CN113289302A

CN113289302A - Hang rail formula system of patrolling and examining

Info

Publication number: CN113289302A
Application number: CN202110603275.4A
Authority: CN
Inventors: 杨海; 胡鹏博; 李骁龙; 吴易明; 赵磊; 陈国栋; 姚震; 李小明; 李潇; 任龙毅
Original assignee: Zhongtian Changguang Qingdao Equipment Technology Co ltd
Current assignee: Zhongtian Changguang Qingdao Equipment Technology Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-08-24
Anticipated expiration: 2041-05-31
Also published as: CN113289302B

Abstract

The invention provides a rail-mounted inspection system, which solves the problems that the conventional rail-mounted inspection robot cannot realize continuous work, a large number of spray heads are paved on a robot working place, and the cost is high. The system comprises a main rail, an inspection robot, a fire-extinguishing robot, an automatic charging and replacing device and a rail replacing mechanism; the rail replacing mechanism comprises a fixed frame, a moving frame, a driving mechanism and two auxiliary rails which are arranged in parallel; the fixing frame is positioned above the main track; the movable frame is arranged on the fixed frame; the two auxiliary rails are parallel to the main rail and are arranged below the movable frame; the inspection robot is suspended on the main track; the fire extinguishing robot is suspended on any one pair of tracks; the driving mechanism is used for driving the movable frame to move along the direction vertical to the running direction of the main track, so that any one auxiliary track is butted with the main track; the automatic battery charging and replacing device comprises a robot guiding and positioning mechanism for guiding and positioning the inspection robot and a battery charging and replacing mechanism for replacing a battery component on the inspection robot.

Description

Hang rail formula system of patrolling and examining

Technical Field

The invention relates to a rail-mounted inspection robot, in particular to a rail-mounted inspection system.

Background

The power of the existing rail-hanging type inspection robot is derived from a battery, and when the electric energy of the inspection robot is consumed, the inspection robot is mostly charged wirelessly or stopped at a fixed position and charged in a contact manner. However, the two charging modes require longer charging time, and cannot realize continuous work of the inspection robot, and the parking charging time of the inspection robot and the inspection working time on the track are generally close to each other, so that the working efficiency of the inspection robot is lower; in addition, in order to improve the safety of the work place of the inspection robot, a fixedly installed fire extinguishing system is adopted, a large number of spray heads are usually paved on the work place, and the cost for laying the fire extinguishing system is high due to the fact that the number of the spray heads needed to be paved is large; and the difficulty of installing the spray head in narrow spaces such as a pipe gallery is higher.

Disclosure of Invention

The problem that the conventional rail-mounted inspection robot cannot work continuously is solved, and the working efficiency is low; the invention provides a rail-mounted inspection system, which solves the technical problems that a large number of spray heads are paved in a rail-mounted inspection robot workplace, the cost is high, and the difficulty in installing the spray heads in a narrow space is high.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a rail hanging type inspection system is characterized in that: comprises a main track, an inspection robot, a fire-extinguishing robot, an automatic charging and replacing device and a track replacing mechanism;

the rail replacing mechanism comprises a fixed frame, a moving frame, a driving mechanism and two auxiliary rails which are arranged in parallel;

the fixing frame is positioned above the main track;

the movable frame is arranged on the fixed frame;

the two auxiliary rails are arranged below the moving frame in parallel with the main rail;

the inspection robot is suspended on the main track;

the fire extinguishing robot is suspended on any one pair of tracks;

the driving mechanism is arranged on the fixed frame and used for driving the movable frame to move along the direction vertical to the running direction of the main track, so that any one auxiliary track is butted with the main track to form a running track of the inspection robot or the fire-extinguishing robot;

the automatic battery charging and replacing device comprises a robot guiding and positioning mechanism and a battery charging and replacing mechanism, the robot guiding and positioning mechanism is located above the main track and used for guiding and positioning the inspection robot, and the battery charging and replacing mechanism is used for replacing a battery pack on the inspection robot.

Furthermore, the battery charging and replacing mechanism is positioned on one side of the main rail and comprises a bin body, a battery replacing mechanical hand arranged in the bin body, two battery bins and a battery assembly arranged in one of the battery bins;

the bin door of the bin body is over against a battery component of the inspection robot;

the battery replacing manipulator comprises a rotary motion mechanism arranged in the middle of the upper bottom surface of the bin body, a linear motion mechanism arranged on the rotary motion mechanism and positioned below the rotary motion mechanism, and a battery taking and placing clamping jaw arranged on the linear motion mechanism and positioned below the linear motion mechanism;

or the battery replacing manipulator comprises a linear motion mechanism arranged in the middle of the upper bottom surface of the bin body, a rotary motion mechanism arranged on the linear motion mechanism and positioned below the linear motion mechanism, and a battery taking and placing clamping jaw arranged on the rotary motion mechanism and positioned below the rotary motion mechanism;

the two battery bins are respectively arranged at two sides of the battery replacing manipulator and are positioned in the range of the hand grip, and the battery bins are used for storing and charging the battery components;

the battery taking and placing clamping jaw is used for grabbing a battery component on a battery bin of the inspection robot or the battery charging and replacing mechanism.

Furthermore, the battery taking and placing clamping jaw comprises a vertical plate, a front plate, a rear plate, a first electromagnet, an electric clamping jaw and at least two positioning pin assemblies;

the vertical plate is fixed on the lower bottom surface of the linear motion mechanism;

the front plate and the rear plate are arranged on the electric clamping jaw and are respectively positioned on the front side and the rear side of the vertical plate, and the grabbing part of the electric clamping jaw extends forwards out of the front plate;

the positioning pin assembly comprises a positioning pin, a spring, a front shaft sleeve and a rear shaft sleeve;

the front shaft sleeve is fixed on the front plate; the rear shaft sleeve is fixed on the vertical plate;

the front part of the positioning pin is matched with a positioning pin sleeve of the battery pack, and the front end face of the positioning pin is of a conical surface structure;

the rear part of the positioning pin is of a step structure with a small front part and a big rear part, and the end surface of the rear part of the positioning pin is provided with a limiting structure;

the front part of the positioning pin penetrates through the front shaft sleeve, and the front part of the positioning pin extends forwards out of the front plate;

the spring is sleeved on the positioning pin and is positioned between the front shaft sleeve and the rear shaft sleeve;

before the spring is compressed, the large end at the rear part of the positioning pin penetrates through the rear shaft sleeve; after the spring is compressed, the small end of the rear part of the positioning pin penetrates through the rear shaft sleeve;

the first electromagnet is electrified and then adsorbs the rear plate along the axial direction.

Furthermore, the battery taking and placing clamping jaw comprises a vertical plate, a front plate, a first electromagnet, a second electromagnet and at least two positioning pin assemblies;

the front plate is arranged in front of the vertical plate in parallel;

the second electromagnet is arranged on the front side of the front plate;

the first electromagnet is arranged on the front side of the vertical plate, and the front plate is adsorbed along the axial direction after the first electromagnet is electrified. Furthermore, a floating spring is arranged between the first electromagnet and the vertical plate;

the number of the positioning pin assemblies is two, and the two positioning pin assemblies are symmetrically distributed on two sides of the second electromagnet.

Furthermore, the automatic battery charging and replacing device also comprises a wireless charging mechanism for polling the charging of the wireless charging battery of the robot, wherein the wireless charging mechanism is arranged on the other side of the main track and is opposite to the battery charging and replacing mechanism;

the driving mechanism is a cylinder, a cylinder body of the cylinder is arranged on the fixed frame, and the end part of a piston rod of the cylinder is arranged on the movable frame;

the fixed frame is provided with two linear slide rails which are arranged in parallel, and the movable frame is provided with pulleys matched with the slide rails.

Furthermore, the upper end surface of each auxiliary rail is fixedly connected with the movable frame through a rail mounting frame;

a positioning mechanism is arranged above each auxiliary track and comprises a positioning mounting plate arranged on the moving frame, a linear bearing mounting plate which is arranged below the positioning mounting plate in parallel and fixedly connected with the track mounting frame, and two blocking structures arranged between the positioning mounting plate and the linear bearing mounting plate;

each blocking structure comprises a driving part, a guide shaft and a blocking block, wherein the driving part is arranged on the positioning mounting plate and faces downwards, the guide shaft is arranged on the linear bearing mounting plate in a penetrating mode, the upper end of the guide shaft is connected with the lower end of the driving part, the blocking block is arranged at the lower end of the guide shaft, and the driving part drives the blocking block to move downwards and is used for positioning the functional robot or the functional robot.

