A track positioning device for a patrol robot

Abstract

The utility model discloses a kind of track positioning devices of inspection robot, it is related to inspection robot technical field.The utility model includes track main part, the top of track main part is provided with mounting groove, the inner chamber of mounting groove is provided with positioning mechanism, the positioning mechanism includes electric push rod, the bottom of electric push rod is fixedly connected with mounting groove.The utility model drives reset plate to drive positioning column action by electric push rod, effectively reduce the response delay brought by mechanical transmission link, spring sleeve provides stable support for reset plate, buffering can also be formed in the process of positioning column plugging, extend device service life, infrared sensor can detect the position state of inspection mechanism in real time, provide reliable basis for the triggering of positioning action, avoid the situation of positioning deviation, effectively solve the problems of slow positioning response, insufficient stability, easy to wear in prior art.

Description

Technical Field

[0001] This utility model belongs to the field of inspection robot technology, and in particular relates to an inspection robot track positioning device. Background Technology

[0002] With the rapid development of automation technology, traditional manual inspection methods, due to their low efficiency, high labor intensity, and susceptibility to human factors affecting inspection accuracy, are no longer sufficient to meet the inspection needs of modern scenarios. Against this backdrop, inspection robots have emerged, among which track-based inspection robots, with their advantages of fixed operating paths, high operational stability, and controllable coverage, are widely used in various scenarios.

[0003] A Chinese patent application with publication number CN221743719U discloses a positioning auxiliary device for aquaculture inspection robots. The device includes a track frame and a positioning component comprising a connecting frame placed on top of the frame. The connecting frame has a connecting groove, and a servo motor is mounted on the outside of the connecting frame. The output end of the servo motor is connected to a drive gear. A threaded screw is rotatably connected within the connecting groove. A driven gear, meshing with the drive gear, is connected to the bottom of the threaded screw. A threaded seat is threadedly connected to the outside of the threaded screw. Supports are connected to the ends of two sets of guide seats. The bottom end of the support engages with a slot. The servo motor acts as a power source, driving a linkage gear set to rotate, causing the threaded seat to step along the outside of the threaded screw, changing the height of the support. Through the engagement of the support and the slot, the robot's position is assisted in positioning, effectively preventing the robot from shifting off the track frame due to external forces during positioning and detection.

[0004] The aforementioned device uses a transmission structure consisting of a servo motor, gear set, and screw thread to achieve positioning. The transmission path is relatively long, and there are mechanical frictions and clearances between the components, which can lead to a significant delay in the positioning response. This makes it difficult to meet the rapid positioning requirements of the inspection robot. Furthermore, long-term wear of the gears and threads can further amplify the positioning accuracy deviation and affect the reliability of the positioning.

[0005] To address this issue, we provide a trajectory positioning device for inspection robots. Utility Model Content

[0006] The purpose of this utility model is to provide a track positioning device for inspection robots. By cooperating with the mounting slot and the positioning mechanism, it solves the problem that the positioning device in the prior art uses a complex transmission structure to realize the positioning action, which results in a significant delay in the positioning action response and makes it difficult to meet the operation requirements of rapid positioning of inspection robots.

[0007] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution.

[0008] This utility model relates to a track positioning device for an inspection robot, comprising a track body with an installation groove at its top. A positioning mechanism is installed within the inner cavity of the installation groove, including an electric push rod. The bottom of the electric push rod is fixedly connected to the installation groove. Spring sleeves are fixedly connected to both sides of the bottom of the inner cavity of the installation groove, and a reset plate is fixedly connected to the top of each spring sleeve. The bottom of the reset plate contacts the electric push rod, and positioning posts are fixedly connected to the four corners of the top of the reset plate. A groove is formed at the bottom of the track body, and an infrared sensor is fixedly connected to the inner cavity of the groove. The electric push rod directly contacts the reset plate, driving its lifting and lowering, reducing potential errors and delays in intermediate transmission links. This allows for rapid response of the positioning post's lifting and lowering action, quickly achieving positioning or unlocking. The spring sleeves not only provide stable support for the reset plate, preventing uneven force and tilting, but also act as a buffer during the lifting and lowering of the reset plate, reducing mechanical impact when the positioning post engages with the corresponding structure of the inspection robot, thus reducing component wear. The infrared sensor detects the real-time position of the inspection robot, triggering the positioning mechanism in a timely manner to avoid premature or delayed positioning.

