Orbital inspection device

Abstract

The utility model discloses a track type inspection equipment, including inspection robot and track assembly, and inspection robot includes body, drive wheel, compression wheel, driving part and mounting bracket, and mounting bracket is connected with the body, and drive wheel rotation sets up in mounting bracket, and sets up sliding seat, first elastic member and second elastic member on mounting bracket, and sliding seat sliding sets up in mounting bracket, and compression wheel rotation sets up in sliding seat, and two elastic members are connected with sliding seat and mounting bracket, and compression wheel and drive wheel hold track assembly, track assembly includes first track and second track of being connected, and the included angle of first track is less than the included angle of second track, and the thickness is less than second track, when inspection robot is located on first track, and first elastic member exerts elasticity to sliding seat, when inspection robot is located on second track, and two elastic members all exert elasticity to sliding seat. The utility model discloses track type inspection equipment can adjust the holding force between drive wheel and compression wheel according to track assembly gradient condition.

Description

Technical Field

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

[0002] In complex environments with significant elevation differences, such as utility tunnels, inspection robots are typically used for inspection. A track is pre-laid inside the tunnel, and the robot moves along it, using onboard detection components (such as cameras and infrared sensors) to inspect the environment. Existing inspection robots generally consist of drive wheels, clamping wheels, and a drive mechanism. The drive mechanism is connected to the drive wheels, allowing them to move on the track. The clamping wheels work in conjunction with the drive wheels to hold the robot in place, preventing it from derailing. The existing technology has the following drawbacks: 1. Existing inspection robots are prone to slipping when moving on the track, resulting in inaccurate mileage readings. This is especially true during inclines, where they are prone to slipping in place because the clamping wheels and drive wheels cannot exert too much clamping force. If the force is too great, the friction on level or relatively flat tracks will be too high, affecting the movement of the inspection robot. 2. In locations with a large track inclination angle, such as in the working shaft of a utility tunnel, the inspection robot cannot pass through the working shaft by climbing the slope. An additional lifting system must be added to transport the inspection robot from the track in the lower tunnel to the track in the upper tunnel. This transfer method requires disconnecting the track. If the sensors on the track and / or the inspection robot malfunction, the inspection robot may easily run off the track, causing a safety accident.

[0003] To address the issue of inspection robots slipping on steep inclines, existing technologies employ auxiliary structures such as gears, racks, sprockets, or chains to help them climb. However, adding these auxiliary structures increases the difficulty and cost of track installation. Furthermore, if the robot encounters obstacles or other issues while climbing, it may completely malfunction, and the internal sprockets or gears may jam it on the track, increasing the difficulty of disassembly and maintenance. Utility Model Content

[0004] The purpose of this invention is to provide a track-type inspection device with a simple structure that can adjust the clamping force between the drive wheel and the clamping wheel according to the slope of the track components.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A track-mounted inspection device is provided, comprising:

[0007] An inspection robot includes a body, a drive wheel, a clamping wheel, a drive component, and a mounting frame. The mounting frame is connected to the body. The drive wheel is rotatably mounted on the mounting frame and is connected to the drive component. The mounting frame is provided with a sliding seat, a first elastic element, and a second elastic element. The sliding seat is slidably mounted on the mounting frame. The clamping wheel is rotatably mounted on the sliding seat. Along a first direction, the clamping wheel is located on one side of the drive wheel. The first elastic element and the second elastic element are both connected to the sliding seat and the mounting frame, so that the clamping wheel always moves along the first direction toward the side closer to the drive wheel.

[0008] The track assembly includes a drive wheel and a clamping wheel abutting against both sides of the track assembly along a first direction. The track assembly includes a first track and a second track connected to each other. The angle between the first track and the horizontal plane is α1, and the angle between the second track and the horizontal plane is α2, where α1 ≥ 0° and α2 > α1. The thickness of the second track along the first direction is greater than the thickness of the first track. When the inspection robot is located on the first track, the first elastic element applies elastic force to the sliding seat. When the inspection robot is located on the second track, both the first elastic element and the second elastic element apply elastic force to the sliding seat.

[0009] As a preferred embodiment of the track-type inspection equipment, both the first elastic element and the second elastic element are springs.