Furthermore, the fire-extinguishing robot comprises a shell, a hanging rail driving device arranged on the upper part of the shell, at least one fire-extinguishing tank and a corresponding electric push rod which are arranged in the shell, and a directional fire-extinguishing device arranged on a mounting plate at the bottom of the shell; the electric push rod is used for pressing a handle of the fire extinguishing tank;

the directional fire extinguishing device comprises a rotary driving mechanism, a pitching driving mechanism, an air guide pipeline, a fire source detector and a fire extinguishing nozzle;

the fire extinguishing nozzle is arranged on the pitching driving mechanism;

the pitching driving mechanism is positioned below the mounting plate and used for driving the fire extinguishing nozzle to perform pitching motion;

the rotary driving mechanism is arranged above the mounting plate and is used for driving the pitching driving mechanism and the fire extinguishing nozzle to synchronously rotate;

the upper end opening of the air guide pipeline is connected with an outlet of the fire extinguishing tank, and the lower end opening of the air guide pipeline is connected with an inlet of the fire extinguishing nozzle;

the fire source detector is arranged on the directional fire extinguishing device or the fire extinguishing nozzle, and the fire source detector and the fire extinguishing nozzle are arranged in the same direction.

Further, the directional fire extinguishing device also comprises a protective cover;

the protective cover covers the pitching driving mechanism, and an outlet of the fire extinguishing nozzle extends out of the protective cover;

the fire source detector is positioned outside the protective cover;

and the rotation driving mechanism is used for driving the pitching driving mechanism and the protective cover to synchronously rotate.

Further, the rotary driving mechanism comprises a rotary driving motor, a first gear, a second gear, a rotary bearing block and a hollow rotary shaft;

the rotary driving motor is arranged on the mounting plate, and the first gear is coaxially arranged on an output shaft of the rotary driving motor;

the rotary bearing block is arranged on the mounting plate;

the hollow rotating shaft is arranged in the rotating bearing seat in a penetrating mode through a bearing, and the second gear is fixedly connected and sleeved on the hollow rotating shaft and meshed with the first gear;

the air duct comprises a fire extinguishing medium circulation channel formed by a hollow cavity in the hollow rotary shaft, the upper end of the fire extinguishing medium circulation channel is connected with the outlet of the fire extinguishing tank through a first rotary joint, and the lower end of the fire extinguishing medium circulation channel is connected with the inlet of the fire extinguishing nozzle through a second rotary joint.

Further, the air guide pipeline also comprises an air guide pipe arranged between the second rotary joint and the fire extinguishing nozzle.

Furthermore, a connecting plate for fixing the protective cover is arranged on the hollow rotating shaft.

Further, the pitching driving mechanism comprises a pitching driving motor and a transmission deflector rod;

the pitching driving motor is arranged on the connecting plate, one end of the transmission deflector rod is connected with the output of the pitching driving motor, the other end of the transmission deflector rod is clamped on the air duct, and the transmission deflector rod is used for deflecting the air duct to perform pitching motion so as to drive the fire extinguishing nozzle to perform pitching motion.

Further, the battery assembly comprises a shell, a battery mounting plate and a battery arranged in the shell;

the shell is fixed on the inner side surface of the battery mounting plate; the inner side surface of the battery mounting plate is provided with at least one fine positioning pin, a charging and discharging socket, a battery on-off switch circuit board, a battery in-place detection piece, two coarse positioning pin sleeves and two locking pieces; a grabbing matching device is arranged on the outer side surface of the mounting plate and used for grabbing the battery pack; the two coarse positioning pin sleeves are arranged at two opposite corners of the battery mounting plate; the two locking fasteners are arranged in the middle of two opposite side edges of the battery mounting plate; the fine positioning pin is arranged close to the charging and discharging socket;

the battery compartment comprises a frame body, at least one fine positioning pin sleeve which is arranged on the outer side surface of the frame body and is matched with the fine positioning pin, a charging and discharging plug which is matched with the charging and discharging socket, a battery on-off control circuit board, a battery in-place detection switch, two coarse positioning pins which are matched with the coarse positioning pin sleeves and two electric lock tongues which are matched with the lock catch pieces;

the two coarse positioning pins are arranged at two opposite corners of the frame body;

the two electric lock tongues are arranged in the middle of two opposite side edges of the frame body;

the accurate positioning pin bush is arranged close to the charging and discharging plug.

Compared with the prior art, the invention has the advantages that:

1. according to the invention, the fire-extinguishing robot is hung on one auxiliary rail, and the other auxiliary rail is in butt joint with the main rail under normal conditions, so that the normal work of the inspection robot is realized, when fire hazard occurs in the working place of the inspection robot, the auxiliary rail where the fire-extinguishing robot is located is in butt joint with the main rail through the driving mechanism, so that the fire-extinguishing robot runs on the rail, the movable fire extinguishment is realized, and meanwhile, the inspection robot is placed on the other auxiliary rail and is separated from the main rail; according to the invention, the inspection robot is positioned by the robot guiding and positioning mechanism, the manipulator of the battery charging and replacing mechanism automatically takes and places the battery, so that the battery component of the inspection robot is automatically replaced, the inspection robot continuously works, and the cruising ability of the whole system is improved.

2. The battery charging and replacing mechanism is provided with two battery bins and a spare battery assembly, so that the battery assembly is convenient to replace, and meanwhile, the replaced battery assembly can be charged, and the continuity of battery replacement is realized.

3. The battery taking and placing clamping jaw is provided with the positioning pin assembly, the charging and replacing mechanism normally operates for a certain time, the positioning deviation is obtained due to the position deviation generated by the abrasion of parts, and the battery taking and placing clamping jaw can realize the accurate positioning and the battery taking and placing through the floating effect by the matching of the rear part of the positioning pin and the rear shaft sleeve. Therefore, the battery taking and placing clamping jaw can reduce the overall processing and mounting precision of the battery charging and replacing mechanism.

4. The wireless charging mechanism is arranged, when the electric quantity of the wireless charging battery of the inspection robot is lower than a set value, the wireless charging mechanism automatically starts wireless charging, so that the wireless charging battery of the inspection robot is automatically charged, and the inspection robot is ensured not to be powered off in the whole battery replacement process.

5. The battery grabbing and charging and discharging part is properly separated, is respectively arranged on the battery assembly and the battery charging bin and is arranged around the battery, so that the battery grabbing and charging device is simple in structure and reasonable in layout.

6. The battery pack of the invention has no moving part, and the charging bin is only provided with the electric lock tongue belonging to the moving part, so that the mechanical failure rate is low, and the operation is reliable.

7. The invention adopts the matching of coarse positioning and fine positioning, and the positioning is reliable when the battery is replaced; and the accurate positioning of the charging plug and the socket can be realized, and the service life of the socket is prolonged.

8. The battery component is provided with the battery on-off switch circuit board and the battery in-place detection piece, the battery cabin is provided with the corresponding battery on-off control circuit board and the corresponding battery in-place detection switch, the battery on-off switch circuit board is matched with the battery on-off control circuit board, and the battery in-place detection piece is matched with the battery in-place detection switch, so that the battery on-off, charging and discharging and the battery cabin state detection can be realized, and the safety in the battery replacement process is improved.

9. The battery pack and the battery compartment are positioned by the positioning pin and the positioning pin sleeve, and are locked, fixed and unlocked and separated by the electric lock tongue and the lock catch piece, so that the battery pack is convenient to replace, and the battery compartment is simple in structure and small in size.

10. The fire extinguishing robot can detect the position of a fire source through the fire source detector, the fire extinguishing nozzle can move in the horizontal rotation and pitching directions through the rotary driving mechanism and the pitching driving mechanism, and the fire source is accurately positioned according to the detection result of the fire source detector.

11. The fire extinguishing robot carries two fire extinguishing pots, the handles of the fire extinguishing pots are pressed tightly through the electric push rods, fire extinguishing medium gas is sprayed out, and a long-time fire extinguishing process can be guaranteed; and a standard universal fire extinguishing tank is adopted, and the fire extinguishing tank can be easily replaced after being used.

12. The hollow rotary shaft is connected with the rotary joint, and not only serves as the rotary shaft, but also serves as a fire extinguishing medium channel, and during the rotation of the hollow rotary shaft, the fire extinguishing medium can still ensure that the fire extinguishing medium does not leak from the fire extinguishing tank to the fire extinguishing nozzle.

13. According to the invention, the positioning mechanism is arranged above the auxiliary track, and the blocking block is driven by the driving piece to move downwards to the front side and the rear side of the inspection robot or the fire-extinguishing robot for positioning the inspection robot or the fire-extinguishing robot and preventing the inspection robot or the fire-extinguishing robot from sliding out of the auxiliary track.

