Cabin rail intelligent inspection robot and mounting structure thereof

Abstract

The utility model discloses a kind of cabin hanging rail intelligent inspection robots and its mounting structure, limit auxiliary wheel system rolls and supports on hanging rail, driving gear is engaged with rack, each contact of sliding contact line power supply current collector is all with sliding contact line friction cooperation.Power motor is driven driving gear and rack on hanging rail cooperation by driving, efficient movement in cabin is realized, control precision is high, simultaneously, by adding locking gear, when it needs to lock cabin hanging rail intelligent inspection robot on hanging rail, locking gear is driven by telescopic motor and engaged with driving gear, at this time, due to driving gear is simultaneously engaged with rack and locking gear, locking reliability is extremely high, so that when guaranteeing collection and interaction system to shoot, cabin hanging rail intelligent inspection robot is always in stationary state, so as to avoid the fuzzy distortion situation of the video of shooting.

Description

Technical Field

[0001] This utility model relates to the technical field of wind turbine testing equipment, specifically to an intelligent inspection robot for nacelle rails and its installation structure. Background Technology

[0002] Because the nacelle is located high up in the wind turbine, climbing it manually is very time-consuming and laborious. To save manpower and improve the timeliness of problem detection, more and more wind turbines are adding mounting rails inside the nacelle, and using inspection robots similar to those disclosed in publication number CN308529270S on the mounting rails. By transmitting the collected video to the rear, remote inspection of the nacelle's interior can be achieved.

[0003] The rail-mounted inspection robot usually takes video recordings after it stops moving. However, the applicant found in practice that due to the large vibrations in the cabin, the rail-mounted inspection robot often makes high-frequency movements of varying degrees during the recording process, which may result in blurry and distorted videos.

[0004] Solving these problems is now a top priority. Utility Model Content

[0005] In view of this, the present invention provides an intelligent inspection robot for engine room rails and its installation structure.

[0006] The technical solution is as follows:

[0007] The first aspect of this application relates to an intelligent inspection robot for cabin rails, including a walking mechanism assembly and a data acquisition and interaction system disposed below the walking mechanism assembly. The walking mechanism assembly includes a robot shell, the upper part of which has a rail mounting interface extending in the front-to-back direction. A main mounting frame is installed in the robot shell, and a sliding contact line power current collector and a limiting auxiliary wheel system are installed on the main mounting frame, both exposed to the rail mounting interface. A drive gear and a locking gear are disposed below the limiting auxiliary wheel system. The drive gear can rotate forward or reverse under the drive of a power motor, and the locking gear is fixedly mounted on the push rod of a telescopic motor and can engage or disengage with the drive gear under the drive of the telescopic motor.

[0008] The second aspect of this application relates to an installation structure for an intelligent inspection robot for engine room rails, including a rail assembly and the aforementioned intelligent inspection robot for engine room rails. The rail assembly includes a rail adapted to a limiting auxiliary wheel system and several hangers for hoisting the rail. The limiting auxiliary wheel system is rotatably supported on the rail. A rack and a sliding contact line extending along the length of the rail are fixedly installed on the rail. The drive gear meshes with the rack, and each contact of the power current collector of the sliding contact line is in frictional engagement with the sliding contact line.

[0009] The above-mentioned intelligent inspection robot for engine room rails and its installation structure utilize a power motor that drives a drive gear to engage with a rack on the rail, enabling efficient movement within the engine room with high control precision. Furthermore, by adding a locking gear, when the robot needs to be locked to the rail, the telescopic motor drives the locking gear to mesh with the drive gear. Since the drive gear simultaneously engages with both the rack and the locking gear, the locking reliability is extremely high. This ensures that the intelligent inspection robot remains stationary while the data acquisition and interactive system is recording, thus preventing blurry or distorted video footage. Attached Figure Description

[0010] Figure 1 This is a schematic diagram showing the interaction between the intelligent inspection robot for the cabin rails and the rails and gantry from one perspective.

[0011] Figure 2 This is a schematic diagram showing the cooperative relationship between the intelligent inspection robot for the cabin rails and the rails and gantry from another perspective.

[0012] Figure 3 A structural schematic diagram of the intelligent inspection robot mounted on the cabin rail from one perspective;

[0013] Figure 4 Another structural diagram of the intelligent inspection robot mounted on the cabin rails;

[0014] Figure 5 A schematic diagram of the intelligent inspection robot for the cabin rails after part of its outer shell has been removed;

[0015] Figure 6 This is a schematic diagram showing the meshing relationship between the drive gear and the locking gear.