[0010] The elastic force of the first elastic element is less than or equal to the elastic force of the second elastic element; and / or, the length of the first elastic element along the first direction is greater than the length of the second elastic element along the first direction.

[0011] As a preferred embodiment of the track-type inspection equipment, at least two slide rails are spaced apart along the second direction on the mounting frame, and the length of each slide rail extends along the first direction, with the sliding seat slidably disposed on the slide rail.

[0012] As a preferred embodiment of the track-type inspection equipment, the clamping wheel is rotatably mounted on the sliding seat via a rotating shaft, and the mounting frame has an avoidance hole, which is a strip-shaped hole with its length extending along a first direction. The sliding seat and the clamping wheel are located on opposite sides of the mounting frame, and the rotating shaft passes through the avoidance hole.

[0013] As a preferred embodiment of the track-type inspection equipment, there are at least two mounting frames. Along the moving direction of the inspection robot, the mounting frame located at the front is rotatably mounted on the main body, and the rotation axis of the rotating mounting frame extends along a first direction.

[0014] As a preferred embodiment of the track-type inspection equipment, two drive wheels are spaced apart along the width direction of the track assembly on each mounting frame, and a clamping wheel is provided for each drive wheel. Each drive wheel is connected to a drive component.

[0015] As a preferred embodiment of the track-mounted inspection equipment, the inspection robot also includes an encoder, which is connected to and coaxially arranged with the pressure wheel.

[0016] As a preferred embodiment of the track-type inspection equipment, the second track includes a track body, on which an auxiliary plate is provided;

[0017] The auxiliary plate is clamped between the track body and the drive wheel, and / or the auxiliary plate is clamped between the track body and the pressure wheel.

[0018] As a preferred embodiment of the track-type inspection equipment, the auxiliary plate is a rubber plate, which is detachably mounted on the track body.

[0019] As a preferred embodiment of the track-type inspection equipment, the track assembly further includes a transition plate connected to one end of the auxiliary plate near the first track. The transition plate is disposed on the first track and / or the track body. An inclined surface is provided on one side of the transition plate away from the first track and / or the track body. The inclined surface has a first end and a second end. The second end is adjacent to the auxiliary plate. The inclined surface is inclined from the first end toward the second end toward the center in the direction away from the thickness of the track assembly. The second end is flush with the side of the auxiliary plate away from the track body.

[0020] The beneficial effects of this utility model are:

[0021] This utility model's track-type inspection device uses elastic elements acting on a sliding seat. The sliding seat slides on the mounting frame. Under the elastic force of the elastic elements, the clamping wheel always tends to move towards the drive wheel, thus clamping the clamping wheel and drive wheel onto the track assembly. The device uses two elastic elements, so on the gentle first track, only the first elastic element applies elastic force to the sliding seat. At this time, the clamping force of the clamping wheel is small, and the friction between the drive wheel, clamping wheel, and track assembly is small, allowing for smooth travel on the gentle first track. On the steeper second track, due to the increased thickness of the second track, the distance between the clamping wheel and drive wheel increases. At this time, both the first and second elastic elements apply elastic force to the sliding seat, resulting in a larger clamping force of the clamping wheel. This ensures that the drive wheel has greater friction on the second track, preventing slippage. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the track-type inspection equipment according to an embodiment of the present utility model.

[0023] Figure 2 for Figure 1 Enlarged diagram of point A.

[0024] Figure 3 for Figure 1 Enlarged diagram of point B.

[0025] Figure 4 This is a three-dimensional schematic diagram of the inspection robot according to an embodiment of the present utility model.

[0026] Figure 5 This is a three-dimensional schematic diagram of the track assembly according to an embodiment of the present utility model.

[0027] Figure 6 for Figure 5 Enlarged diagram of point C.