Drawings

FIG. 1 is a schematic diagram of a rail mounted inspection system according to the present invention;

FIG. 2a is a schematic perspective view of the rail replacing mechanism of the present invention engaged with the main rail;

FIG. 2b is a schematic structural diagram of the rail-changing mechanism of the present invention (the fire-extinguishing robot is not shown);

FIG. 3a is a schematic perspective view of a rail replacing mechanism in the rail-mounted inspection system according to the present invention;

FIG. 3b is a front view of a rail replacing mechanism in the rail-mounted inspection system according to the present invention;

fig. 4a is a top view of a rail changing mechanism in the rail hanging type inspection system (a piston rod is not extended, and an inspection robot can run on a main rail);

FIG. 4b is a second plan view of the rail replacing mechanism in the rail-mounted routing inspection system of the present invention (the piston rod is extended, the auxiliary rail on which the fire-extinguishing robot is mounted is butted with the main rail, so that the fire-extinguishing robot runs on the main rail);

FIG. 5 is a schematic structural diagram of a positioning mechanism in the rail replacing mechanism of the present invention;

FIG. 6 is a schematic structural diagram of an automatic charging and replacing device according to the present invention;

fig. 7 is a first schematic structural diagram (showing a part of the cabin) of a battery charging and replacing mechanism in the automatic battery charging and replacing device of the invention;

fig. 8 is a schematic structural diagram of a battery charging and replacing mechanism in the automatic battery charging and replacing device of the invention (a bin body is not shown);

FIG. 9 is a schematic structural view of a robot guiding and positioning mechanism in the automatic battery charging and replacing apparatus according to the present invention;

fig. 10 is a schematic structural view of a battery replacement manipulator in an embodiment of the automatic battery charging and replacing device of the present invention;

FIG. 11 is a schematic view of a clamping jaw for taking out and discharging a battery according to an embodiment of the automatic charging and replacing apparatus of the present invention;

fig. 12 is a first schematic view of the automatic battery charging and replacing device according to the first embodiment of the present invention, in which a discharge battery clamping jaw is engaged with a battery assembly (before the spring is compressed, the large end of the rear portion of the positioning pin is inserted into the rear shaft sleeve);

fig. 13 is a schematic diagram of a second schematic diagram of the automatic battery charging and replacing device according to the first embodiment of the present invention, in which a discharge battery clamping jaw is matched with a battery assembly (after a spring is compressed, a small end at the rear of a positioning pin is inserted into a rear shaft sleeve);

FIG. 14 is a schematic view of a discharge battery clamping jaw structure in the second embodiment of the automatic battery charging and replacing apparatus of the present invention;

FIG. 15 is a first schematic structural view (front view) of a battery pack according to the present invention;

FIG. 16 is a second schematic structural view (right side view) of a battery pack according to the present invention;

fig. 17 is a third schematic structural view (perspective view) of a battery pack according to the present invention;

FIG. 18 is a fourth schematic structural view of a battery pack according to the present invention (FIG. 3 is a schematic structural view with a case removed);

FIG. 19 is a schematic structural view of a fifth battery pack according to the present invention (the longitudinal sectional view of FIG. 1);

fig. 20 is a first schematic structural view (perspective view) of the battery compartment of the present invention;

FIG. 21 is a second schematic structural view (front view) of the battery compartment of the present invention;

fig. 22 is a schematic view of an electric bolt in the battery compartment according to the present invention;

FIG. 23 is a schematic view of the fire fighting robot of the present invention suspended on a guide rail;

FIG. 24 is a first schematic view of the fire fighting robot of the present invention (the housing only shows the mounting plate);

FIG. 25 is a second schematic structural view of the track-mounted fire-fighting robot of the present invention (the housing only shows the mounting plate, and the hood is not shown);

FIG. 26 is a first schematic structural diagram of a directional fire-extinguishing device in the rail-mounted fire-extinguishing robot according to the present invention;

FIG. 27 is a schematic structural view of a directional fire extinguishing apparatus in the rail-mounted fire extinguishing robot according to the present invention;

FIG. 28 is a sectional view of a directional fire-extinguishing device in the rail-mounted fire-extinguishing robot according to the present invention;

wherein the reference numbers are as follows:

01-shell, 011-mounting plate, 02-hanging rail driving device, 03-fire extinguishing tank, 04-electric push rod, 05-directional fire extinguishing device, 051-rotary driving mechanism, 0511-rotary driving motor, 0512-first gear, 0513-second gear, 0514-rotary bearing seat, 0515-hollow rotary shaft, 0516-fire extinguishing medium circulation channel, 0517-first support frame, 0518-second support frame, 052-pitching driving mechanism, 0521-pitching driving motor, 0522-transmission deflector rod, 053-air guide pipeline, 0531-air inlet pipe, 0532-air guide pipe, 054-fire source detector, 055-fire extinguishing nozzle, 056-protective cover, 057-first rotary joint, 058-second rotary joint and 059-connecting plate;

06-fire extinguishing robot, 07-rail replacing mechanism, 071-fixed frame, 0711-linear slide rail, 072-moving frame, 0721-pulley, 073-driving mechanism, 074-auxiliary rail, 0731-cylinder body, 0732-cylinder piston rod, 08-automatic charging and replacing device;

1-a robot guiding and positioning mechanism, 11-a front gear stopping mechanism, 12-a rear gear stopping mechanism, 13-a positioning guide strip, 14-an action electric cylinder and 15-a first positioning pin sleeve;

2-a battery charging and replacing mechanism, 21-a bin body, 22-a battery replacing manipulator, 221-a rotary motion mechanism, 2211-a rotary motor, 222-a linear motion mechanism, 223-a battery taking and placing clamping jaw, 2231-a vertical plate, 2232-a front plate, 2233-a rear plate, 2234-a first electromagnet, 2235-an electric clamping jaw, 2236-a positioning pin, 2237-a spring, 2238-a front shaft sleeve, 2239-a rear shaft sleeve, 2230-a limiting structure, 2240-a second electromagnet and 2241-a floating spring;

23-a battery bin, 231-a frame body, 232-a fine positioning pin sleeve, 233-a charging and discharging plug, 234-a battery on-off control circuit board, 2341-a light emitting tube, 2342-a control circuit, 235-a battery in-place detection switch, 236-a coarse positioning pin, 237-an electric bolt and 238-a step blind hole;

24-battery component, 241-shell, 242-locking fastener, 2421-T-shaped dovetail groove, 243-battery mounting plate, 244-fine positioning pin, 245-charging and discharging socket, 246-battery on-off switch circuit board, 2461-light receiving tube, 2462-conversion circuit, 247-battery in-place detection part and 248-coarse positioning pin sleeve;

3-a patrol robot;

4-a main track;

5-wireless charging mechanism.

Detailed Description

The invention is described in further detail below with reference to the figures and specific embodiments.

As shown in fig. 1, the rail hanging type inspection system comprises a main rail 4, an inspection robot 3, a fire-extinguishing robot 06, an automatic charging and replacing device 08 and a rail replacing mechanism 07.

As shown in fig. 2a, 2b, 3a, 3b, 4a, and 4b, the rail-changing mechanism 07 includes a fixed frame 071, a movable frame 072, a driving mechanism 073, and two sub-rails 074 arranged in parallel; the fixing frame 071 is located above the main rail 4, two linear slide rails 0711 arranged in parallel are arranged on the fixing frame 071, the moving frame 072 is arranged on the fixing frame 071, and a pulley 0721 matched with the slide rails is arranged on the moving frame 072. The two sub rails 074 are arranged below the moving rack 072 parallel to the main rail 4, and the two sub rails 074 are flush with the main rail 4 in the height direction; the inspection robot 3 is suspended on the main track 4; the fire-extinguishing robot 06 is suspended on any one pair of tracks 074; the driving mechanism 073 is arranged on the fixing frame 071 and is used for driving the moving frame 072 to move along the direction perpendicular to the moving direction of the main track 4, so that any one of the auxiliary tracks 074 is butted with the main track 4 to form a moving track of the inspection robot 3 or the fire extinguishing robot 06.

In the embodiment, the upper end surface of each secondary rail 074 is fixedly connected with the movable frame 072 through the rail mounting frame 075; a positioning mechanism 076 is arranged above each auxiliary track 074 and used for positioning the inspection robot 3 or the fire-extinguishing robot 06; as shown in fig. 5, the positioning mechanism 076 includes a positioning mounting plate 0761 disposed on the moving frame 072, a linear bearing mounting plate 0762 disposed in parallel below the positioning mounting plate 0761 and fixedly connected to the rail mounting plate 075, and two blocking structures 0763 disposed between the positioning mounting plate 0761 and the linear bearing mounting plate 0762; the two blocking structures 0763 are respectively positioned at the front side and the rear side of the linear bearing mounting plate 0762 (the front side and the rear side are the running directions of the inspection robot 3 or the fire-extinguishing robot 06);

each blocking structure 0763 comprises a drive member 07631, a guide shaft mounting plate 07635, two guide shafts 07632, and two blocking blocks 07633; driving piece 07631 is arranged on positioning mounting plate 0761 and is located below positioning mounting plate 0761, the output end of driving piece 07631 faces downwards, the middle of the upper end face of guide shaft mounting plate 07635 is connected with the output end of driving piece 07631, two guide shafts 07632 penetrate through linear bearing mounting plate 0762 through linear bearing 07634, the upper ends of the two guide shafts 07632 are connected with guide shaft mounting plate 07635, the lower end of each guide shaft 07632 is connected with blocking block 07633, four blocking blocks 07633 of two blocking structures 0763 are respectively located at four corners of inspection robot 3 or fire extinguishing robot 06, driving piece 07631 drives blocking block 07633 to move downwards, blocking block 07633 is located at the front and rear sides of inspection robot 3 or fire extinguishing robot 06, the positioning of inspection robot 3 or fire extinguishing robot 06 is used for preventing the inspection robot 3 or fire extinguishing robot 06 from sliding out of auxiliary track 074 in the rail replacement process.