[0016] Figure 7 This is a schematic diagram showing the engagement relationship between the drive gear and the locking gear when they are separated. Detailed Implementation

[0017] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0018] Example 1:

[0019] like Figures 3-7 As shown, a nacelle-mounted intelligent inspection robot mainly includes a walking mechanism assembly and a data acquisition and interaction system located below the walking mechanism assembly. The walking mechanism assembly enables the nacelle-mounted intelligent inspection robot to run on the mounting rail 15, and the data acquisition and interaction system is used to collect information inside the wind turbine nacelle and enable interaction between personnel inside the nacelle and remote operators.

[0020] The walking mechanism assembly includes a robot shell 1, the upper part of which has a rail mounting interface 1a that runs through the front and rear direction. Specifically, the robot shell 1 includes a shell base 1c and a plurality of shell protective covers 1b disposed on the upper part of the shell base 1c. The shell base 1c and each shell protective cover 1b together form the rail mounting interface 1a that runs through the front and rear direction.

[0021] Several main mounting brackets 2 are installed in the robot shell 1. Each main mounting bracket 2 is fixedly installed on the top of the shell base 1c. Each main mounting bracket 2 is equipped with a sliding contact line power collector 7 and a limit auxiliary wheel system, both of which are exposed on the rail interface 1a. The sliding contact line power collector 7, also known as the power receiver, serves as the power interface for the cabin rail-mounted intelligent inspection robot. The limit auxiliary wheel system is used to reliably keep the cabin rail-mounted intelligent inspection robot on the rail 15.

[0022] Below the limiting auxiliary wheel system are a drive gear 5 and a locking gear 6. The drive gear 5 can rotate forward or reverse under the drive of the power motor 3, thereby driving the cabin rail-mounted intelligent inspection robot to run on the rail 15. In this embodiment, the power motor 3 drives the drive gear 5 through the reducer 26, thereby not only realizing the function of speed reduction and torque increase, but also improving control accuracy. At the same time, by rotating the drive gear 5 forward and reverse, the cabin rail-mounted intelligent inspection robot can move forward and backward.

[0023] The locking gear 6 is fixedly mounted on the push rod of the telescopic motor 4, and the locking gear 6 can engage or disengage with the drive gear 5 under the drive of the telescopic motor 4. Therefore, when the locking gear 6 engages with the drive gear 5, the drive gear 5 is reliably locked by the locking gear 6 and can no longer rotate; when the locking gear 6 disengages from the drive gear 5, the drive gear 5 can rotate under the drive of the power motor 3.

[0024] Furthermore, the telescopic motor 4 is mounted on the housing of the reducer 26 via the motor bracket 31, which is not only simple and reliable, but also reduces the possibility of interference when the drive gear 5 and the locking gear 6 are engaged.

[0025] Please see Figure 4 The acquisition and interaction system includes a T-shaped gimbal 8 installed below the robot shell 1. A thermal imaging camera 9 driven by the T-shaped gimbal 8 is installed on one side of the T-shaped gimbal 8, and a visible light camera 10 driven by the T-shaped gimbal 8 is installed on the other side of the T-shaped gimbal 8. Therefore, the T-shaped gimbal 8 can simultaneously adjust the rotation angle of the thermal imaging camera 9 and the visible light camera 10.

[0026] In this embodiment, the visible light camera 10 has a 20x zoom function, enabling it to clearly capture details and monitor the status of the equipment in real time. The backend then analyzes the images using intelligent recognition technology to promptly detect potential faults. The thermal imaging camera 9 can monitor abnormal temperatures of on-site equipment in real time, accurately locate heat sources, and prevent fire hazards.

[0027] Furthermore, the visible light camera 10 integrates a speaker 11 and a microphone 12. By setting up the microphone 12, on-site sound can be recorded, and the backend can then analyze the audio using intelligent algorithms. If any anomalies are detected, an alarm can be triggered in the backend. Moreover, by setting up the speaker 11 and microphone 12, real-time voice communication between personnel inside the cabin and remote personnel can be achieved, facilitating remote guidance and troubleshooting, improving communication efficiency, and ensuring timely information transmission.

[0028] Please see Figure 3 and Figure 4 Several lens fill lights 25 are installed below the lens of the visible light camera 10 to enhance image clarity in low-light environments and ensure nighttime inspection effectiveness. At the same time, several ambient lights 13 are installed on the outer wall of the robot shell 1, which not only provide supplementary ambient lighting for the visible light camera 10, effectively improving the color clarity of the video image, but also provide ambient lighting for personnel inside the cabin.

