrated structures often require a large space in confined or special environments, and they are prone to shifting or vibrating when the center of gravity is not well controlled, thus affecting their stability and inspection accuracy. At the same time, the over-integration of key components inside the robot means that the entire machine must be disassembled for repair when a component fails, increasing maintenance workload and costs. In addition, the layout design of the wireless charging system and signal transmission device is not reasonable enough, which can easily lead to problems in energy supply and information transmission due to charging in a single area or metal obstruction. These factors combined affect the practicality and continuous operation capability of existing inspection robots.

[0004] Therefore, existing technologies have shortcomings and need to be improved and developed. Summary of the Invention

[0005] This utility model provides a rail-mounted inspection robot to address the problems of existing traditional inspection robots, which are generally bulky and heavy. Their complex integrated structure often requires a large space in confined or special environments, and they are prone to displacement or vibration when the center of gravity is not well controlled, thus affecting their stability and inspection accuracy. At the same time, the over-integration of key components inside the robot means that the whole machine must be disassembled for repair when a component fails, increasing the workload and cost of maintenance. In addition, the layout design of the wireless charging system and signal transmission device is not reasonable, which can easily lead to problems in energy supply and information transmission due to charging in a single area or metal obstruction. These factors combined affect the practicality and continuous operation capability of existing inspection robots.

[0006] This utility model embodiment provides a rail-mounted inspection robot that slides on a track. It includes a walking mechanism, a gimbal, a core housing, and a power supply housing. The walking mechanism includes a first pulley group sliding on the upper surface of the track and a second pulley group sliding on both sides of the track. The motor wheel of the walking mechanism slides on the lower surface of the track. The forward direction of the walking mechanism is defined as forward. The walking mechanism also includes two U-shaped frames located below the walking mechanism. The two ends of each U-shaped frame are symmetrical about the track. The bottom of the U-shaped frame is connected to the gimbal via a gasket. The gasket includes mounting holes and a first connecting hole, a second connecting hole, a third connecting hole, and a fourth connecting hole extending beyond the outer contour of the gasket. The gimbal is threadedly connected to the gasket through the mounting holes. The first connecting hole and the second connecting hole are located on the track. On one side of the track, the third and fourth connecting holes are located on the other side of the track. With the track as the axis of symmetry, the first and fourth connecting holes are symmetrical, and the second and third connecting holes are symmetrical. The bottom of one of the U-shaped frames is detachably connected to the front end of the walking mechanism via the first and fourth connecting holes, and the bottom of the other U-shaped frame is detachably connected to the rear end of the walking mechanism via the second and third connecting holes. The core housing is detachably connected to one side of the track via the U-shaped frame, and the power supply housing is detachably connected to the other side of the track via the U-shaped frame. A wireless charging receiving coil is installed on the side of the core housing facing away from the track. The wireless charging receiving coil is electrically connected to a power source inside the power supply housing, and the power source is electrically connected to the motor wheel via a wire.

[0007] Furthermore, the first pulley group includes two groups, each group of which includes an even number of first pulleys detachably connected to the traveling mechanism. In each group of the first pulley group, the first pulleys are arranged on the upper surface of the track with the track as the axis of symmetry. When viewed from above, the first pulley group slides on the upper surface of the track and is respectively arranged at the front and rear ends of the traveling mechanism.

[0008] Furthermore, the second pulley group includes two groups, each group of which includes an even number of second pulleys detachably connected to the traveling mechanism. The second pulleys in each group of the second pulley group are arranged on both sides of the track with the track as the axis of symmetry. When viewed from above, the two groups of the second pulley group are respectively arranged on both sides of the traveling mechanism.