[0009] The present invention is further configured such that an inspection mechanism is slidably connected to the surface of the track body. The inspection mechanism includes a movable frame, and positioning holes for use with positioning posts are provided at the four corners of the top of the movable frame. Movable wheels are provided on both sides of the inner cavity of the movable frame, and one side of the movable wheel contacts the track body. The robot body is fixedly connected to the bottom of the movable frame. The use of positioning holes and positioning posts ensures that the movable frame and the track body are quickly fixed after the positioning post is inserted into the positioning hole, thus preventing the inspection robot from shifting during operation. The provision of movable wheels greatly reduces the frictional resistance between the movable frame and the track body, reduces power loss, and improves operating efficiency.

[0010] The present invention is further configured such that an oil storage tank is provided in the inner cavity of the track body, and a compression spring is provided through the inner cavity of the oil storage tank. A sealing block is fixedly connected to both sides of the compression spring, and the side of the sealing block away from the compression spring extends to the outside of the track body. The compression spring drives the sealing block to seal the oil outlet of the oil storage tank. When the moving wheel moves, it squeezes the sealing block, and the sealing block squeezes the compression spring, thereby releasing the seal on the oil outlet. At the same time, the lubricating oil inside the oil storage tank is discharged through the oil outlet of the oil storage tank, achieving a self-lubricating effect.

[0011] The present invention is further configured such that monitors are fixedly connected to both sides of the robot body. The monitors are symmetrically arranged, and the two sets of monitors can expand the inspection field of view, realize comprehensive monitoring of both sides of the track and the surrounding environment, and avoid blind spots in the inspection.

[0012] The present invention is further configured such that there are four positioning posts, which are adapted to the positioning holes. The arrangement of the four positioning posts and their adaptation to the positioning holes ensures that the force points during positioning are evenly distributed on the moving frame, thereby guaranteeing the stability of the moving frame's positioning. The present invention is further configured such that a sealing gasket is fitted on one side of the sealing block, and one side of the sealing gasket is in contact with the inner wall of the oil storage tank. The sealing gasket enhances the sealing performance of the oil storage tank, effectively preventing the lubricating oil in the oil storage tank from leaking due to poor sealing, and ensuring that the lubricating oil can continuously provide lubrication for the sliding parts.

[0013] The present invention is further provided that both sides of the bottom of the track body are provided with sliding grooves, the top of the sliding grooves are slidably connected to the inner wall of the movable frame, and the sliding grooves play a certain limiting role for the movable frame to prevent the movable frame from detaching from the track body.

[0014] The present invention is further configured such that the infrared sensors are evenly distributed along the length of the track body, and the infrared sensors can achieve full position detection coverage of the track body, ensuring that the inspection robot can be detected at any preset inspection point on the track body.

[0015] The present invention has the following beneficial effects.

[0016] 1. This utility model uses an electric push rod to drive the reset plate and move the positioning column, which effectively reduces the response delay caused by the mechanical transmission link. The spring sleeve provides stable support for the reset plate and can also form a buffer during the insertion and removal of the positioning column, extending the service life of the device. The infrared sensor can detect the position status of the inspection mechanism in real time, providing a reliable basis for triggering the positioning action and avoiding positioning deviation. It effectively solves the problems of slow positioning response, insufficient stability and easy wear in the prior art.

[0017] 2. This utility model reduces friction loss during sliding by using a sliding fit between the moving wheel and the main track body, combined with the lubrication of the lubricating oil in the oil storage tank. The fit between the sealing block and the sealing gasket prevents lubricating oil leakage and the entry of debris, ensuring the long-term stable operation of the sliding mechanism. The monitoring device enables real-time monitoring of the inspection process, improving the safety of the inspection operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0019] Figure 1 This is a three-dimensional diagram of a track positioning device for an inspection robot.

[0020] Figure 2 This is a rear-view perspective view of a track positioning device for an inspection robot.

[0021] Figure 3 This is a bottom-view perspective view of a track positioning device for an inspection robot.

[0022] Figure 4 This is a three-dimensional view of the positioning mechanism in a track positioning device for an inspection robot.

[0023] Figure 5 This is a three-dimensional view of the inspection mechanism in a track positioning device for an inspection robot.

[0024] Figure 6 This is a three-dimensional view of a sealing block and its connecting structure in a track positioning device for an inspection robot.