[0029] Please see Figure 1 and Figure 2 The robot's outer shell 1 has obstacle avoidance sensors 14 distributed circumferentially on its outer wall. In this embodiment, the upper part of the outer shell base 1c is provided with outer shell protective covers 1b in the front, back, left, and right directions. Each outer shell protective cover 1b is equipped with an outwardly protruding obstacle avoidance sensor 14 to accurately detect obstacles, avoid collisions, and ensure safe operation. The obstacle avoidance sensors 14 can be common sensors such as lidar, ultrasonic sensors, and infrared sensors, and can be selected according to actual needs.

[0030] Please see Figure 4 Status indicator lights 24 are installed on the outer wall of the robot shell 1, which can effectively display the operating status of the cabin rail intelligent inspection robot. If the indicator light is not lit, it means that the cabin rail intelligent inspection robot is faulty and needs maintenance.

[0031] Please see Figure 5 One of the main mounting brackets 2 houses a control board 27, which integrates multiple functional modules to precisely control various operations of the intelligent inspection robot mounted on the engine room rails. It possesses efficient data processing capabilities to ensure error-free command execution. It supports multi-sensor data fusion, optimizes path planning, and improves inspection efficiency.

[0032] Specifically, the control board 27 integrates an algorithm module, environmental sensors, an intelligent recognition module, and a GPS positioning module. The algorithm module, with its built-in intelligent algorithms, processes inspection data in real time, supports multi-task parallel processing, and ensures efficient and accurate data analysis. Through deep learning technology, the algorithm module continuously optimizes the recognition model, improving fault detection accuracy to over 95%, helping the inspection robot achieve intelligent and automated operation and maintenance, and ensuring the safe and stable operation of the equipment. The environmental sensors monitor temperature and humidity changes in real time, ensuring the equipment operates in a suitable environment and avoiding performance degradation or damage caused by abnormal temperatures and humidity. The intelligent recognition module analyzes the acquired images in real time, identifies equipment anomalies, automatically alarms, and generates reports, improving inspection efficiency and accuracy. The GPS positioning module accurately locates the robot's position, optimizes the inspection path, and ensures efficient coverage.

[0033] Furthermore, a power line communication module 28, a switch 29, and a power supply module 30 are mounted on a main mounting bracket 2.

[0034] The power line carrier communication module 28 is used to realize remote data transmission and ensure real-time information updates. The switch 29 is used to efficiently connect the various modules, ensure smooth data transmission, support multi-device collaborative work, and improve the overall stability of the system. The power supply current collector 7 connected to the sliding contact line supplies power to all modules on the intelligent inspection robot mounted on the entire cabin via the power supply module 30. The power supply module 30 ensures the normal operation of each module through stable power supply, and has overload protection and automatic recovery functions to ensure the robot's stable inspection over a long period of time.

[0035] Example 2:

[0036] Please see Figure 1 and Figure 2 An installation structure for an intelligent inspection robot mounted on a cabin rail includes a rail assembly and the intelligent inspection robot mounted on a cabin rail as described in Embodiment 1. The rail assembly includes a rail 15 adapted to a limiting auxiliary wheel system and several hangers 16 for hoisting the rail 15. The limiting auxiliary wheel system is rolled and supported on the rail 15. A rack 17 and a sliding contact line 18 extending along the length direction are fixedly installed on the rail 15. The drive gear 5 meshes with the rack 17, and each contact of the power current collector 7 of the sliding contact line is in frictional engagement with the sliding contact line 18.

[0037] Therefore, the power motor 3 drives the drive gear 5 to engage with the rack 17 on the rail 15, enabling the intelligent inspection robot on the cabin rail to move efficiently within the cabin with high control precision. At the same time, by adding a locking gear 16, when it is necessary to lock the intelligent inspection robot on the cabin rail to the rail 15, the telescopic motor 4 drives the locking gear 6 to mesh with the drive gear 5. At this time, since the drive gear 5 meshes with both the rack 17 and the locking gear 6, the locking reliability is extremely high. This ensures that the intelligent inspection robot on the cabin rail remains stationary when the acquisition and interaction system is shooting, thus avoiding blurry or distorted videos.

[0038] The mounting rail 15 includes a vertical support plate 15a fixedly connected to a corresponding hanger 16 via a mounting bracket 19, and two transverse support plates 15b symmetrically arranged on both sides of the vertical support plate 15a. The limiting auxiliary wheel system includes multiple side limiting rollers 20 with rotation axes extending vertically and multiple top and bottom support rollers 21 with rotation axes extending horizontally. The outer edge of each transverse support plate 15b is in contact with the outer peripheral surface of the multiple side limiting rollers 20, and the top and bottom surfaces of each transverse support plate 15b are in contact with the outer peripheral surfaces of the multiple top and bottom support rollers 21. This not only ensures the stable operation of the cabin-mounted intelligent inspection robot along the mounting rail 15, preventing robot swaying and improving video acquisition quality, but also prevents derailment and avoids the robot falling.