[0009] Furthermore, a first connecting member is detachably connected between the first pulley and the second pulley located at the same end of the walking mechanism and on the same side of the track. The first pulley is rotatably connected to one end of the first connecting member, and when the first pulley rotates, its outer contour fits against the upper surface of the track. A first vertical rod extends parallel to the side of the track from the other end of the first connecting member. The second pulley is sleeved on the first vertical rod, and when the second pulley rotates, its outer contour fits against the side of the track. A second connecting member is detachably connected to the other end of the first vertical rod. The second connecting member is V-shaped, and the ends of two first vertical rods in the same group of second pulleys that are not connected to the first connecting member are respectively connected to one end of the second connecting member. A second vertical rod is detachably connected to the V-shaped bottom of the second connecting member, and the other end of the second vertical rod... The end is detachably connected to the bottom of the U-shaped frame located at the same end of the walking mechanism; a third connecting member is sleeved on the two second vertical rods, the third connecting member being a square frame, the structure of the third connecting member located at the front and rear ends of the walking mechanism is defined as the fourth connecting member, the structure of the third connecting member located on both sides of the motor wheel is defined as the fifth connecting member, the fourth connecting member has an opening in the middle that penetrates the upper and lower surfaces of the first rod, the second vertical rod at the same end of the walking mechanism with the fourth connecting member is located in the opening, the two fifth connecting members are parallel to each other and symmetrically arranged about the track as the axis of symmetry, the third vertical rod is set in the middle of the two fifth connecting members, and the motor wheel is rotatably connected to the third vertical rod; a spring is sleeved on the second vertical rod, one end of the spring is fixed to the bottom of the fourth connecting member, and the other end of the spring is located at the bottom of the U-shaped frame.

[0010] Furthermore, a brush is installed on the side of the first connector away from the interior of the walking mechanism, and the bristles of the brush are in contact with the track.

[0011] Furthermore, the brush makes an angle of 45° with the upper surface of the track, and the bristles have right-angled cuts. When the bristles are attached to the track, they are used to clean the upper surface and sides of the track.

[0012] Furthermore, an antenna mounting box is bolted to the top of the core housing, and several stepped clips are arranged on the top of the antenna mounting box. The 5G antenna is connected to the stepped clips through the steps at the tail of the 5G antenna.

[0013] Furthermore, a first sealing ring is fitted on the bottom of the antenna mounting box. When the antenna mounting box is connected to the top of the core housing, the first sealing ring is used to seal the gap between the antenna mounting box and the top of the core housing. A second sealing ring is fitted on the outer contour of the stepped buckle. When the 5G antenna is connected to the corresponding stepped buckle, the second sealing ring is used to seal the gap between the step and the stepped buckle.

[0014] Furthermore, a sensor mounting box is bolted to the bottom of the mechanism housing. A sensor is installed inside the sensor mounting box. The side of the sensor mounting box away from the walking mechanism is a cover. The cover is detachably connected to the body of the sensor mounting box to separate the internal and external spaces of the sensor mounting box.

[0015] Furthermore, the bottom of the power supply housing is a power supply housing cover, which is detachably connected to the power supply housing to separate the internal and external spaces of the power supply housing.

[0016] Beneficial effects:

[0017] As can be seen from the above technical solutions, this utility model provides a rail-mounted inspection robot:

[0018] 1. Small size and light weight

[0019] The core housing and power supply housing are mounted on opposite sides of the track, while the walking mechanism and gimbal adopt a symmetrical and modular layout. This design allows the entire robot to occupy only a narrow installation area, with an overall width only equal to the power supply module, significantly reducing the robot's overall size. The lightweight structure effectively reduces inertial load and improves operational flexibility when the robot operates in confined or special working environments, facilitating precise positioning and movement in complex environments.

[0020] 2. High structural stability

[0021] In the walking mechanism, the first pulley group is deployed on the upper surface of the track, the second pulley group is arranged on the side of the track, and the motor wheel is in close contact with the lower surface of the track. These three aspects form multi-point support, ensuring that the robot is evenly stressed during movement and preventing deviation or vibration caused by unilateral stress. This multi-point support and complementary design effectively solves the instability caused by friction and vibration during high-speed operation or turning, thus ensuring that the equipment remains in a balanced state and that the operation is smooth and continuous. Through the first connecting member, the first vertical rod, the second connecting member, and other connecting components, efficient linkage between the pulleys, transmission mechanism, and motor wheel is ensured through the cooperation of these components. A spring is installed on the second vertical rod to form a buffer device, effectively absorbing and dispersing the impact of external vibrations or uneven road surfaces. The flexible buffering effect of the spring ensures that the connecting components will not loosen or be damaged due to instantaneous impact when under stress, thereby enhancing the overall durability and continuous working capability of the mechanism.