[0028] In the picture:

[0029] 100. Inspection robot;

[0030] 1. Body; 2. Drive wheel; 3. Pressure wheel; 4. Drive component; 5. Mounting bracket; 51. Clearance hole; 52. Front frame; 53. Rear frame; 54. Support plate; 55. First connecting plate; 56. Second connecting plate; 57. Base plate; 6. Sliding seat; 7. First elastic element; 8. Second elastic element; 9. Slide rail; 10. Rotary shaft; 11. Encoder; 12. Rotary bearing; 13. Inspection component; 14. Side guide wheel; 15. Side limit wheel;

[0031] 200. Track assembly;

[0032] 20. First track; 201. First track tube; 21. Second track; 211. Track body; 2110. Second track tube; 212. Auxiliary plate; 22. Transition plate; 221. Inclined surface; 2211. First end; 2212. Second end; 23. Self-tapping screw; 24. Connecting bracket; 241. First plate; 2411. Connecting hole; 242. Second plate; 243. Third plate. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "front," and "rear," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0037] like Figures 1 to 4As shown, this utility model embodiment provides a track-type inspection device, which includes an inspection robot 100 and a track assembly 200. The inspection robot 100 includes a body 1, a drive wheel 2, a clamping wheel 3, a drive component 4, and a mounting frame 5. The mounting frame 5 is connected to the body 1. The drive wheel 2 is rotatably mounted on the mounting frame 5 and is connected to the drive component 4. The mounting frame 5 is provided with a sliding seat 6, a first elastic element 7, and a second elastic element 8. The sliding seat 6 is slidably mounted on the mounting frame 5. The clamping wheel 3 is rotatably mounted on the sliding seat 6. Along a first direction, the clamping wheel 3 is located on one side of the drive wheel 2. The first elastic element 7 and the second elastic element 8 are both connected to the sliding seat 6 and the mounting frame 5, so that the clamping wheel 3 always moves along the first direction. The robot moves toward the side closer to the drive wheel 2; the drive wheel 2 and the pressure wheel 3 abut against the two sides of the track assembly 200 along the first direction, the track assembly 200 includes a first track 20 and a second track 21 connected to each other, the angle between the first track 20 and the horizontal plane is α1, the angle between the second track 21 and the horizontal plane is α2, α1≥0°, α2>α1, the thickness of the second track 21 along the first direction is greater than the thickness of the first track 20, when the inspection robot 100 is located on the first track 20, the first elastic element 7 applies elastic force to the sliding seat 6, when the inspection robot 100 is located on the second track 21, both the first elastic element 7 and the second elastic element 8 apply elastic force to the sliding seat 6.

[0038] The track-type inspection device of this utility model embodiment uses an elastic element acting on a sliding seat 6. The sliding seat 6 slides on the mounting frame 5. Under the elastic force of the elastic element, the clamping wheel 3 always tends to move towards the drive wheel 2, thereby clamping the clamping wheel 3 and the drive wheel 2 onto the track assembly 200. By setting two elastic elements, on the gentle first track 20, only the first elastic element 7 applies elastic force to the sliding seat 6. At this time, the clamping force of the clamping wheel 3 is small, and the friction between the drive wheel 2, the clamping wheel 3 and the track assembly 200 is small, which can meet the smooth travel on the gentle first track 20. On the second track 21 with a larger slope, due to the increased thickness of the second track 21, the distance between the clamping wheel 3 and the drive wheel 2 becomes larger. At this time, both the first elastic element 7 and the second elastic element 8 apply elastic force to the sliding seat 6. At this time, the clamping force of the clamping wheel 3 is larger, ensuring that the drive wheel 2 can have a large friction force on the second track 21 and preventing the drive wheel 2 from slipping.

[0039] In this embodiment, the first direction is the thickness direction of the track assembly 200 (i.e., the thickness direction of the first track 20 and the second track 21). In a horizontal position, the first direction is the vertical direction, and the second direction is the length direction of the track assembly 200.