The inspection system of the embodiment is switched by butt joint of two auxiliary rails 074 and a main rail 4, so that the inspection robot 3 and the fire-extinguishing robot 06 are switched on the main rail 4, the automatic charging and replacing device 08 comprises a robot guiding and positioning mechanism 1 and a charging and replacing mechanism 2, the robot guiding and positioning mechanism 1 is positioned above the main rail 4 and used for guiding and positioning the inspection robot 3, the charging and replacing mechanism 2 is used for inspecting replacement of a battery assembly on the robot 3, and the continuity of work of the inspection robot 3 is realized.

In the embodiment, the driving mechanism 073 is an air cylinder, an air cylinder body 0731 is arranged on the fixed frame 071, the end part of an air cylinder piston rod 0732 is arranged on the movable frame 072, and the movable frame 072 is driven by the air cylinder to move on the slide rail; the driving piece 07631 is an electric cylinder; the fixing frame 071 is provided with a blocking part for positioning the moving position of the moving frame 072, so that the rail changing process is more stable and reliable. The rail replacing mechanism further comprises a drag chain 077 arranged on the fixing frame 071 and used for protecting the connecting wire.

The rail replacing mechanism is arranged on the main rail 4 and is at the same height as the main rail 4, so that the automatic switching of the inspection robot 3 and the fire-extinguishing robot 06 on the rails is realized. Under normal action, the inspection robot 3 travels on the main track 4, and the fire extinguishing robot 06 is on the auxiliary track 074 of the track changing mechanism; when a fire occurs, the rail changing mechanism firstly connects the fire-extinguishing robot 06 to the main rail 4, and then moves the inspection robot 3 from the main rail 4 to the auxiliary rail 074 of the rail changing mechanism, so as to achieve the task of replacing the inspection robot 3 with the fire-extinguishing robot 06; after the fire extinguishing task is completed, the rail replacing mechanism firstly connects the inspection robot 3 to the main rail 4, then pushes the fire extinguishing robot 06 out of the main rail 4 and moves the fire extinguishing robot to the auxiliary rail 074, and at the moment, the fire extinguishing robot 06 is temporarily stored on the auxiliary rail 074 of the rail replacing mechanism; according to the condition of fire in the service environment, the rail replacing mechanism completes the switching of the work of the inspection robot 3 or the fire-extinguishing robot 06, and the automation and fire-extinguishing intelligence level of inspection is improved. According to the invention, the fire extinguishing robot 06 can realize large-area fire extinguishing only by switching the fire extinguishing robot 06 to the main track 4 and moving the fire extinguishing robot 06 on the main track 4.

As shown in fig. 6 to 8, the automatic battery charging and replacing device of the present embodiment includes a robot guiding and positioning mechanism 1, a wireless charging mechanism 5 and a battery charging and replacing mechanism 2; the robot guiding and positioning mechanism 1 is positioned above a main running track 4 of the robot 3 and used for guiding and positioning the inspection robot 3, the battery charging and replacing mechanism 2 is positioned on one side of the main track 4, and when the inspection robot 3 runs to an automatic battery charging and replacing position, the inspection robot 3 is accurately positioned through the robot guiding and positioning mechanism 1; the battery charging and replacing mechanism 2 is communicated with the inspection robot 3 to automatically complete the replacement of the battery pack 24 on the inspection robot 3.

The inspection robot 3 is provided with a battery assembly 24 (main battery) and a wireless rechargeable battery, and the wireless rechargeable battery supplies power to the whole system of the inspection robot 3 in the battery replacement process of the battery assembly 24.

The wireless charging mechanism 5 is arranged on the other side of the main rail 4 and is arranged opposite to the charging and replacing mechanism 2, power is supplied by automatically switching the wireless charging battery in the battery replacing process of the battery assembly 24 of the inspection robot 3, when the electric quantity of the wireless charging battery of the inspection robot 3 is lower than a set value, the wireless charging mechanism 5 automatically starts wireless charging, automatic charging of the wireless charging battery of the inspection robot 3 is achieved, and the fact that the whole battery replacing process is uninterrupted by the inspection robot 3 system is ensured.

As shown in fig. 9, the guiding and positioning mechanism includes a front stop mechanism 11 and a rear stop mechanism 12 disposed above the main rail 4, a positioning guide bar 13 disposed on a side surface of the main rail 4, an actuating electric cylinder 14 disposed on the main rail 4 and facing downward, and a first positioning pin bushing 15 disposed at an end of the actuating electric cylinder 14 and configured to engage with an upper end positioning pin of the robot 3.

As shown in fig. 6 and 7, the battery charging and replacing mechanism 2 includes a bin 21, a replacing manipulator 22 arranged in the bin 21, two battery bins 23, and a battery assembly 24 arranged in one of the battery bins 23; the bin gate of the bin body 21 is over against the battery pack 24 of the inspection robot 3; as shown in fig. 10, the battery replacing manipulator 22 includes a rotary motion mechanism 221 disposed in the middle of the upper bottom surface of the bin body 21, a linear motion mechanism 222 disposed on the rotary motion mechanism 221 and located below the rotary motion mechanism 221, and a battery taking and placing clamping jaw 223 disposed on the linear motion mechanism 222 and located below the linear motion mechanism 222, wherein the rotary motion mechanism 221 includes a rotary motor 2211, and the rotary motor 2211 is used for driving the linear motion mechanism 222 to rotate; the battery taking and placing clamping jaw 223 is used for grabbing the battery component 24 on the inspection robot 3 or the battery bin 23; two battery bins 23 of the battery charging and replacing mechanism 2 are respectively arranged on two sides of the battery replacing manipulator 22 and used for storing and charging the battery components 24, one battery bin 23 is used for storing the battery components 24 grabbed from the side of the inspection robot 3, the other battery bin 23 is provided with a standby battery component 24, the battery bins 23 can be used for positioning and charging the battery components 24, the standby battery component 24 is fully charged in the battery replacing process, the two battery bins 23 are respectively a battery bin 1 and a battery bin 2, and the fully charged standby battery component 24 is stored in the battery bin 2.

As shown in fig. 11, the battery taking and placing clamping jaw 223 includes a vertical plate 2231, a front plate 2232, a rear plate 2233, a first electromagnet 2234, an electric clamping jaw 2235, and two dowel pin assemblies; the vertical plate 2231 is vertically fixed on the lower bottom surface of the linear motion mechanism 222; the front plate 2232 and the rear plate 2233 are arranged on the electric clamping jaw 2235 and are respectively positioned on the front side and the rear side of the vertical plate 2231, and the grabbing part of the electric clamping jaw 2235 extends forwards out of the front plate 2232 for grabbing the battery assembly 24; the locating pin assembly comprises a locating pin 2236, a spring 2237, a front bushing 2238 and a rear bushing 2239; a front bushing 2238 is fixed to the front plate 2232; the rear shaft sleeve 2239 is fixed on the vertical plate 2231; the front part of the positioning pin 2236 is matched with a positioning pin sleeve of the battery pack 24, and the front end surface of the positioning pin 2236 is of a conical surface structure; the rear part of the positioning pin 2236 is of a step structure with a small front part and a large rear part, a limiting structure 2230 is arranged on the end surface of the rear part of the positioning pin 2236, and the limiting structure 2230 is a limiting plate and is abutted against the rear end surface of the vertical plate 2231 to realize the axial limiting of the positioning pin 2236; the rear part of the positioning pin 2236 is arranged in the rear shaft sleeve 2239, the front part of the positioning pin 2236 is arranged in the front shaft sleeve 2238, and the front part of the positioning pin 2236 extends forwards out of the front plate 2232; the spring 2237 is sleeved on the positioning pin 2236 and is positioned between the front shaft sleeve 2238 and the rear shaft sleeve 2239; as shown in fig. 12, before the spring 2237 is compressed, the large end of the rear part of the positioning pin 2236 penetrates through the rear shaft sleeve 2239, and the limiting plate abuts against the rear end surface of the vertical plate 2231; as shown in fig. 13, after the spring 2237 is compressed, the small end of the rear portion of the positioning pin 2236 penetrates through the rear shaft sleeve 2239, and a distance exists between the limiting plate and the rear end face of the vertical plate 2231; the first electromagnet 2234, when energized, is configured to axially attract the back plate 2233, holding the motorized clamp 2235 in position.

The electric clamping jaw 2235 comprises two parallel clamping jaw arms which can be opened or closed and clamping hooks which are arranged at the front ends of the clamping jaw arms and are arranged back to back; the rear ends of the two parallel gripper arms are fixed to the rear plate 2233. The two positioning pin assemblies are symmetrically distributed on two sides of the electric clamping jaw 2235; in other embodiments, the number of dowel pin assemblies may be 4 in a rectangular distribution or 3 in a triangular distribution.

As shown in fig. 15 to 19, the battery assembly 24 includes a battery mounting plate 243, a case 241, and a battery provided in the case 241; the casing 241 is fixed in the middle of the inner side of the battery mounting plate 243, and the inner side of the battery mounting plate 243 is provided with at least one fine positioning pin 244, a charging and discharging socket 245, a battery on-off switch circuit board 246, a battery in-place detection piece 247, two coarse positioning pin sleeves 248 and two locking pieces 242.