[0022] 3. High operational stability

[0023] A wireless charging receiver coil is installed on the back of the robot's housing. By directly connecting it to the power source, wireless charging can be performed during robot operation without stopping or disassembling the entire robot. Furthermore, by setting multiple charging zones along the track, the robot can be charged in segments during its journey. This flexible charging strategy can quickly restore power during long trips or when the battery is low, improving overall endurance and efficiency.

[0024] 4. Low replacement and maintenance costs

[0025] The antenna mounting box is designed with a specific installation location for 5G antennas, allowing for replacement of only the antenna unit or the mounting box after antenna damage, without requiring complete disassembly. This quick-replacement design not only improves maintenance efficiency under external impacts or signal obstruction but also ensures rapid restoration of signal transmission quality in abnormal situations. The sensors are mounted at the bottom of the chassis housing and separated from the internal space by an independent cover. This allows for diagnosis and replacement of faulty sensors by disassembling only a portion of the module, avoiding time-consuming operations caused by complete disassembly and ensuring high sensor sensitivity and data accuracy in various inspection scenarios, thus meeting the stringent requirements of environmental monitoring and risk control.

[0026] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0027] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0028] The accompanying drawings are not drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0029] Figure 1 This is an exploded view of a rail-mounted inspection robot according to an embodiment of this application.

[0030] Figure 2 This is a perspective view of a rail-mounted inspection robot according to an embodiment of this application.

[0031] Figure 3 This is a schematic diagram of the walking mechanism of a rail-mounted inspection robot according to an embodiment of this application.

[0032] Figure 4 This is a schematic diagram of the structure of a pad for a rail-mounted inspection robot according to an embodiment of this application.

[0033] Explanation of icon numbers:

[0034] 1. Gimbal; 2. Mechanism housing; 3. Power supply housing; 4. Motor wheel; 5. U-shaped frame; 6. Gasket; 601. Mounting hole; 602. First connecting hole; 603. Second connecting hole; 604. Third connecting hole; 605. Fourth connecting hole; 7. First pulley; 8. Second pulley; 9. First connector; 10. First vertical rod; 11. Second connector; 12. Second vertical rod; 13. Fourth connector; 14. Spring; 15. Brush; 16. Antenna mounting box; 17. 5G antenna; 18. Sensor mounting box; 19. Box cover; 20. Power supply housing cover. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0036] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "an," "a," or "the," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding "comprising" encompasses the features, integrals, steps, operations, elements, and / or components listed following "comprising" or "including," and do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0037] In existing technologies, traditional inspection robots are generally large and heavy. Their complex integrated structure often requires a large space in confined or special environments. Furthermore, they are prone to displacement or vibration when the center of gravity is not well controlled, which affects their stability and inspection accuracy. At the same time, the over-integration of key components inside the robot means that the entire machine must be disassembled for repair when a component fails, which increases the workload and cost of maintenance. In addition, the layout design of the wireless charging system and signal transmission device is not reasonable enough, which can easily lead to problems in energy supply and information transmission due to charging in a single area or metal obstruction. These factors combined affect the practicality and continuous operation capability of existing inspection robots.

[0038] Therefore, this utility model embodiment provides a rail-mounted inspection robot that slides on a track, as shown in the reference. Figures 1-3The system includes a walking mechanism, a gimbal 1, a core housing 2, and a power supply housing 3. The walking mechanism includes a first set of 7 pulleys sliding on the upper surface of the track and a second set of 8 pulleys sliding on both sides of the track. The motor wheel 4 of the walking mechanism slides on the lower surface of the track. The forward direction of the walking mechanism is defined as forward. The walking mechanism also includes two U-shaped frames 5 located below the walking mechanism. The two ends of each U-shaped frame 5 are symmetrical about the track. The bottom of the U-shaped frame 5 is connected to the gimbal 1 through a pad 6. The pad 6 is referenced to... Figure 4 The track includes a mounting hole 601, and also includes a first connecting hole 602, a second connecting hole 603, a third connecting hole 604, and a fourth connecting hole 605 extending from the outer contour of the gasket 6. The gimbal 1 is threadedly connected to the gasket 6 through the mounting hole 601. The first connecting hole 602 and the second connecting hole 603 are located on one side of the track, and the third connecting hole 604 and the fourth connecting hole 605 are located on the other side of the track. With the track as the axis of symmetry, the first connecting hole 602 and the fourth connecting hole 605 are symmetrical, and the second connecting hole 603 and the third connecting hole 604 are symmetrical. The bottom of one of the U-shaped frames 5 The first connecting hole 602 and the fourth connecting hole 605 are detachably connected to the front end of the walking mechanism. The bottom of the other U-shaped frame 5 is detachably connected to the rear end of the walking mechanism through the second connecting hole 603 and the third connecting hole 604. The core housing 2 is detachably connected to one side of the track through the U-shaped frame 5, and the power supply housing 3 is detachably connected to the other side of the track through the U-shaped frame 5. A wireless charging receiving coil is installed on the side of the core housing 2 facing away from the track. The wireless charging receiving coil is electrically connected to the power supply inside the power supply housing 3. The power supply is electrically connected to the motor wheel 4 through a wire.