[0040] In this embodiment, both the first elastic element 7 and the second elastic element 8 are springs. The elastic force of the first elastic element 7 is less than that of the second elastic element 8, and the length of the first elastic element 7 along the first direction is greater than that of the second elastic element 8 along the first direction. By setting two springs of different sizes to control the elastic force of the sliding seat 6, and making the length of the first elastic element 7 with the smaller elastic force longer and the length of the second elastic element 8 with the larger elastic force shorter, in actual use, when the inspection robot 100 moves on the first track 20, because the thickness of the first track 20 is small, the longer and less elastic first elastic element 7 is compressed between the sliding seat 6 and the mounting bracket 5. The first elastic element 7 gives the sliding seat 6 an elastic force, so that the pressure wheel 3 on the sliding seat 6 abuts against the drive wheel 2. At this time, because the elastic force of the first elastic element 7 is small, the force between the pressure wheel 3 and the drive wheel 2 clamping the first track 20 is small, and the friction is small when traveling on the flat first track 20. The inspection robot 100 moves from the first track 20 to the second track. At 21, due to the greater thickness of the second track 21, the distance between the clamping wheel 3 and the drive wheel 2 increases. This causes not only the longer first elastic element 7 to be compressed between the sliding seat 6 and the mounting frame 5, but also the shorter second elastic element 8. The elastic force applied to the sliding seat 6 then becomes the combined elastic force of the first and second elastic elements 7 and 8. Because the second elastic element 8 has a greater elastic force, the increase in elastic force is more significant, resulting in a greater force between the clamping wheel 3 and the drive wheel 2 clamping the second track 21. Consequently, the friction when traveling on the steep second track 21 increases, ensuring that the inspection robot 100 can travel smoothly on the steep second track 21 without slipping. This embodiment of the track-type inspection device solves the slippage problem caused by steep slopes simply by adding a simple structure.

[0041] In other embodiments, the elastic force of the first elastic element 7 is not limited to being less than that of the second elastic element 8. The elastic force of the first elastic element 7 can also be set to be equal to that of the second elastic element 8. The length of the first elastic element 7 is greater than that of the second elastic element 8. When the inspection robot 100 travels on the second track 21, when both the first elastic element 7 and the second elastic element 8 apply elastic force to the sliding seat 6, the elastic force is doubled, which can also increase the friction of the drive wheel 2 and the pressure wheel 3 on the second track 21, assisting in smooth climbing without slipping.

[0042] In addition, the first elastic element 7 and the second elastic element 8 are not limited to springs, but can also be elastic structures such as sheet springs or tension springs. Any structure that can ensure that the first elastic element 7 applies elastic force to the sliding seat 6 when the first track 20 is traveling, and that the first elastic element 7 and the second elastic element 8 apply elastic force to the sliding seat 6 when the second track 21 is traveling, so as to change the clamping force of the drive wheel 2 and the clamping wheel 3 on different tracks, is acceptable.

[0043] Preferably, when the inclination angle between the first track 20 and the horizontal plane is greater than 0, both the first track 20 and the second track 21 are uphill tracks, and the angle α1 between the first track 20 and the horizontal plane (i.e., the slope of the first track 20) ​​is less than 30°, while the angle α2 between the second track 21 and the horizontal plane (i.e., the slope of the second track 21) is greater than 30°. In other embodiments, the first track 20 and the second track 21 can also be downhill tracks. When the downhill track has a large angle, it is also necessary to increase the friction to prevent the inspection robot 100 from slipping and sliding down rapidly due to the large slope. Alternatively, one of the first track 20 and the second track 21 can be an uphill track and the other a downhill track.

[0044] In other embodiments, some reference numerals are retained from the appendix. Figures 1 to 4 The design is not limited to providing two types of tracks with different slopes; a third track can also be provided. That is, the track assembly 200 also includes a third track, which is connected to the first track 20 and / or the second track 21. The slope of the third track is greater than that of the first track 20 but less than that of the second track 21, and the thickness of the third track is greater than that of the first track 20 but less than that of the second track 21. A third elastic element is provided between the sliding seat 6 and the mounting bracket 5. The elastic force of the third elastic element is greater than that of the first elastic element 7 but less than that of the second elastic element 8, and the length of the third elastic element is less than that of the first elastic element 7 but greater than that of the second elastic element 8, forming a structure that adjusts with three elastic elements. When the inspection robot 100 travels onto the third track, the distance between the drive wheel 2 and the clamping wheel 3 changes. At this time, both the first elastic element 7 and the third elastic element are compressed between the sliding seat 6 and the mounting bracket 5. The first elastic element 7 and the third elastic element together provide an elastic force to the sliding seat 6, causing the clamping wheel 3 on the sliding seat 6 to press against the drive wheel 2. At this time, the clamping force between the clamping wheel 3 and the drive wheel 2 is greater than the clamping force of the inspection robot 100 traveling on the first track 20, but less than the clamping force of the inspection robot 100 traveling on the second track 21. The corresponding frictional force is also greater than the frictional force of the inspection robot 100 traveling on the first track 20, but less than the frictional force of the inspection robot 100 traveling on the second track 21. This design allows for different clamping forces to be designed according to different slope requirements.