As shown in fig. 18, the outer side surface of the mounting plate is provided with a grabbing matching device, the grabbing matching device is used for grabbing the battery assembly 24, the grabbing matching device comprises a step blind hole 238 formed in the middle of the outer side surface of the battery mounting plate 243 and positioning pin sleeves located on two sides of the step blind hole 238, and the external clamping jaw extends into the step blind hole to grab the battery assembly.

Two thick locating pin bosses 248 are secured by screws to two of the opposite corners of the battery mounting plate 243. Two locking pieces 242 are disposed in the middle of two opposite side edges of the battery mounting plate 243, and the locking pieces 242 have a rectangular block structure and are provided with T-shaped dovetail grooves 2421. The charge and discharge socket 245 and the battery on-off switch circuit board 246 are respectively provided at the other two opposite corners of the battery mounting plate 243; the battery on/off switch circuit board 246 includes a light receiving tube 2461 and a conversion circuit 2462. The battery-in-place detecting member 247 is a light shielding plate perpendicular to the battery mounting plate 243. Two fine positioning pins 244 are fixedly installed on the battery installation plate 243 through screws and are respectively located at two sides of the charging and discharging socket 245; in other embodiments, the mounting position of the fine positioning pin 244 may be adjusted according to the position of the battery mounting plate.

As shown in fig. 20 and 22, the battery compartment 23 includes a frame 231, and at least one fine positioning pin sleeve 232, a charging and discharging plug 233, a battery power-on and power-off control circuit board 234, a battery in-place detection switch 235, two coarse positioning pins 236 and two electric locking tongues 237, which are disposed on an outer side surface of the frame 231, where the coarse positioning pins 236 and the coarse positioning pin sleeves 248 of the battery assembly 24 are equal in number and correspond in position to each other to realize primary positioning; the number of the fine positioning pin sleeves 232 is equal to the number of the fine positioning pins 244 of the battery assembly 24, and the positions of the fine positioning pins correspond to one another, so that fine positioning is realized.

Two coarse positioning pins 236 are fixed to two opposite corners of the frame 231 by screws, and the length of the coarse positioning pins 236 is greater than that of the fine positioning pins 244. The charge/discharge plug 233 and the battery power-on/off control circuit board 234 are respectively provided at the other two opposite corners of the frame 231; the battery power-on and power-off control circuit board 234 comprises a light emitting tube 2341 and a control circuit 2342; the battery on-off switch circuit board 246 on the battery assembly 24 is matched with the light emitting tube 2341 for use, and switching on and off of the battery is achieved. Two electric lock bolts 237 are disposed in the middle of two opposite sides of the frame 231, as shown in fig. 21, the electric lock bolts 237 are T-shaped. The battery in-position detection switch 235 is a photoelectric switch. The two fine positioning pin sleeves 232 are fixed to the frame 231 by screws, and the two fine positioning pin sleeves 232 are located on both sides of the charging and discharging plug 233, respectively.

When the battery assembly 24 is matched with the battery compartment 23 in this embodiment, a hierarchical positioning structure is adopted, and when the battery assembly 24 is placed in the battery compartment 23, firstly, two coarse positioning pin sleeves 248 on the battery mounting plate 243 are positioned in a matched manner with two coarse positioning pins 236 on the frame 231 of the battery compartment 23, and a large matching gap is designed between the coarse positioning pin sleeves 248 and the coarse positioning pins 236, so as to realize initial positioning of the battery assembly 24 and the battery compartment 23; then two fine positioning pins 244 of the battery assembly 24 are respectively matched with two fine positioning pin sleeves 232 on the battery compartment 23, the fine positioning pins 244 are in sliding fit with the fine positioning pin sleeves 232, so that the accurate positioning of the battery assembly 24 and the battery compartment 23 is realized, the accurate opposite insertion of a charging and discharging socket 245 on the battery assembly 24 and a charging and discharging plug 233 on the battery compartment 23 is ensured, the ports of the battery end and the battery compartment end are communicated, and the charging and discharging of the battery are realized. The battery in-place detection piece 247 is matched with the battery in-place detection switch 235 on the battery compartment 23 to judge whether the battery assembly 24 is installed in place, and after the battery in-place detection switch 235 detects that the battery assembly 24 is installed in place, the motor drives the electric bolt 237 to rotate in the T-shaped dovetail groove 2421 of the locking piece 242, so that the locking and fixing of the locking piece 242 and the electric bolt 237 are realized, and the battery assembly 24 is locked in the battery charging compartment 23 for the robot; the battery on-off switch circuit board 246 on the battery assembly 24 is matched with the light emitting tube 2341 for use, so that the conduction of the battery is realized, and the charging of the battery is realized.

When battery pack 24 needs to be taken out from battery charging bin 23, the external clamping jaw extends into the step blind hole on the outer side surface of the mounting plate, the grabbing part of the clamping jaw is outwards opened under the driving of the motor to clamp battery mounting plate 243, battery on-off switch circuit board 246 on battery pack 24 is matched with light-emitting tube 2341 to use, the exposed positive and negative electrodes of the battery are not conductive, then motor-driven electric lock tongue 237 rotates, lock catch piece 242 and electric lock tongue 237 are in an unlocking state, and the clamping jaw takes out battery pack 24 from battery charging bin 23.

In other embodiments, the fine positioning pin 244 on the battery assembly 24 can be replaced with the fine positioning pin sleeve 232, the coarse positioning pin sleeve 248 can be replaced with the coarse positioning pin 236, and the fine positioning pin sleeve 232 and the coarse positioning pin 236 on the battery compartment 23 can be adaptively replaced.

When the battery pack 24 is replaced, the battery is not charged, and the battery replacement and environmental safety are improved.

The working process of the automatic charging and replacing device of the embodiment is as follows:

1) patrol robot 3 location

1.1) before the inspection robot 3 enters the guiding and positioning mechanism, the inspection robot 3 decelerates in advance by identifying the running direction and position, and enters the guiding and positioning mechanism at a low speed;

1.2) determining that the front gear stopping mechanism 11 (or the rear gear stopping mechanism 12) descends according to the position of the robot guiding and positioning mechanism 1 and the running direction information of the inspection robot 3, guiding the inspection robot 3 to enter through a positioning guide strip 13, and stopping the inspection robot 3 after the inspection robot is in place;

1.3) after the inspection robot 3 stops in place, the rear gear stop mechanism 12 (or the front gear stop mechanism 11) stops downwards, the action electric cylinder 14 drives the first positioning pin sleeve 15 to downwards move, and the action electric cylinder is matched with a positioning pin on the upper end face of the inspection robot 3, so that the inspection robot 3 is accurately positioned.

2) Inspection robot 3 battery replacement

2.1) when the inspection robot 3 is in place, the robot system communicates with the battery charging and replacing mechanism 2, a bin door of the battery charging and replacing mechanism 2 is opened, the battery replacing manipulator 22 is in the forward direction of the inspection robot 3 in the initial state, the linear motion mechanism 222 on the battery replacing manipulator 22 drives the battery taking and placing clamping jaw 223 to move to the battery taking position of the inspection robot 3, and the battery assembly 24 in the battery bin 23 at the end of the inspection robot 3 is taken out;

2.2) after the battery assembly 24 in the battery bin 23 at the end of the inspection robot 3 is taken out, the linear motion mechanism 222 drives the battery taking and placing clamping jaw 223 and the battery assembly 24 thereon to return to the initial position of the battery replacing manipulator 22;

2.3) after returning to the initial position, the rotary motion mechanism 221 on the battery replacing manipulator 22 drives the linear motion mechanism 222, the battery taking and placing clamping jaw 223 and the inspection robot 3 battery assembly 24 on the battery taking and placing clamping jaw 223 to integrally rotate to the position of the battery bin 1, after the linear motion mechanism 222 drives the battery taking and placing clamping jaw 223 and the battery assembly 24 thereon to move to the position of the battery bin 1, the battery assembly 24 is placed in the position of the battery bin 1 to start charging, the automatic battery charging and replacing mechanism 2 is provided with two battery bins 23, one standby battery assembly 24 is charged, the standby battery assembly 24 is set to be charged in the battery bin 2, and when the battery is replaced, the standby battery assembly 24 in the battery bin 2 is fully charged;

2.4) the battery replacing manipulator 22 withdraws from the battery grabbing position in the battery compartment 1 to the initial position of the linear motion mechanism 222;

2.5) the rotating mechanism on the battery replacing manipulator 22 drives the linear motion mechanism 222 and the battery taking and placing clamping jaw 223 to rotate to the position of the battery compartment 2;

2.6) the linear motion mechanism 222 drives the battery taking and placing clamping jaw 223 to move to the position of the battery compartment 2 for taking and placing the battery, and the battery assembly 24 in the battery compartment 2 is taken out;

2.7) after taking out the battery pack 24 in the battery compartment 2, the linear motion mechanism 222 retracts to the initial state and rotates to the side of the inspection robot 3;

2.8) the linear motion mechanism 222 drives the battery taking and placing clamping jaw 223 and the battery assembly 24 thereon to move to the position where the inspection robot 3 takes and places the battery assembly 24 into the battery bin 23 of the inspection robot 3;

2.9) the battery taking and placing clamping jaw 223 retreats from the battery grabbing position, the linear motion mechanism 222 drives the battery taking and placing clamping jaw 223 to return to the initial state, and the replacement of the rechargeable battery of the inspection robot 3 is completed;

2.10) closing the bin gate of the charging and replacing mechanism 2, releasing the guiding and positioning mechanism (the front gear stopping mechanism 11, the rear gear stopping mechanism 12 and the first positioning pin sleeve 15 all go upwards), and continuously inspecting along the main track 4 by the inspection robot 3.