[0039] The walking mechanism comprises two sets of pulleys: a first set of 7 pulleys, mounted on the upper surface of the track, consisting of multiple detachably connected first pulleys 7. These first pulleys 7 are arranged symmetrically about the track, and are positioned at the front and rear ends of the walking mechanism when viewed from above. Their design aims to provide uniform and stable support for the robot above the track as it moves along it. A second set of 8 pulleys, mounted on both sides of the track, also consists of an even number of detachably connected second pulleys 8. The second pulleys 8 are arranged on the left and right sides of the walking mechanism according to the track's symmetry, providing auxiliary support, guidance, and ensuring sufficient traction and balance for the robot during turning or lateral movements. In addition, motor wheels 4 are provided, their outer contours fitting against the lower surface of the track. Power is provided by a drive motor, enabling the entire walking mechanism to slide stably along the track. The arrangement of the pulleys ensures balanced force on the robot and reduces vibration or misalignment caused by uneven local force distribution.

[0040] Two U-shaped frames 5 are located below the traveling mechanism. These two U-shaped frames 5 are symmetrically distributed with respect to the central axis of the track, ensuring the stability of the entire machine's center of gravity in the middle of the track. One U-shaped frame 5 is connected to the front end of the traveling mechanism, and the other is connected to the rear end of the traveling mechanism to achieve overall device balance. The bottom of each U-shaped frame 5 is connected to the gimbal 1 via a pad 6. The pad 6 has a standard mounting hole 601 and multiple connecting holes arranged along its outer contour. This arrangement ensures that the gimbal 1 can be securely connected to the pad 6 via threads. At the same time, the connecting holes are symmetrically distributed on one side of the track to achieve left-right balance of the device in different installation positions. Moreover, when certain parts need to be replaced later, independent disassembly can be achieved, reducing workload and replacement costs.

[0041] The core housing 2 and power supply housing 3 are respectively installed on opposite sides of the track, ensuring the overall center of gravity is located in the center of the track. Material selection is used to balance the weight of the core housing 2 and power supply housing 3, making the inspection robot run more smoothly. A wireless charging receiving coil is installed on the side of the core housing 2 facing away from the track; this coil is directly connected to the power supply inside the power supply housing 3 via electrical connection, thus achieving wireless charging power supply. The charging principle is based on electromagnetic induction. After current passes through the wireless charging transmitting coil installed on the track, the wireless charging transmitting coil generates a magnetic field, which in turn generates an electromotive force on the wireless charging receiving coil, thereby generating current to charge the power supply, which then provides power to the motor wheels 4. During robot operation, multiple charging areas can be set along the track to alleviate the potential problem of insufficient range caused by a single charging point.

[0042] In some embodiments, the first pulley group 7 includes two groups, each group of the first pulley group 7 including an even number of first pulleys 7 detachably connected to the walking mechanism. In each group of the first pulley group 7, the first pulleys 7 are arranged on the upper surface of the track with the track as the axis of symmetry. When viewed from above, the first pulley group 7 slides on the upper surface of the track and is respectively arranged at the front and rear ends of the walking mechanism.