[0045] In one embodiment, such as Figure 4 As shown (some of the reference numerals in the attached figures are retained), Figures 1 to 3 At least two slide rails 9 are spaced apart along the second direction on the mounting bracket 5, and the length of each slide rail 9 extends along the first direction. The sliding seat 6 is slidably mounted on the slide rail 9. By setting the slide rail 9, the sliding trajectory of the sliding seat 6 can be restricted, and the linear guide rail 9 is not easy to jam or deform, which can ensure that the sliding seat 6 slides smoothly on the slide rail 9.

[0046] In this embodiment, the clamping roller 3 is rotatably mounted on the sliding seat 6 via the rotating shaft 10. A clearance hole 51 is provided on the mounting frame 5. The clearance hole 51 is a strip-shaped hole, and its length extends along a first direction (i.e., the thickness direction of the track assembly 200). The sliding seat 6 and the clamping roller 3 are located on opposite sides of the mounting frame 5, and the rotating shaft 10 passes through the clearance hole 51. By providing the clearance hole 51, the clamping roller 3 and the sliding seat 6 can be positioned on opposite sides of the mounting frame 5, thereby facilitating the arrangement of the first elastic element 7 and the second elastic element 8.

[0047] Furthermore, two slide rails 9 are provided on the mounting bracket 5, and the two slide rails 9 are respectively arranged on both sides of the clearance hole 51 along the second direction (i.e. the length direction of the track assembly 200).

[0048] In one embodiment, such as Figure 4 As shown (some of the reference numerals in the attached figures are retained), Figures 1 to 3 There are at least two mounting brackets 5. Along the moving direction of the inspection robot 100, the front mounting bracket 5 is rotatably mounted on the body 1, and the rotation axis of the rotating mounting bracket 5 extends along a first direction. By rotatably mounting the front mounting bracket 5 on the body 1, the mounting bracket 5 can ensure that the inspection robot 100 can turn smoothly when the track assembly 200 travels to a turning position.

[0049] In this embodiment, two mounting frames 5 are provided on the main body 1 along the moving direction of the inspection robot 100. The mounting frame 5 located on the front side is the front frame 52, and the mounting frame 5 located on the rear side is the rear frame 53. The front frame 52 is rotatably connected to the main body 1 through a slewing bearing 12, and the rear frame 53 is fixed on the main body 1.

[0050] Furthermore, both the front frame 52 and the rear frame 53 are located on top of the main body 1. The inspection robot 100 also includes an inspection component 13, which is located at the bottom of the main body 1. The inspection robot 100 is suspended on the track assembly 200, with the main body 1 located below the track assembly 200. The inspection component 13 can be a camera, infrared sensor, etc.

[0051] In one embodiment, such as Figure 4 As shown (some of the reference numerals in the attached figures are retained), Figures 1 to 3 Each mounting bracket 5 has two drive wheels 2 spaced apart along the width of the track assembly 200. Each drive wheel 2 is equipped with a clamping wheel 3, and each drive wheel 2 is connected to a drive component 4. The independent drive component 4 drives each drive wheel 2, which can improve the climbing ability of the inspection robot 100.

[0052] In this embodiment, the front frame 52 is equipped with two drive wheels 2 and two pressure wheels 3, as well as two sliding seats 6. Each sliding seat 6 is provided with a first elastic element 7 and a second elastic element 8. The rear frame 53 is also equipped with two drive wheels 2, two pressure wheels 3, and two sliding seats 6, with each sliding seat 6 also provided with a first elastic element 7 and a second elastic element 8. The four sets of drive wheels 2 and pressure wheels 3 drive the inspection robot 100 to move smoothly.