The battery taking and placing clamping jaw 223 can reduce the overall processing and mounting precision of the battery charging and replacing mechanism 2, and the battery charging and replacing mechanism 2 normally operates for a certain time, and due to the fact that parts are worn and position deviation is generated, the battery taking and placing clamping jaw 223 can achieve accurate taking and placing of the battery assembly 24 through a floating effect.

As shown in fig. 12 and 13, the operation of the electric jaw 2235:

a) when the electric clamping jaw 2235 grabs the battery component 24 on the side of the inspection robot 3, the positioning pin 2236 is matched and positioned with the positioning pin sleeve on the battery component 24, the clamping hook of the electric clamping jaw 2235 extends into the step blind hole 238 (grabbing hole) in the middle of the battery component 24 on the side of the inspection robot 3, and the clamping hook on the clamping jaw arm is driven by the motor to open, so that the battery component 24 of the inspection robot 3 can be grabbed; when the position of the battery assembly 24 and the hook position of the electric clamping jaw 2235 on the side of the inspection robot 3 are deviated, because the front part of the positioning pin 2236 is of a conical surface structure, the front end part of the positioning pin 2236 is tightly attached to the edge of the positioning pin sleeve on the battery assembly 24, the whole battery clamping jaw 223 is driven by the linear motion mechanism 222 to move forward, so that the electric clamping jaw 2235, the front plate 2232, the positioning pin 2236 and the rear plate 2233 move backward relative to the vertical plate 2231, the spring 2237 is compressed, the positioning pin 2236 moves backward after the spring 2237 is compressed, the small end at the rear part of the positioning pin 2236 penetrates through the rear shaft sleeve 2239, a large gap is formed between the positioning pin 2236 and the rear shaft sleeve 2239, so that the whole electric clamping jaw 2235, the front plate 2232, the positioning pin 2236 and the rear plate 2233 can have a floating effect, and the positioning pin 2236 floats and then enters the positioning pin sleeve on the battery assembly 24 on the side of the inspection robot 3, accurate positioning of the battery assembly 24 and the battery compartment is achieved;

b) after the positioning pin 2236 and a positioning pin sleeve on the battery assembly 24 on the inspection robot 3 side are positioned, the motor drives the grabbing part of the electric clamping jaw 2235 to open, the electric clamping jaw 24 on the inspection robot 3 side is grabbed, after the battery assembly 24 is grabbed, the first electromagnet 2234 is actuated to adsorb the back plate 2233, so that the electric clamping jaw 2235 keeps the current state, the linear motion mechanism 222 drives the electric clamping jaw 2235 and the battery assembly 24 thereon to retract, the battery assembly 24 on the inspection robot 3 side is taken out, and the first electromagnet 2234 is designed with a floating connection (a floating spring 2241) to adapt to the angle deviation generated by compression of the spring 2237;

c) after the linear motion mechanism 222 retracts, the first electromagnet 2234 is released, and the electric clamping jaw 2235 and the battery assembly 24 are reset;

d) the battery assemblies 24 are placed in the corresponding battery bins 23 by the rotary motion mechanism 221 and the linear motion mechanism 222 to complete the battery replacement action.

e) When placing battery pack 24, get and put battery clamping jaw 223 and can adapt to the positional deviation between battery pack 24 and the battery compartment 23 automatically, spring 2237 can produce the compression of equidimension not, and after battery pack 24 tentatively got into battery compartment 23, the hierarchical location in accessible battery and the battery compartment 23 was automatic just directed to accessible electric clamping jaw 2235 and spring 2237 compression moved back the battery into battery compartment 23, accomplished the battery of snatching of patrolling and examining robot 3.

As shown in fig. 23 to 28, the fire-fighting robot of the present embodiment includes a housing 01, a rail-hanging driving device 02 disposed above the housing 01, at least one rechargeable battery disposed in the housing 01, at least one fire-fighting tank 03 and corresponding electric push rod 04 disposed in the housing 01, a directional fire-fighting device 05 disposed on a mounting plate 011 at the bottom of the housing 01, and a guiding system; the hanging rail driving device 02 is arranged on the main rail 4 in a hanging mode, so that the functions of the hanging rail type fire-extinguishing robot such as moving, stopping, climbing, turning and the like on the main rail 4 are achieved; the fire extinguishing tank 03 is used for providing fire extinguishing medium, the electric push rod is used for pressing a handle of the fire extinguishing tank 03, the handle of the fire extinguishing tank 03 is automatically opened through the electric push rod, the directional fire extinguishing device 05 achieves a fire extinguishing function, the fire source detector 054 is used for detecting a fire position, and the guiding system guides the fire extinguishing nozzle 055 of the directional fire extinguishing device 05 to move to the fire position according to the position detected by the fire source detector 054 so as to achieve automatic fire extinguishing; the rechargeable battery provides a power source for the work of the fire-extinguishing robot.

The directional fire extinguishing device 05 comprises a rotary driving mechanism 051, a pitching driving mechanism 052, an air guide pipeline 053, a fire source detector 054, a fire extinguishing nozzle 055 and a protective cover 056; the fire extinguishing nozzle 055 is clamped on a pitching driving mechanism 052, and the pitching driving mechanism 052 is positioned below the mounting plate 011 and is used for driving the fire extinguishing nozzle 055 to perform pitching motion; the rotary driving mechanism 051 is arranged above the mounting plate 011 and is used for driving the pitching driving mechanism 052 and the fire extinguishing nozzle 055 to synchronously rotate; the upper end opening of the air guide pipeline 053 is connected with an outlet of the fire extinguishing tank 03, and the lower end opening thereof is connected with an inlet of a fire extinguishing nozzle 055; the fire source detector 054 is disposed on the fire extinguishing nozzle 055, and the fire source detector 054 is disposed in the same direction as the fire extinguishing nozzle 055.

The rotary driving mechanism 051 comprises a rotary driving motor 0511, a first gear 0512, a second gear 0513, a rotary bearing block 0514 and a hollow rotary shaft 0515; the rotary driving motor 0511 is arranged on the mounting plate 011 through the first support frame 517, and the first gear 0512 is coaxially arranged on the output shaft of the rotary driving motor 0511; the rotary bearing seat 0514 is arranged on the mounting plate 011; a hollow rotary shaft 0515 is penetrated in the rotary bearing block 0514 through a bearing, a second gear 0513 is sleeved on the hollow rotary shaft 0515 and is meshed with the first gear 0512,

the fire extinguishing medium circulation channel 0516 is formed by a hollow cavity in the hollow rotary shaft 0515, the upper end of the fire extinguishing medium circulation channel 0516 is connected with the outlet of the fire extinguishing tank 03 through a first rotary joint 057, and the lower end of the fire extinguishing medium circulation channel is connected with the inlet of a fire extinguishing nozzle 055 through a second rotary joint 058. The air guide line 053 of this embodiment comprises an air inlet pipe 531 provided between the outlet of the fire extinguishing tank 03 and the first rotary joint 057, a fire extinguishing medium circulation path 0516 on the hollow rotary shaft 0515, an air guide pipe 0532 provided between the second rotary joint 058 and the inlet of the fire extinguishing nozzle 055. A second support bracket 518 for supporting the air inlet duct 531 is provided on the mounting plate 011.

The hollow rotating shaft 0515 of the embodiment is provided with a connecting plate 059 for fixing a protective cover 056, the connecting plate 059 is positioned below the mounting plate 011, the protective cover 056 covers the pitching driving mechanism 052 and is fixedly mounted on the connecting plate 059, the outlet of the fire extinguishing nozzle 055 extends out of the protective cover 056, the fire source detector 054 is also positioned outside the protective cover 056, and in other embodiments, the fire source detector 054 can be arranged on the outer wall of the protective cover 056 and is arranged in the same direction with the fire extinguishing nozzle 55.