[0043] In some embodiments, the second pulley group 8 includes two groups, each group of the second pulley group 8 includes an even number of second pulleys 8 detachably connected to the traveling mechanism, and the second pulleys 8 in each group of the second pulley group 8 are arranged on both sides of the track with the track as the axis of symmetry. When the track is viewed from above, the two groups of the second pulley group 8 are respectively arranged on both sides of the traveling mechanism.

[0044] The first set of seven pulleys serves as a load-bearing element, supporting the weight of the rail-mounted robot's walking mechanism and the robot's main body. The first pulleys 7 in the first set are arranged in pairs and symmetrically, overlapping the upper surface of the track to allow the rail-mounted robot's walking mechanism to hang relative to the track. The second set of eight pulleys is located on the sides of the track, with two pairs of second pulleys 8 clamping the left and right ends of the track. When the motor wheel 4 moves relative to the track on the lower surface, the second pulleys 8 on the left and right sides of the track guide the movement of the motor wheel 4 relative to the track.

[0045] In some embodiments, a first connecting member 9 is detachably connected between a first pulley 7 and a second pulley 8 located at the same end of the walking mechanism and on the same side of the track. The first pulley 7 is rotatably connected to one end of the first connecting member 9, and when the first pulley 7 rotates, its outer contour fits against the upper surface of the track. A first vertical rod 10 extends parallel to the side of the track from the other end of the first connecting member 9. The second pulley 8 is sleeved on the first vertical rod 10, and when the second pulley 8 rotates, its outer contour fits against the side of the track. A second connecting member 11 is detachably connected to the other end of the first vertical rod 10. The second connecting member 11 is V-shaped, and the ends of two first vertical rods 10 in the same group of second pulleys 8 that are not connected to the first connecting member 9 are respectively connected to one end of the second connecting member 11. A second vertical rod is detachably connected to the V-shaped bottom of the second connecting member 11, and the other end of the second vertical rod is detachably connected to... At the bottom of the U-shaped frame 5 located at the same end of the walking mechanism; a third connector is fitted on the two second vertical rods. The third connector is a square frame. The structure of the third connector located at the front and rear ends of the walking mechanism is defined as the fourth connector 12 second vertical rod; 13. The structure of the third connector located on both sides of the motor wheel 4 is defined as the fifth connector. The fourth connector 12 second vertical rod; 13 has an opening in the middle that penetrates the upper and lower surfaces of the first rod. The second vertical rod of the fourth connector 12 second vertical rod; 13 at the same end of the walking mechanism is located in the opening. The two fifth connectors are parallel to each other and symmetrically arranged with the track as the axis of symmetry. The third vertical rod is set in the middle of the two fifth connectors. The motor wheel 4 is rotatably connected to the third vertical rod. A spring 14 is fitted on the second vertical rod. One end of the spring 14 is fixed to the bottom of the fourth connector 12 second vertical rod; 13. The other end of the spring 14 is located at the bottom of the U-shaped frame 5.

[0046] The first pulley 7 is connected to the first connecting member 9 and is fixed to one end of the first connecting member 9 by a rotatable connection. When the first pulley 7 rotates, its outer contour fits against the upper surface of the track, ensuring that the pulley and the track surface maintain good contact when moving along the track, reducing wear and improving motion accuracy. A first vertical rod 10 extends from the other end of the first connecting member 9, and a second pulley 8 is fitted on this first vertical rod 10. The second pulley 8 rotates around the first vertical rod 10, and its outer contour fits against the side of the track, thereby achieving the functions of lateral support and motion guidance, enabling the robot to obtain stable adhesion when turning or subjected to lateral forces.

[0047] The other end of the first vertical rod 10 is detachably connected to a second connecting member 11 with a V-shaped structure. In the same group of second pulleys 8, the two first vertical rods 10 that are not directly connected to the first connecting member 9 are respectively connected to the two ends of the second connecting member 11, ensuring coordinated operation between the pulleys. The V-shaped design allows the second connecting member 11 to accommodate the difference in position between the two second pulleys 8, avoiding friction or loosening due to angle mismatch during motion transmission.