[0025] In the attached diagram: 1. Track body; 2. Mounting groove; 3. Positioning mechanism; 31. Electric push rod; 32. Spring sleeve; 33. Reset plate; 34. Positioning column; 35. Groove; 36. Infrared sensor; 4. Inspection mechanism; 41. Moving frame; 42. Positioning hole; 43. Moving wheel; 44. Robot body; 5. Oil storage tank; 6. Compression spring; 7. Sealing block; 8. Monitor; 9. Sealing gasket; 10. Slide groove. Detailed Implementation

[0026] The technical solutions of the present utility model will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] Please see Figure 1-6 This utility model is a track positioning device for an inspection robot, including a track body 1. An oil storage tank 5 is formed in the inner cavity of the track body 1. A compression spring 6 is inserted through the inner cavity of the oil storage tank 5. Sealing blocks 7 are fixedly connected to both sides of the compression spring 6. The side of the sealing block 7 away from the compression spring 6 extends to the outside of the track body 1. A sealing gasket 9 is fitted onto one side of the sealing block 7, and one side of the sealing gasket 9 is in contact with the inner wall of the oil storage tank 5. Sliding grooves 10 are formed on both sides of the bottom of the track body 1. The top of the sliding groove 10 is slidably connected to the inner wall of the moving frame 41. An installation groove 2 is formed on the top of the track body 1. The inner cavity of the installation groove 2 is... There is a positioning mechanism 3, which includes an electric push rod 31. The bottom of the electric push rod 31 is fixedly connected to the mounting groove 2. Spring sleeves 32 are fixedly connected to both sides of the bottom of the mounting groove 2. A reset plate 33 is fixedly connected to the top of the spring sleeves 32. The bottom of the reset plate 33 is in contact with the electric push rod 31. Positioning posts 34 are fixedly connected to the four corners of the top of the reset plate 33. There are four positioning posts 34, which are adapted to the positioning holes 42. A groove 35 is opened at the bottom of the track body 1. An infrared sensor 36 is fixedly connected to the inner cavity of the groove 35. The infrared sensors 36 are evenly distributed along the length direction of the track body 1.

[0028] Specifically: the electric push rod 31 directly contacts the reset plate 33 to drive its lifting and lowering, reducing the errors and delays that may be caused by intermediate transmission links, making the lifting and lowering action of the positioning column 34 respond quickly and achieve positioning or unlocking rapidly. The spring sleeve 32 not only provides stable support for the reset plate 33, preventing the reset plate 33 from tilting due to uneven force, but also plays a buffering role during the lifting and lowering of the reset plate 33, reducing the mechanical impact when the positioning column 34 cooperates with the corresponding structure of the inspection robot, reducing component wear. The infrared sensor 36 detects the real-time position of the inspection robot and triggers the positioning mechanism 3 in a timely manner to avoid positioning too early or too late. The compression spring 6 drives the sealing block 7 to seal the oil outlet of the oil storage tank 5. When the moving wheel 43 moves, it squeezes the sealing block 7, and the sealing block 7 squeezes... The compression spring 6 releases the seal on the oil outlet, allowing the lubricating oil inside the oil reservoir 5 to be discharged through the oil outlet, achieving a self-lubricating effect. The four positioning pins 34 are matched with the positioning holes 42, ensuring that the force points during positioning are evenly distributed on the moving frame 41, thus guaranteeing the stability of the moving frame 41's positioning. The sealing gasket 9 enhances the sealing performance of the oil reservoir 5, effectively preventing leakage of lubricating oil in the oil reservoir 5 due to poor sealing, and ensuring that the lubricating oil can continuously provide lubrication for the sliding parts. The slide groove 10 provides a certain limiting effect on the moving frame 41, preventing the moving frame 41 from detaching from the track body 1. The infrared sensor 36 can achieve full-range position detection coverage of the track body 1, ensuring that the inspection robot can be detected at any preset inspection point on the track body 1.

[0029] An inspection mechanism 4 is slidably connected to the surface of the track body 1. The inspection mechanism 4 includes a movable frame 41. The four corners of the top of the movable frame 41 are provided with positioning holes 42 that cooperate with the positioning posts 34. Movable wheels 43 are provided on both sides of the inner cavity of the movable frame 41. One side of the movable wheel 43 contacts the track body 1. A robot body 44 is fixedly connected to the bottom of the movable frame 41. Monitors 8 are fixedly connected to both sides of the robot body 44. The monitors 8 are symmetrically arranged.

[0030] Specifically: the use of positioning hole 42 and positioning post 34 ensures that after the positioning post 34 is inserted into positioning hole 42, the moving frame 41 and the track body 1 are quickly fixed, avoiding displacement of the inspection robot during operation. The setting of moving wheel 43 greatly reduces the frictional resistance between moving frame 41 and track body 1, reduces power loss, and improves operating efficiency. The two sets of monitors 8 can expand the inspection field of view, realize comprehensive monitoring of both sides of the track and the surrounding environment, and avoid inspection blind spots.