[0053] Optionally, the mounting bracket 5 includes two support plates 54 spaced apart along the width direction of the track assembly 200. The two support plates 54 are connected by a first connecting plate 55. The drive wheel 2 and the pressure wheel 3 are located on the outer side of the support plate 54 (i.e., the side of the support plate 54 away from the other support plate 54). The drive member 4, the slide rail 9, and the sliding seat 6 are located on the inner side of the support plate 54 (i.e., the side of the support plate 54 facing the other support plate 54). The slide rail 9 and the drive member 4 are respectively located on both sides of the first connecting plate 55 along a first direction. The clearance hole 51 is opened on the support plate 54 and located on the side of the first connecting plate 55 closer to the body 1, i.e., the drive wheel 2 is located above the pressure wheel 3. In other embodiments, the positions of the drive wheel 2 and the pressure wheel 3 can also be adjusted, i.e., the drive wheel 2 is located below the pressure wheel 3.

[0054] The front frame 52 further includes a second connecting plate 56, which connects two support plates 54 near one end of the main body 1. The second connecting plate 56 is rotatably connected to the main body 1 via a slewing bearing 12. The support plates 54 of the rear frame 53 have a base plate 57 at their bottom, which is detachably connected to the main body 1 by screws. In other embodiments, the two support plates 54 of the rear frame 53 can also be connected via the second connecting plate 56, and then the second connecting plate 56 is fixed to the top of the main body 1 by screws.

[0055] In one embodiment, such as Figure 4 As shown (some of the reference numerals in the attached figures are retained), Figures 1 to 3 The inspection robot 100 also includes an encoder 11, which is connected to and coaxially mounted with one of the clamping wheels 3. By mounting the encoder 11 on the clamping wheel 3, the mileage traveled by the inspection robot 100 is verified.

[0056] In this embodiment, the encoder 11 is mounted on one of the clamping wheels 3 of the rear frame 53.

[0057] In other embodiments, the encoder 11 may be mounted on the clamping rollers 3 of the front frame 52, or on all the clamping rollers 3.

[0058] In one embodiment, such as Figure 1 and Figure 5 As shown (some of the reference numerals in the attached figures are retained), Figures 2 to 4The second track 21 includes a track body 211, on which an auxiliary plate 212 is disposed; the auxiliary plate 212 is clamped between the track body 211 and the drive wheel 2. By providing the auxiliary plate 212, the thickness of the second track 21 is increased, thereby increasing the distance between the drive wheel 2 and the pressure wheel 3, which can reduce the manufacturing cost of the second track 21.

[0059] In other embodiments, the auxiliary plate 212 is not limited to being clamped between the track body 211 and the drive wheel 2, but can also be clamped between the track body 211 and the pressure wheel 3.

[0060] In this embodiment, the auxiliary plate 212 is a rubber plate, which is detachably mounted on the track body 211. The rubber plate is wear-resistant and has a relatively high surface friction coefficient, which improves the friction of the inspection robot 100 when it travels on the second track 21 with a large slope. Furthermore, the detachable nature of the rubber plate allows for timely replacement when it is damaged. In other embodiments, the auxiliary plate 212 can also be a metal plate or other non-metallic plate besides rubber. For example, the auxiliary plate 212 can be a flexible plastic plate or a flexible metal pad.

[0061] Optionally, the rubber sheet is fixed above the track body 211 of the second track 21 by self-tapping screws 23.

[0062] In this embodiment, as Figure 1 , Figure 5 and Figure 6 As shown (some of the reference numerals in the attached figures are retained), Figures 2 to 4 The track assembly 200 also includes a transition plate 22, which is connected to the end of the auxiliary plate 212 near the first track 20. The transition plate 22 is disposed on the track body 211. An inclined surface 221 is provided on the side of the transition plate 22 away from the track body 211. The inclined surface 221 has a first end 2211 and a second end 2212. The second end 2212 is adjacent to the auxiliary plate 212. The inclined surface 221 is inclined from the first end 2211 toward the second end 2212 toward the center away from the thickness direction of the track assembly 200. The second end 2212 is flush with the side of the auxiliary plate 212 away from the track body 211. By providing the transition plate 22, the inspection robot 100 can be smoothly guided from the first track 20 to the second track 21, or from the second track 21 to the first track 20, using the inclined surface 221 on the transition plate 22.