[0048] The bottom of the second connecting member 11 is detachably connected to a second vertical rod, the other end of which is fixed to the bottom of a U-shaped frame 5 installed at the same end. A third connecting member is fitted onto the two second vertical rods. The third connecting member has a square frame structure, forming a stable support platform. The third connecting member is further subdivided into: a fourth connecting member 12 (second vertical rod); 13 (second vertical rod); and a fifth connecting member. The fourth connecting member 12 (second vertical rod); 13 forms a structure at the front and rear ends of the traveling mechanism, used for fixing and transmitting motion; it has openings penetrating the upper and lower surfaces of the first rod, which mate with the second vertical rod located at the same end to form a tight mechanical connection. The fifth connecting member is installed on both sides of the motor wheel 4. The two fifth connecting members are paired with the track as a symmetrical axis, and are rotatably connected to the motor wheel 4 through the third vertical rod in the middle, so that the motor wheel 4 obtains stable support during driving.

[0049] A spring 14 is fitted onto the second vertical rod. One end of the spring 14 is fixed to the bottom of the second vertical rod 13 of the fourth connecting member 12, and the other end is fixed to the bottom of the U-shaped frame 5. The main function of the spring 14 is to buffer the impact force caused by uneven track or vibration, ensuring that the entire device can still maintain stable operation when subjected to external forces, and preventing excessive gaps or displacements between the connecting members, thereby improving the device's vibration resistance and service life.

[0050] In some embodiments, a brush 15 is mounted on the side of the first connector 9 away from the interior of the traveling mechanism, with the bristles of the brush 15 adhering to the corresponding track. In some embodiments, the brush 15 forms a 45° angle with the upper surface of the track, and the bristles have right-angled cuts, which are used to clean the upper surface and sides of the track when the bristles are adhering to the track.

[0051] The brush 15 installed on the first connector 9 is limited, and the angle between the brush 15 and the upper surface of the track and the cut shape of the brush bristles are designed to ensure that the brush 15 can effectively clean the track surface and sides during the sliding process, while also ensuring the tightness of the mechanical structure.

[0052] In some embodiments, an antenna mounting box 16 is bolted to the top of the housing 2. The top of the antenna mounting box 16 has several stepped clips, and the 5G antenna 17 is connected to these clips via the steps at its tail. In some embodiments, a first sealing ring is fitted onto the bottom of the antenna mounting box 16. When the antenna mounting box 16 is connected to the top of the housing 2, the first sealing ring seals the gap between the antenna mounting box 16 and the top of the housing 2. A second sealing ring is fitted onto the outer contour of the stepped clips. When the 5G antenna 17 is connected to its corresponding stepped clip, the second sealing ring seals the gap between the step and the stepped clip. The use of sealing rings further requires the antenna module to have good dust and water resistance, as well as ease of replacement.

[0053] In some embodiments, a sensor mounting box 18 is bolted to the bottom of the core housing 2. Sensors are installed inside the sensor mounting box 18. The side of the sensor mounting box 18 away from the walking mechanism is a cover 19, which is detachably connected to the body of the sensor mounting box 18 to separate the internal and external spaces of the sensor mounting box 18. In existing rail-mounted inspection robots, the sensor components are all installed inside the core housing 2. Replacing a single sensor component requires replacing and disassembling the entire housing, which is inconvenient for maintenance. Therefore, this design mounts all sensors at the bottom of the sensor mounting box 18. The cover 19 is fixed to the bottom of the sensor mounting box 18 with screws. This allows for faster sensor replacement when a sensor is found to be damaged on-site. Different sensor housings can achieve different functions. All components are modularly designed, allowing for flexible combination, installation, and replacement, facilitating production, installation, and after-sales maintenance.

[0054] In some embodiments, the bottom of the power supply housing 3 is a power supply housing cover 20, which is detachably connected to the power supply housing 3 to separate the internal and external spaces of the power supply housing 3. This design limits the power management structure of the power supply housing 3. The detachable connection of the power supply housing cover 20 is intended to simplify the maintenance and replacement steps of the power module. When the power supply needs to be replaced, it can be replaced simply by removing the power supply housing cover 20.

