Single-track railway inspection robot

Abstract

This utility model discloses a monorail railway inspection robot, comprising a robot body, characterized in that: two parallel first slide rails are fixedly connected to both sides of the robot body, two brackets are slidably connected to the first slide rails, and limiting wheels are rotatably connected to the bottom of the brackets. A connecting rod is rotatably connected to each of the two brackets, and one end of each connecting rod is rotatably connected to a second handle. The second handle is fixedly connected to a slider, and the slider is slidably connected to the second slide rail, which is fixedly connected to the robot body; two mounting brackets are fixedly connected to the robot body, and a hub motor and a driven wheel are rotatably connected to each mounting bracket; a mechanical limiting method is used to ensure the sliding connection between the robot and the rail, fundamentally solving the problem of robot tipping over and derailing. Furthermore, the limiting component adopts a multi-link slide rail slider mechanism with a self-locking function, which facilitates the installation and removal of the robot on the track.

Description

Technical Field

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

[0002] Railway inspection is crucial for ensuring the safe and stable operation of railway transportation. Manual inspection is inefficient and requires strenuous labor. With the development of robotics technology, using robots to replace manual inspections has significantly improved efficiency and freed up manpower. However, railway inspection sections are generally far from roads, inaccessible by motor vehicles, and the deployment of inspection robots still requires manual handling. This necessitates that the robots be lightweight and easy to transport.

[0003] The existing invention patent CN118419075A, 2024.08.02, proposes a monorail walking robot for railway inspection. It uses a guide component, tilt sensor, electromagnet, etc. to ensure that the robot walks stably along the monorail. The control logic is relatively complex. Furthermore, due to the lag in the sensor-electromagnet feedback adjustment and the upper limit of the magnetic force of the electromagnet, there is still a risk of tipping over when the robot travels quickly along the monorail and turns. Utility Model Content

[0004] In view of the deficiencies in the existing technology, this utility model provides a monorail railway inspection robot to solve the existing problems.

[0005] This utility model is achieved through the following technical solution: a monorail railway inspection robot, comprising a robot body, characterized in that: two parallel first slide rails are fixedly connected to both sides of the robot body, two brackets are slidably connected to the first slide rails, a limiting wheel is rotatably connected to the bottom of the brackets, a connecting rod is rotatably connected to each of the two brackets, one end of each connecting rod is rotatably connected to a second handle, the second handle is fixedly connected to a slider, the slider is slidably connected to the second slide rail, the second slide rail is fixedly connected to the robot body; two mounting brackets are fixedly connected to the robot body, a hub motor and a driven wheel are rotatably connected to each of the two mounting brackets.

[0006] Preferably, the limiting wheel is composed of a flanged roller, and the two ends of the spring are fixedly connected between the two brackets.

[0007] Preferably, the first slide rail and the second slide rail are perpendicularly distributed, and the two ends of the first slide rail are fixedly connected to limiting blocks.

[0008] Preferably, the driven wheel is fixedly connected to the shaft of the speed encoder, and the speed encoder is fixedly connected to the mounting bracket.

[0009] Preferably, a battery is fixedly connected to the robot body, and an electronic control component and a first handle are also fixedly connected to the robot body, with a camera connected to the electronic control component.

[0010] The beneficial effects of this utility model are as follows: the mechanical limiting method ensures the sliding connection between the robot and the rail, fundamentally solving the problem of the robot tipping over and derailing. In addition, the limiting component adopts a multi-link sliding rail slider mechanism with self-locking function, which facilitates the installation and removal of the robot on the rail. Furthermore, the robot of this patent has the advantages of compact structure, light weight, and can be transported and installed by a single person. Attached Figure Description

[0011] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the main structure of this utility model;

[0014] Figure 3 This is a schematic diagram of the transmission structure of this utility model;

[0015] Figure 4 This is a schematic diagram of the right-side structure of this utility model;

[0016] Figure 5 This is a schematic diagram of the structure of this utility model from below;

[0017] Figure 6 This is a schematic diagram of the track installation of this utility model.