[0031] The working principle of this utility model is as follows: The infrared sensor 36 detects the position of the moving frame 41 in real time. The model of the infrared sensor 36 is ML100-8-H-200-IR. When the inspection robot moves to the preset inspection point, the infrared sensor 36 captures the position signal of the moving frame 41 and triggers the positioning mechanism 3 to move in time. The electric push rod 31 starts and drives the reset plate 33 to rise and fall, so that the positioning column 34 can rise and fall quickly and synchronously. During the rising and falling of the reset plate 33, the spring sleeve 32 provides stable support for the reset plate 33 to prevent it from tilting due to uneven force. After the positioning column 34 is inserted into the positioning hole 42, the force points of the moving frame 41 are evenly distributed, realizing the relative fixation of the moving frame 41 and the track body 1, and preventing displacement of the inspection robot during operation. After the inspection point operation is completed, the electric push rod 31 moves in the opposite direction to drive the reset plate 33 to fall. The positioning column 34 is pulled out from the positioning hole 42, releasing the positioning lock state. The spring sleeve 32 assists the reset plate 33 to reset smoothly.

[0032] Under normal conditions, the compression spring 6 drives the two sealing blocks 7 to fit against the oil outlet of the oil reservoir 5 to prevent lubricating oil leakage. When the moving wheel 43 moves with the moving frame 41 to the position corresponding to the oil outlet of the oil reservoir 5, the moving wheel 43 squeezes the sealing block 7, causing the sealing block 7 to compress the spring 6 and release the seal on the oil outlet. The lubricating oil in the oil reservoir 5 is discharged through the oil outlet to lubricate the contact part between the moving wheel 43 and the track body 1. After lubrication, the moving wheel 43 leaves the sealing block 7, and the compression spring 6 resets to drive the sealing block 7 to reseal the oil outlet, ensuring that the lubricating oil is supplied as needed.

[0033] The preferred embodiments of the present utility model disclosed above are only used to help illustrate the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to specific implementation methods. The present specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the present utility model, so that those skilled in the art can better understand and utilize the present utility model.

Claims

1. A track positioning device for an inspection robot, comprising a track body (1), characterized in that: The top of the track body (1) is provided with an installation groove (2), and the inner cavity of the installation groove (2) is provided with a positioning mechanism (3). The positioning mechanism (3) includes an electric push rod (31), the bottom of which is fixedly connected to the mounting groove (2). Spring sleeves (32) are fixedly connected to both sides of the bottom of the mounting groove (2). A reset plate (33) is fixedly connected to the top of the spring sleeve (32). The bottom of the reset plate (33) is in contact with the electric push rod (31). Positioning posts (34) are fixedly connected to the four corners of the top of the reset plate (33). A groove (35) is provided at the bottom of the track body (1). An infrared sensor (36) is fixedly connected to the inner cavity of the groove (35).

2. The inspection robot track positioning device according to claim 1, characterized in that: The surface of the track body (1) is slidably connected to an inspection mechanism (4). The inspection mechanism (4) includes a moving frame (41). The four corners of the top of the moving frame (41) are provided with positioning holes (42) that cooperate with the positioning column (34). The two sides of the inner cavity of the moving frame (41) are provided with moving wheels (43). One side of the moving wheel (43) is in contact with the track body (1). The bottom of the moving frame (41) is fixedly connected to a robot body (44).

3. The inspection robot track positioning device according to claim 1, characterized in that: The inner cavity of the track body (1) is provided with an oil storage tank (5), and a compression spring (6) is provided through the inner cavity of the oil storage tank (5). Both sides of the compression spring (6) are fixedly connected with sealing blocks (7), and the side of the sealing block (7) away from the compression spring (6) extends to the outside of the track body (1).

4. The inspection robot track positioning device according to claim 2, characterized in that: The robot body (44) is fixedly connected to two sides of a monitor (8), and the monitors (8) are arranged symmetrically.

5. The inspection robot track positioning device according to claim 1, characterized in that: The number of positioning pins (34) is four, and they are adapted to the positioning holes (42).

6. The inspection robot track positioning device according to claim 3, characterized in that: A sealing gasket (9) is fitted on one side of the sealing block (7), and one side of the sealing gasket (9) is in contact with the inner wall of the oil storage tank (5).

7. The inspection robot track positioning device according to claim 1, characterized in that: The bottom of the track body (1) is provided with sliding grooves (10) on both sides, and the top of the sliding grooves (10) is slidably connected to the inner wall of the moving frame (41).

8. The inspection robot track positioning device according to claim 1, characterized in that: The infrared sensors (36) are evenly distributed along the length of the track body (1).

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