[0055] In summary, the rail-mounted inspection robot provided by this utility model has the following advantages: 1. Small size and light weight: The core housing 2 and power supply housing 3 are respectively installed on both sides of the track, and the walking mechanism and gimbal 1 adopt a symmetrical and modular layout. This design allows the entire machine to occupy only a narrow installation area, with an overall width only the width of the power supply module, significantly reducing the overall size of the robot. The lightweight structure enables the robot to effectively reduce inertial burden and improve operational flexibility when operating in confined or special working environments, facilitating precise positioning and movement in complex environments. 2. High structural stability: In the walking mechanism, the first set of pulleys 7 is deployed on the upper surface of the track, the second set of pulleys 8 is arranged on the side of the track, and the motor wheel 4 is in close contact with the lower surface of the track. These three aspects form multi-point support, ensuring that the robot is evenly stressed during movement and preventing deviation or vibration caused by unilateral stress. The multi-part support and complementary design effectively solves the instability caused by friction and vibration during high-speed operation or turning, thereby ensuring that the equipment is always in a balanced state and the operation is smooth and continuous. The first connecting member 9, the first vertical rod 10, and the second connecting member 11, among other connecting members, work together to ensure efficient linkage between the pulley, transmission mechanism, and motor wheel 4. A spring 14 on the second vertical rod forms a buffer device, effectively absorbing and dispersing the impact of external vibrations or uneven road surfaces. The flexible buffering effect of the spring 14 ensures that the connecting members will not loosen or be damaged due to instantaneous impacts when under stress, thereby enhancing the overall durability and continuous working capability of the mechanism. 3. High operational stability: A wireless charging receiving coil is installed on the back side of the core housing 2. Through direct electrical connection with the power supply, wireless charging can be performed without stopping and disassembling the entire robot during operation. Furthermore, by setting multiple charging areas along the track, the robot can achieve segmented charging during travel. This flexible charging strategy can quickly restore power during long journeys or when battery power is low, improving overall endurance and efficiency. 4. Low Replacement and Maintenance Costs: The antenna mounting box 16 and the 5G antenna 17 are designed with installation positions, allowing for replacement of only the antenna unit or antenna mounting box 16 after antenna damage, without requiring complete disassembly. This quick-replacement design not only improves maintenance efficiency under external impacts or signal obstruction but also ensures rapid recovery of signal transmission quality in abnormal situations. The sensor is mounted at the bottom of the core housing 2 and separated from the internal space by an independent cover 19. This allows for diagnosis and replacement of the sensor by disassembling only a portion of the module when it malfunctions, avoiding time-consuming operations caused by complete disassembly and ensuring high sensor sensitivity and data accuracy in different inspection scenarios, thus meeting the stringent requirements of environmental monitoring and risk control.

[0056] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A hanging rail inspection robot, sliding on a rail, comprising a walking mechanism, a holder, a core shell and a power supply shell, characterized in that, The traveling mechanism includes a first pulley group sliding on the upper surface of the track and a second pulley group sliding on both sides of the track. The motor wheel of the traveling mechanism slides on the lower surface of the track. The forward direction of the traveling mechanism is defined as forward. The traveling mechanism also includes two U-shaped frames located below the traveling mechanism. The two ends of each U-shaped frame are symmetrical about the track. The bottom of the U-shaped frame is connected to the gimbal via a gasket. The gasket includes mounting holes and a first connecting hole, a second connecting hole, a third connecting hole, and a fourth connecting hole extending beyond the outer contour of the gasket. The gimbal is threadedly connected to the gasket through the mounting holes. The first and second connecting holes are located on one side of the track, and the third and fourth connecting holes are located on the other side. On the other side of the track, with the track as the axis of symmetry, the first connecting hole is symmetrical to the fourth connecting hole, and the second connecting hole is symmetrical to the third connecting hole; the bottom of one of the U-shaped frames is detachably connected to the front end of the walking mechanism through the first connecting hole and the fourth connecting hole, and the bottom of the other U-shaped frame is detachably connected to the rear end of the walking mechanism through the second connecting hole and the third connecting hole. The core housing is detachably connected to one side of the track through the U-shaped frame, and the power supply housing is detachably connected to the other side of the track through the U-shaped frame; a wireless charging receiving coil is installed on the side of the core housing facing away from the track, and the wireless charging receiving coil is electrically connected to the power supply inside the power supply housing. The power supply is electrically connected to the motor wheel through a wire.