[0063] Optionally, the distance between the first end 2211 and the surface of the track body 211 is H1, and the distance between the second end 2212 and the surface of the track body 211 is H2, where H1≥0 and H2>H1. When the distance H1 between the first end 2211 and the surface of the track body 211 is 0, the first end 2211 is flush with the surface of the first track 20.

[0064] In other embodiments, the transition plate 22 may be disposed on the first track 20, or a portion of the transition plate 22 may be disposed on the first track 20 and another portion may be disposed on the track body 211 of the second track 21.

[0065] In one embodiment, such as Figure 1 and Figure 4 As shown, the mounting frame 5 is also equipped with side guide wheels 14 and side limiting wheels 15. Both side guide wheels 14 and side limiting wheels 15 are rotatably connected to the mounting frame 5, and the rotation center axes of the side guide wheels 14 and side limiting wheels 15 extend along a first direction. Both are rollably connected to the side of the track assembly 200. By setting the side guide wheels 14, the inspection robot 100 can be guided when it moves to a turning position. By setting the side limiting wheels 15, the inspection robot 100 can be kept in a centrally located position in the width direction of the track assembly 200 during its movement.

[0066] Furthermore, a side guide wheel 14 is provided between the drive wheel 2 and the clamping wheel 3 of the front frame 52. There are two side guide wheels 14, and the two side guide wheels 14 are spaced apart along the second direction.

[0067] Furthermore, a side limiting wheel 15 is provided between the drive wheel 2 and the clamping wheel 3 of the rear frame 53, and there is one side limiting wheel 15.

[0068] In this embodiment, as Figure 1 and Figure 5 As shown, both the first track 20 and the second track 21 are double-tube tracks. The first track 20 includes two first track tubes 201 arranged along the second direction, and the second track 21 includes two second track tubes 2110 arranged along the second direction. Both the first track tubes 201 and the second track tubes 2110 are circular tubes with the same outer diameter. The two second track tubes 2110 form the track body 211. An auxiliary plate 212 is provided on the upper surface of each second track tube 2110, and a transition plate 22 is provided on the upper surface of each first track tube 201, with the transition plate 22 adjacent to the second track tube 2110.

[0069] The track assembly 200 also includes a connecting frame 24. There are multiple connecting frames 24, which are spaced apart along the length of the track assembly 200. Each connecting frame 24 includes a first plate 241 located above the first track 20 and / or the second track 21. A second plate 242 is connected to each end of the first plate 241 along a second direction. A third plate 243 is connected to the end of the second plate 242 away from the first plate 241. The third plate 243 is located on the inner side of the second plate 242 (i.e., the side of the second plate 242 facing the other second plate 242). The end of the third plate 243 away from the second plate 242 is detachably connected to the first track 20 and / or the second track 21. The first plate 241 is provided with a connecting hole 2411 for connecting to the position for mounting the track assembly 200.

[0070] Specifically, the connecting frame 24 on the first track 20 has its third plate 243 connected to the first track tube 201 by screws, and the connection position is located on the outer side of the first track tube 201 in the horizontal direction (i.e., the side of the first track tube 201 away from the other first track tube 201). The connecting frame 24 on the second track 21 has its third plate 243 connected to the second track tube 2110 by screws, and the connection position is located on the outer side of the second track tube 2110 in the horizontal direction (i.e., the side of the second track tube 2110 away from the other second track tube 2110). In addition, the connecting frame 24 can also be set at the connection position of the first track 20 and the second track 21. In this case, the third plate 243 of the connecting frame 24 is connected to the outer side of the first track tube 201 in the horizontal direction and the outer side of the second track tube 2110 in the horizontal direction, respectively.

[0071] Furthermore, such as Figure 1 , Figure 5 and Figure 6 As shown, the end of the first track tube 201 is provided with a constricted section, which is inserted into the end of the second track tube 2110 to achieve connection. This structure can reduce the difficulty of assembling and disassembling the first track tube 201 and the second track tube 2110. Of course, it is not limited to using a plug-in method to connect the first track tube 201 and the second track tube 2110. The first track tube 201 and the second track tube 2110 can also be directly welded, or the first track tube 201 and the second track tube 2110 can be connected by screwing screws from the side using metal or non-metal plates.