[0018] In the attached diagram, 1 is the support, 2 is the connecting rod, 3 is the first slide rail, 4 is the second slide rail, 5 is the camera, 6 is the electronic control component, 7 is the robot body, 8 is the first handle, 9 is the second handle, 10 is the spring, 11 is the slider, 12 is the limit wheel, 13 is the battery, 14 is the speed encoder, 15 is the hub motor, 16 is the driven wheel, and 17 is the mounting bracket. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0020] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0021] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” may be used herein to describe the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific implementation of this utility model will be described in detail below with reference to specific embodiments: such as Figures 1-6 The present invention is achieved through the following technical solution: A monorail railway inspection robot includes a robot body 7, two parallel first slide rails 3 fixedly connected to both sides of the robot body 7, two brackets 1 slidably connected to the first slide rails 3, and limit wheels 12 rotatably connected to the bottom of the brackets 1. In this embodiment, two sets of four limit wheels 12 are provided. A connecting rod 2 is rotatably connected to each of the two brackets 1. One end of the two connecting rods 2 is rotatably connected to a second handle 9. The second handle 9 is fixedly connected to a slider 11. The slider 11 is slidably connected to a second slide rail 4. The second slide rail 4 is fixedly connected to the robot body 7. The two ends of a spring 10 are fixedly connected between the two brackets 1. The spring 10 is a tension spring. The limit wheels 12 are composed of rollers with flanges. Two mounting brackets 17 are fixedly connected to the robot body 7. A hub motor 15 and a driven wheel 16 are rotatably connected to the two mounting brackets 17 respectively. Figure 1 and Figure 6 As shown, in the working state, the two limit wheels 12 are placed on both sides of the rail and connected by springs 10 to clamp the rail. The rail head is clamped by the flange. Together with the driven wheel 16 and the hub motor 15, the robot is restricted to the rail and can only move along the guide rail direction, thereby ensuring that the robot does not tip over.

[0024] like Figure 1 and Figure 4 As shown, in this embodiment, the first slide rail 3 and the second slide rail 4 are vertically distributed, and the two ends of the first slide rail 3 are fixedly connected to the limiting blocks to prevent the bracket 1 from sliding out.

[0025] like Figure 3 As shown, in this embodiment, the driven wheel 16 is fixedly connected to the shaft of the speed encoder 14, which is fixedly connected to the mounting bracket 17 and is used to record information such as the robot's driving position and speed.

[0026] like Figure 1 As shown, in this embodiment, a battery 13 is fixedly connected to the robot body 7. An electronic control component 6 and a first handle 8 are also fixedly connected to the robot body 7. A mounting base is fixedly connected to the electronic control component 6, and a camera 5 is movably connected to the mounting base. The angle of the camera 5 is adjustable. The battery 13 supplies power to the hub motor 15, the electronic control component 6, and the camera 5.

[0027] The working principle of this utility model is as follows: First handles 8 are installed at the front and rear ends of the robot body to facilitate the handling of the robot. The hub motor 5 provides power to the robot body 7. A speed encoder 14 is installed on the driven wheel 16 to record information such as the robot's position and speed. Limiting wheels 12 are installed at the front and rear ends of the robot body 7. In the working state, the two limiting wheels 12 are placed on both sides of the rail and connected by springs 10 to clamp the rail. The rail head is clamped by the flange. Together with the driven wheel 16 and the hub motor 15, the robot is restricted to the rail and can only move along the guide rail direction, thereby ensuring that the robot does not tip over.

[0028] The linkage 2 and bracket 1 mechanism has a self-locking position. When the second handle 9 is pressed to the bottom of the second slide rail 4, it can keep the two limit wheels 12 in an open state, so that the robot can be easily placed on the rail. Then, when the second handle 9 is lifted, the two limit wheels 12 will clamp the rail.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A monorail railway inspection robot comprising a robot body (7), characterized in that: The robot body (7) is fixedly connected to two parallel first slide rails (3) on both sides. Two brackets (1) are slidably connected on the first slide rails (3). The bottom of the brackets (1) is rotatably connected to a limiting wheel (12). A connecting rod (2) is rotatably connected to each of the two brackets (1). One end of the two connecting rods (2) is rotatably connected to a second handle (9). The second handle (9) is fixedly connected to a slider (11). The slider (11) is slidably connected to a second slide rail (4). The second slide rail (4) is fixedly connected to the robot body (7). Two mounting brackets (17) are fixedly connected to the robot body (7). A hub motor (15) and a driven wheel (16) are rotatably connected to the two mounting brackets (17).

2. The monorail railway inspection robot according to claim 1, characterized in that: The limiting wheel (12) is composed of a flanged roller, and the two ends of the spring (10) are fixedly connected between the two brackets (1). The spring (10) is a tension spring.

3. The monorail railway inspection robot according to claim 1, characterized in that: The first slide rail (3) and the second slide rail (4) are perpendicularly distributed, and the two ends of the first slide rail (3) are fixedly connected to the limiting blocks.

4. The monorail railway inspection robot according to claim 1, characterized in that: The driven wheel (16) is fixedly connected to the shaft of the speed encoder (14), and the speed encoder (14) is fixedly connected to the mounting bracket (17).

5. The monorail railway inspection robot according to claim 1, wherein: The robot body (7) is fixedly connected to a battery (13), and the robot body (7) is also fixedly connected to an electronic control component (6) and a first handle (8). The electronic control component (6) is connected to a camera (5).

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