2. The overhead rail mounted inspection robot of claim 1, wherein, The first pulley group includes two groups. Each group of the first pulley group includes an even number of first pulleys that are detachably connected to the walking mechanism. In each group of the first pulley group, the first pulleys are arranged on the upper surface of the track with the track as the axis of symmetry. When viewed from above, the first pulley group slides on the upper surface of the track and is respectively arranged at the front and rear ends of the walking mechanism.

3. The overhead rail mounted inspection robot of claim 2, wherein, The second pulley group includes two groups. Each group of the second pulley group includes an even number of second pulleys detachably connected to the traveling mechanism. The second pulleys in each group of the second pulley group are arranged on both sides of the track with the track as the axis of symmetry. When viewed from above, the two groups of the second pulley group are respectively arranged on both sides of the traveling mechanism.

4. The overhead rail mounted inspection robot of claim 3, wherein, A first connecting member is detachably connected between a first pulley and a second pulley located at the same end of the traveling mechanism and on the same side of the track. The first pulley is rotatably connected to one end of the first connecting member, and when the first pulley rotates, its outer contour fits against the upper surface of the track. A first vertical rod extends parallel to the side of the track from the other end of the first connecting member. The second pulley is sleeved on the first vertical rod, and when the second pulley rotates, its outer contour fits against the side of the track. A second connecting member is detachably connected to the other end of the first vertical rod. The second connecting member is V-shaped, and the ends of two first vertical rods in the same group of second pulleys that are not connected to the first connecting member are respectively connected to one end of the second connecting member. A second vertical rod is detachably connected to the V-shaped bottom of the second connecting member, and the other end of the second vertical rod is detachably connected to... The bottom of the U-shaped frame is connected to the same end of the walking mechanism; a third connecting member is sleeved on the two second vertical rods. The third connecting member is a square frame. The structures of the third connecting member located at the front and rear ends of the walking mechanism are defined as fourth connecting members, and the structures of the third connecting member located on both sides of the motor wheel are defined as fifth connecting members. An opening penetrating the upper and lower surfaces of the first rod is opened in the middle of the fourth connecting member. The second vertical rods at the same end of the walking mechanism as the fourth connecting member are located in the opening. The two fifth connecting members are parallel to each other and symmetrically arranged about the track as the axis of symmetry. A third vertical rod is set in the middle of the two fifth connecting members, and the motor wheel is rotatably connected to the third vertical rod. A spring is sleeved on the second vertical rod. One end of the spring is fixed to the bottom of the fourth connecting member, and the other end of the spring is located at the bottom of the U-shaped frame.

5. A rail-mounted inspection robot according to claim 4, characterized in that, A brush is installed on the side of the first connector away from the interior of the walking mechanism, and the bristles of the brush are in contact with the track.

6. A rail-mounted inspection robot according to claim 5, characterized in that, The brush makes a 45° angle with the upper surface of the track, and the bristles have right-angled cuts. When the bristles are attached to the track, they are used to clean the upper surface and sides of the track.

7. A rail-mounted inspection robot according to claim 1, characterized in that, The top of the core housing is bolted to an antenna mounting box. The top of the antenna mounting box has several stepped clips. The 5G antenna is connected to the stepped clips via the steps at the tail of the 5G antenna.

8. A rail-mounted inspection robot according to claim 7, characterized in that, The bottom of the antenna mounting box is fitted with a first sealing ring. When the antenna mounting box is connected to the top of the core housing, the first sealing ring is used to seal the gap between the antenna mounting box and the top of the core housing. The outer contour of the stepped buckle is fitted with a second sealing ring. When the 5G antenna is connected to the stepped buckle, the second sealing ring is used to seal the gap between the step and the stepped buckle.

9. A rail-mounted inspection robot according to claim 1, characterized in that, The bottom of the mechanism housing is bolted to a sensor mounting box, which contains a sensor. The side of the sensor mounting box away from the walking mechanism is a cover, which is detachably connected to the body of the sensor mounting box to separate the internal and external spaces of the sensor mounting box.

10. A rail-mounted inspection robot according to claim 1, characterized in that, The bottom of the power supply housing is a power supply housing cover, which is detachably connected to the power supply housing to separate the internal and external spaces of the power supply housing.

Images