The pitch driving mechanism 052 comprises a pitch driving motor 0521 and a transmission shift rod 0522; the pitching driving motor 0521 is arranged on the connecting plate 059, one end of the transmission deflector rod 0522 is connected with the output of the pitching driving motor 0521, and the other end of the transmission deflector rod 0522 is of a U-shaped frame structure and is used for clamping the air guide pipe 0532 and stirring the air guide pipe 0532 to perform pitching motion, so that the fire extinguishing nozzle 055 is pushed to rotate around the axis of the hollow rotating shaft 0515. The rotation driving motor 0511 drives the first gear 0512 to rotate, the first gear 0512 drives the second gear 0513 to rotate, the second gear 0513 is fixedly connected with the hollow rotating shaft 0515 into a whole, the hollow rotating shaft 0515 synchronously rotates along with the second gear 0513, and then the pitching driving mechanism 052, the fire extinguishing nozzle 055 arranged on the pitching driving mechanism 052 and the protective cover 056 are driven to synchronously and horizontally rotate; under the drive of the pitching driving motor 0521, the driving deflector rod 0522 drives the air guide pipe 0532 to perform pitching motion, and further the fire extinguishing nozzle 055 rotates around the axis of the hollow rotating shaft 0515.

In the embodiment, the main track 4 is a track in the existing rail hanging type inspection system, and the fire extinguishing robot can move on the main track 4 to realize movable fire extinguishing; the first rotary joint 057 and the second rotary joint 058 of the embodiment ensure that the fire extinguishing medium passes through and serve as a rotating shaft to realize two functions.

In this embodiment, the number of the fire extinguishing pots 03 and the number of the electric push rods 04 are two, and outlets of the two fire extinguishing pots 03 are respectively connected with an opening at the upper end of the gas guide pipeline 053. The standard universal fire extinguishing tank 03 is adopted, and the fire extinguishing tank 03 can be easily replaced after being used.

The working process of the fire-extinguishing robot of the embodiment is as follows:

the directional fire extinguishing device 05 is driven by the hanging rail driving device 02 to move to a position close to a fire source point, and the fire source detector 054 provides a fire accurate position; under the action of a rotary driving motor 0511 and a pitching driving motor 0521, the fire extinguishing nozzle 055 rotates and points to a fire source accurately; then, the electric push rod presses the handle of the fire extinguishing tank 03 tightly, and the fire extinguishing tank 03 is opened; fire extinguishing medium in the fire extinguishing tank 03 sequentially passes through the air inlet pipe 531, the fire extinguishing medium circulation channel 0516 of the hollow rotating shaft 0515 and the air guide pipe 0532 to enter the fire extinguishing nozzle 055, and the fire extinguishing nozzle 055 sprays the fire extinguishing medium to a fire source to realize a fire extinguishing function. After the fire source detector 054 senses that the fire is successfully extinguished, the electric push rod loosens the handle of the fire extinguishing tank 03 to stop extinguishing the fire; and finally, the fire extinguishing robot returns to the initial position.

Example two

The difference from the first embodiment is that: as shown in fig. 14, the pick-and-place battery jaw 223 includes a vertical plate 2231, a front plate 2232, a first electromagnet 2234, a second electromagnet 2240, and at least two dowel assemblies; the vertical plate 2231 is vertically fixed on the lower bottom surface of the linear motion mechanism 222; the front plate 2232 is arranged in parallel in front of the vertical plate 2231; the locating pin assembly comprises a locating pin 2236, a spring 2237, a front bushing 2238 and a rear bushing 2239; a front bushing 2238 is fixed to the front plate 2232; the rear shaft sleeve 2239 is fixed on the vertical plate 2231; the front part of the positioning pin 2236 is matched with a positioning pin sleeve of the battery pack 24, and the front end surface of the positioning pin 2236 is of a conical surface structure; the rear part of the positioning pin 2236 is of a step structure with a small front part and a big rear part, and a limiting structure 2230 is arranged on the end surface of the rear part of the positioning pin 2236; the front part of the positioning pin 2236 is arranged in the front shaft sleeve 2238 in a penetrating way, and the front part of the positioning pin 2236 extends forwards out of the front plate 2232; the spring 2237 is sleeved on the positioning pin 2236 and is positioned between the front shaft sleeve 2238 and the rear shaft sleeve 2239; before the spring 2237 is compressed, the large end of the rear part of the positioning pin 2236 penetrates through the rear shaft sleeve 2239; after the spring 2237 is compressed, the small end of the rear portion of the locating pin 2236 passes through the rear axle sleeve 2239; the second electromagnet 2240 is arranged on the front side of the front plate 2232, and the battery assembly 24 is attracted by magnetic force after the second electromagnet 2240 is electrified; the first electromagnet 2234 is disposed on the front side of the vertical plate 2231, and attracts the front plate 2232 in the axial direction after being energized. A floating spring 2241 is arranged between the first electromagnet 2234 and the vertical plate 2231. The two positioning pin assemblies are symmetrically distributed on two sides of the second electromagnet 2240. This embodiment is through second electro-magnet 2240 actuation effect, snatch the battery pack 24 who patrols and examines 3 sides of robot, when there is the deviation in the position, second electro-magnet 2240, front bezel 2232, the whole back that moves for riser 2231 of dowel 2236, spring 2237 is compressed, after the spring 2237 compression, the tip at dowel 2236 rear portion wears to establish in back axle sleeve 2239, there is great clearance between dowel 2236 and the back axle sleeve 2239, make second electro-magnet 2240, front bezel 2232, the whole floating effect that can appear of dowel 2236, it gets into after messenger dowel 2236 floats and patrols and examines the locating pin cover on the battery pack 24 of robot 3 sides.

EXAMPLE III

The difference from the first embodiment is that: the battery replacement manipulator 22 comprises a linear motion mechanism 222 arranged in the middle of the upper bottom surface of the bin body 21, a rotary motion mechanism 221 arranged on the linear motion mechanism 222 and positioned below the linear motion mechanism 222, and a battery taking and placing clamping jaw 223 arranged on the rotary motion mechanism 221 and positioned below the rotary motion mechanism 221.

The above description is only for the purpose of describing the preferred embodiments of the present invention and does not limit the technical solutions of the present invention, and any known modifications made by those skilled in the art based on the main technical concepts of the present invention fall within the technical scope of the present invention.

Claims

1. The utility model provides a hang rail formula system of patrolling and examining which characterized in that: comprises a main track (4), an inspection robot (3), a fire-extinguishing robot (06), an automatic charging and replacing device (08) and a track replacing mechanism (07);

the rail replacing mechanism (07) comprises a fixed frame (071), a moving frame (072), a driving mechanism (073) and two auxiliary rails (074) which are arranged in parallel;

the fixing frame (071) is positioned above the main rail (4);

the movable rack (072) is arranged on the fixed rack (071);

the two auxiliary tracks (074) are arranged below the moving frame (072) in parallel to the main track (4);

the inspection robot (3) is suspended on the main track (4);

the fire-extinguishing robot (06) is suspended on any one pair of tracks (074);

the driving mechanism (073) is arranged on the fixed frame (071) and used for driving the movable frame (072) to move along the direction perpendicular to the running direction of the main track (4), so that any one of the auxiliary tracks (074) is butted with the main track (4) to form a running track of the inspection robot (3) or the fire extinguishing robot (06);

the automatic battery charging and replacing device (08) comprises a robot guiding and positioning mechanism (1) and a battery charging and replacing mechanism (2), the robot guiding and positioning mechanism (1) is located above a main rail (4) and used for guiding and positioning an inspection robot (3), and the battery charging and replacing mechanism (2) is used for inspecting replacement of a battery pack on the robot (3).

2. The rail mounted inspection system according to claim 1, wherein: the battery charging and replacing mechanism (2) is positioned on one side of the main track (4) and comprises a bin body (21), a battery replacing mechanical hand (22) arranged in the bin body (21), two battery bins (23) and a battery assembly (24) arranged in one of the battery bins (23);

the bin door of the bin body (21) is used for rightly facing a battery component (24) of the inspection robot (3);

the battery replacing manipulator (22) comprises a rotary motion mechanism (221) arranged in the middle of the upper bottom surface of the bin body (21), a linear motion mechanism (222) arranged on the rotary motion mechanism (221) and positioned below the rotary motion mechanism (221), and a battery taking and placing clamping jaw (223) arranged on the linear motion mechanism (222) and positioned below the linear motion mechanism (222);

or the battery replacing manipulator (22) comprises a linear motion mechanism (222) arranged in the middle of the upper bottom surface of the bin body (21), a rotary motion mechanism (221) arranged on the linear motion mechanism (222) and positioned below the linear motion mechanism (222), and a battery taking and placing clamping jaw (223) arranged on the rotary motion mechanism (221) and positioned below the rotary motion mechanism (221);

the two battery bins (23) are respectively arranged in the grippable range of the battery replacing manipulator (22), and the battery bins (23) are used for storing and charging battery components (24);

the battery taking and placing clamping jaw (223) is used for grabbing a battery assembly (24) on the inspection robot (3) or the battery bin (23) of the battery charging and replacing mechanism (2).