[0039] Correspondingly, the rack 17 is mounted downwardly protrudingly on the lower part of the vertical support plate 15a, and the drive gear 5 is located below the rack 17, maintaining the stability and reliability of the rack 17 and the drive gear 5. Meanwhile, the sliding contact line 18 is mounted on the side of the vertical support plate 15a near the sliding contact line power supply current collector 7, and each contact of the sliding contact line power supply current collector 7 is in frictional engagement with the sliding contact line 18, with a reasonable positioning design.

[0040] Furthermore, the sliding contact line 18 preferably uses a seamless connection, which is retractable and suitable for both straight-line and curved operation. The method of transmitting power between the sliding contact line power supply current collector 7 and the sliding contact line 18 results in low resistance, low loss, and minimal heat generation.

[0041] In this embodiment, a marker plate 22, made of metal, is installed above the rail 15 and parallel to it. The marker plate 22 is also suspended on each hanger 16. At least one proximity sensor 23 extending upwards to near the bottom surface of the marker plate 22 is installed on the main mounting frame 2. Therefore, the signal detected by the proximity sensor 23 can efficiently detect whether the cabin rail intelligent inspection robot has derailed.

[0042] Finally, it should be noted that the above description is merely a preferred embodiment of the present utility model. Those skilled in the art, under the guidance of the present utility model, can make various similar representations without departing from the spirit and claims of the present utility model, and such modifications all fall within the protection scope of the present utility model.

Claims

1. A cabin rail intelligent inspection robot, comprising a walking mechanism assembly and a collection and interaction system arranged below the walking mechanism assembly, characterized in that: The walking mechanism assembly includes a robot shell with a rail mounting interface extending through the upper part of the robot shell in the front-to-back direction. A main mounting frame is installed in the robot shell, and a sliding contact line power current collector and a limit auxiliary wheel system are installed on the main mounting frame, both exposed in the rail mounting interface. A drive gear and a locking gear are arranged below the limit auxiliary wheel system. The drive gear can rotate forward or backward under the drive of a power motor, and the locking gear is fixedly mounted on the push rod of the telescopic motor and can engage or disengage with the drive gear under the drive of the telescopic motor.

2. The cabin rail intelligent inspection robot according to claim 1, characterized in that: The acquisition and interaction system includes a T-shaped gimbal installed under the robot's shell. A thermal imaging camera driven by the gimbal is mounted on one side of the T-shaped gimbal, and a visible light camera driven by the gimbal is mounted on the other side. The visible light camera integrates a speaker and a microphone.

3. The cabin rail intelligent inspection robot according to claim 2, characterized in that: Several lens fill lights are installed below the lens of the visible light camera, and several ambient lighting lights are installed on the outer wall of the robot shell.

4. The cabin rail intelligent inspection robot according to claim 1, characterized in that: The robot's outer shell is equipped with obstacle avoidance sensors distributed circumferentially on its outer wall.

5. The cabin rail intelligent inspection robot according to claim 1, characterized in that: Status indicator lights are installed on the outer wall of the robot's shell.

6. An installation structure of a cabin hanger rail intelligent inspection robot, characterized in that: The invention includes a rail assembly and an intelligent inspection robot for the cabin rail as described in any one of claims 1-5. The rail assembly includes a rail adapted to a limiting auxiliary wheel system and several hangers for hoisting the rail. The limiting auxiliary wheel system is rotatably supported on the rail. A rack and a sliding contact line extending along the length of the rail are fixedly installed on the rail. The drive gear meshes with the rack. Each contact of the power current collector of the sliding contact line is in frictional engagement with the sliding contact line.

7. The cabin rail inspection robot mounting structure of claim 6, wherein: The hanging rail includes a vertical support plate fixedly connected to a corresponding hanger via a mounting bracket, and two transverse support plates symmetrically arranged on both sides of the vertical support plate. The limiting auxiliary wheel system includes multiple side limiting rollers with rotation axes extending vertically and multiple top and bottom support rollers with rotation axes extending horizontally. The outer edge of each transverse support plate is in contact with the outer peripheral surface of the multiple side limiting rollers, and the top and bottom surfaces of each transverse support plate are in contact with the outer peripheral surfaces of the multiple top and bottom support rollers. The rack is installed protruding downwards at the lower part of the vertical support plate, and the sliding contact line is installed on the side of the vertical support plate near the sliding contact line power supply current collector.

8. The cabin rail intelligent inspection robot mounting structure according to claim 6, characterized in that: A signboard is installed above the hanging rail and is parallel to it. The signboard is suspended on each hanger. At least one proximity sensor is installed on the main mounting frame, extending upward to near the bottom surface of the signboard.

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