[0072] The first track 20 and the second track 21 are not limited to the dual-tube track of the above embodiment, but can also be I-shaped track or rectangular track, etc.

[0073] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A track-mounted inspection device, characterized in that, include: An inspection robot includes a body, a drive wheel, a clamping wheel, a drive component, and a mounting frame. The mounting frame is connected to the body. The drive wheel is rotatably mounted on the mounting frame and is connected to the drive component. The mounting frame is provided with a sliding seat, a first elastic element, and a second elastic element. The sliding seat is slidably mounted on the mounting frame. The clamping wheel is rotatably mounted on the sliding seat. Along a first direction, the clamping wheel is located on one side of the drive wheel. The first elastic element and the second elastic element are both connected to the sliding seat and the mounting frame, so that the clamping wheel always moves along the first direction toward the side closer to the drive wheel. The track assembly includes a drive wheel and a clamping wheel abutting against both sides of the track assembly along a first direction. The track assembly includes a first track and a second track connected to each other. The angle between the first track and the horizontal plane is α1, and the angle between the second track and the horizontal plane is α2, where α1 ≥ 0° and α2 > α1. The thickness of the second track along the first direction is greater than the thickness of the first track. When the inspection robot is located on the first track, the first elastic element applies elastic force to the sliding seat. When the inspection robot is located on the second track, both the first elastic element and the second elastic element apply elastic force to the sliding seat.

2. The track-mounted inspection equipment according to claim 1, characterized in that, Both the first elastic element and the second elastic element are springs; The elastic force of the first elastic element is less than or equal to the elastic force of the second elastic element; and / or, the length of the first elastic element along the first direction is greater than the length of the second elastic element along the first direction.

3. The track-mounted inspection equipment according to claim 1, characterized in that, At least two slide rails are spaced apart along the second direction on the mounting bracket, and the length of each slide rail extends along the first direction. The sliding seat is slidably disposed on the slide rail.

4. The track-mounted inspection equipment according to claim 3, characterized in that, The clamping wheel is rotatably mounted on the sliding seat via a rotating shaft. The mounting bracket has a clearance hole, which is a strip-shaped hole. The length of the clearance hole extends along a first direction. The sliding seat and the clamping wheel are located on opposite sides of the mounting bracket. The rotating shaft passes through the clearance hole.

5. The track-type inspection equipment according to any one of claims 1 to 4, characterized in that, There are at least two mounting brackets. Along the moving direction of the inspection robot, the mounting bracket located at the front is rotatably mounted on the main body, and the rotation axis of the rotating mounting bracket extends along a first direction.

6. The track-type inspection equipment according to any one of claims 1 to 4, characterized in that, Two drive wheels are spaced apart along the width direction of the track assembly on each mounting bracket, and a clamping wheel is provided for each drive wheel. Each drive wheel is connected to a drive component.

7. The track-type inspection equipment according to any one of claims 1 to 4, characterized in that, The inspection robot also includes an encoder, which is connected to and coaxially arranged with the pressure wheel.

8. The track-type inspection equipment according to any one of claims 1 to 4, characterized in that, The second track includes a track body, on which an auxiliary plate is disposed; The auxiliary plate is clamped between the track body and the drive wheel, and / or the auxiliary plate is clamped between the track body and the pressure wheel.

9. The track-mounted inspection device according to claim 8, characterized in that, The auxiliary plate is a rubber plate, which is detachably mounted on the track body.

10. The track-mounted inspection device according to claim 8, characterized in that, The track assembly further includes a transition plate connected to one end of the auxiliary plate near the first track. The transition plate is disposed on the first track and / or the track body. An inclined surface is provided on one side of the transition plate away from the first track and / or the track body. The inclined surface has a first end and a second end. The second end is adjacent to the auxiliary plate. The inclined surface is inclined from the first end toward the second end toward the center in the direction away from the thickness of the track assembly. The second end is flush with the side of the auxiliary plate away from the track body.

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