3. The rail mounted inspection system according to claim 2, wherein: the battery taking and placing clamping jaw (223) comprises a vertical plate (2231), a front plate (2232), a rear plate (2233), a first electromagnet (2234), an electric clamping jaw (2235) and at least two positioning pin assemblies;

the vertical plate (2231) is fixed on the lower bottom surface of the linear motion mechanism (222);

the front plate (2232) and the rear plate (2233) are arranged on the electric clamping jaw (2235) and are respectively positioned on the front side and the rear side of the vertical plate (2231), and the grabbing part of the electric clamping jaw (2235) extends forwards out of the front plate (2232);

the locating pin assembly comprises a locating pin (2236), a spring (2237), a front shaft sleeve (2238) and a rear shaft sleeve (2239);

the front shaft sleeve (2238) is fixed on the front plate (2232); the rear shaft sleeve (2239) is fixed on the vertical plate (2231);

the front part of the positioning pin (2236) is matched with a positioning pin sleeve of the battery component (24), and the front end surface of the positioning pin (2236) is of a conical surface structure;

the rear part of the positioning pin (2236) is of a step structure with a small front part and a big rear part, and a limiting structure (2230) is arranged on the end surface of the rear part of the positioning pin (2236);

the front part of the positioning pin (2236) is arranged in the front shaft sleeve (2238) in a penetrating way, and the front part of the positioning pin (2236) extends forwards out of the front plate (2232);

the spring (2237) is sleeved on the positioning pin (2236) and is positioned between the front shaft sleeve (2238) and the rear shaft sleeve (2239);

before the spring (2237) is compressed, the large end of the rear part of the locating pin (2236) penetrates through the rear shaft sleeve (2239); after the spring (2237) is compressed, the small end of the rear part of the locating pin (2236) penetrates through the rear shaft sleeve (2239);

the first electromagnet (2234) is electrified to adsorb the back plate (2233) along the axial direction.

4. The rail mounted inspection system according to claim 2, wherein: the battery taking and placing clamping jaw (223) comprises a vertical plate (2231), a front plate (2232), a first electromagnet (2234), a second electromagnet (2240) and at least two positioning pin assemblies;

the front plate (2232) is arranged in front of the vertical plate (2231) in parallel;

the second electromagnet (2240) is arranged on the front side of the front plate (2232);

the first electromagnet (2234) is arranged on the front side of the vertical plate (2231), and the first electromagnet (2234) is electrified to adsorb the front plate (2232) along the axial direction.

5. The rail mounted inspection system according to claim 2, 3 or 4, wherein: a floating spring (2241) is arranged between the first electromagnet (2234) and the vertical plate (2231);

the number of the positioning pin assemblies is two, and the two positioning pin assemblies are symmetrically distributed on two sides of the second electromagnet (2240).

6. The rail mounted inspection system according to claim 5, wherein: the automatic battery charging and replacing device further comprises a wireless charging mechanism (5) for charging a wireless charging battery of the inspection robot (3), wherein the wireless charging mechanism (5) is arranged on the other side of the main track (4) and is opposite to the battery charging and replacing mechanism (2);

the driving mechanism (073) is an air cylinder, an air cylinder body (0731) is arranged on the fixed frame (071), and the end part of an air cylinder piston rod (0732) is arranged on the movable frame (072);

two linear slide rails (0711) which are arranged in parallel are arranged on the fixed frame (071), and pulleys (0721) matched with the slide rails are arranged on the movable frame (072);

the upper end face of each auxiliary track (074) is fixedly connected with a movable frame (072) through a track mounting frame (075);

a positioning mechanism (076) is arranged above each auxiliary track (074), and each positioning mechanism (076) comprises a positioning mounting plate (0761) arranged on the moving frame (072), a linear bearing mounting plate (0762) which is arranged below the positioning mounting plate (0761) in parallel and fixedly connected with the track mounting frame (075), and two blocking structures (0763) arranged between the positioning mounting plate (0761) and the linear bearing mounting plate (0762);

each blocking structure (0763) comprises a driving piece (07631) which is arranged on the positioning mounting plate (0761) and faces downwards, a guide shaft (07632) which is arranged on the linear bearing mounting plate (0762) in a penetrating mode and the upper end of which is connected with the lower end of the driving piece (07631), and a blocking piece (07633) which is arranged at the lower end of the guide shaft (07632), wherein the driving piece (07631) drives the blocking piece (07633) to move downwards for positioning the functional robot or the functional robot.

7. The rail mounted inspection system according to claim 6, wherein: the fire extinguishing robot comprises a shell (01), a hanging rail driving device (02) arranged at the upper part of the shell (01), at least one fire extinguishing tank (03) and a corresponding electric push rod (04) which are arranged in the shell (01), and a directional fire extinguishing device (05) arranged on a mounting plate (011) at the bottom of the shell (01); the electric push rod (04) is used for pressing a handle of the fire extinguishing tank (03);

the directional fire extinguishing device (05) comprises a rotary driving mechanism (051), a pitching driving mechanism (052), an air guide pipeline (053), a fire source detector (054) and a fire extinguishing nozzle (055);

the fire extinguishing nozzle (055) is arranged on the pitching driving mechanism (052);

the pitching driving mechanism (052) is positioned below the mounting plate (011) and is used for driving the fire extinguishing nozzle (055) to perform pitching motion;

the rotary driving mechanism (051) is arranged above the mounting plate (011) and is used for driving the pitching driving mechanism (052) and the fire extinguishing nozzle (055) to synchronously rotate;

the upper end opening of the air guide pipeline (053) is connected with an outlet of the fire extinguishing tank (03), and the lower end opening thereof is connected with an inlet of a fire extinguishing nozzle (055);

the fire source detector (054) is arranged on the directional fire extinguishing device (5) or the fire extinguishing nozzle (055), and the fire source detector (054) and the fire extinguishing nozzle (055) are arranged in the same direction.

8. The rail mounted inspection system according to claim 7, wherein: the directional fire extinguishing device (05) further comprises a protective cover (056);

the protective cover (056) covers the pitching driving mechanism (052), and the outlet of the fire extinguishing nozzle (055) extends out of the protective cover (056);

the fire source detector (054) is positioned outside the protective cover (056);

and the rotation driving mechanism (051) is used for driving the pitching driving mechanism (052) and the protective cover (056) to synchronously rotate.

9. The rail mounted inspection system according to claim 8, wherein: the rotary driving mechanism (051) comprises a rotary driving motor (0511), a first gear (0512), a second gear (0513), a rotary bearing seat (0514) and a hollow rotary shaft (0515);

the rotary driving motor (0511) is arranged on the mounting plate (011), and the first gear (0512) is coaxially arranged on an output shaft of the rotary driving motor (0511);

the rotary bearing seat (0514) is arranged on the mounting plate (011);

the hollow rotating shaft (0515) penetrates through the rotating bearing seat (0514) through a bearing, and the second gear (0513) is fixedly connected and sleeved on the hollow rotating shaft (0515) and is meshed with the first gear (0512);

the air guide pipeline (053) comprises a fire extinguishing medium circulation channel (0516) formed by a hollow cavity in the hollow rotary shaft (0515), the upper end of the fire extinguishing medium circulation channel (0516) is connected with the outlet of the fire extinguishing tank (03) through a first rotary joint (057), and the lower end of the fire extinguishing medium circulation channel is connected with the inlet of a fire extinguishing nozzle (055) through a second rotary joint (058);

the air guide pipeline (053) also comprises an air guide pipe (0532) arranged between the second rotary joint (058) and the fire extinguishing nozzle (055);

the hollow rotating shaft (0515) is provided with a connecting plate (059) for fixing a protective cover (056);

the pitching driving mechanism (052) comprises a pitching driving motor (0521) and a transmission deflector rod (0522);

the pitching driving motor (0521) is arranged on the connecting plate (059), one end of the transmission shifting rod (0522) is connected with the output of the pitching driving motor (0521), and the other end of the transmission shifting rod is clamped on the air guide tube (0532) and used for shifting the air guide tube (0532) to perform pitching motion.

10. The rail mounted inspection system according to claim 5, wherein: the battery assembly (24) comprises a housing (241), a battery mounting plate (243) and a battery arranged in the housing (241);

the shell (241) is fixed on the inner side surface of the battery mounting plate (243); the inner side surface of the battery mounting plate (243) is provided with at least one fine positioning pin (244), a charging and discharging socket (245), a battery on-off switch circuit board (246), a battery in-place detection piece (247), two coarse positioning pin sleeves (248) and two locking pieces (242); the outer side surface of the mounting plate is provided with a grabbing matching device for grabbing the battery assembly (24); the two coarse positioning pin sleeves (248) are arranged at two opposite corners of the battery mounting plate (243); the two locking pieces (242) are arranged in the middle of two opposite side edges of the battery mounting plate (243); the fine positioning pin (244) is arranged close to the charging and discharging socket (245);

the battery compartment (23) comprises a frame body (231), at least one fine positioning pin sleeve (232) which is arranged on the outer side surface of the frame body (231) and matched with a fine positioning pin (244), a charging and discharging plug (233) which is matched with a charging and discharging socket (245), a battery on-off control circuit board (234), a battery in-place detection switch (235), two coarse positioning pins (236) which are matched with coarse positioning pin sleeves (248) and two electric lock tongues (237) which are matched with lock catches (242);

the two coarse positioning pins (236) are arranged at two opposite corners of the frame body (231);

the two electric lock tongues (237) are arranged in the middle of two opposite side edges of the frame body (231);

the accurate positioning pin sleeve (232) is arranged close to the charging and discharging plug (233).