CN113895533A - Track traffic ceiling type inspection robot - Google Patents

Track traffic ceiling type inspection robot Download PDF

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Publication number
CN113895533A
CN113895533A CN202111087990.3A CN202111087990A CN113895533A CN 113895533 A CN113895533 A CN 113895533A CN 202111087990 A CN202111087990 A CN 202111087990A CN 113895533 A CN113895533 A CN 113895533A
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CN
China
Prior art keywords
fixed mounting
track
pipeline
inspection robot
wall
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202111087990.3A
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Chinese (zh)
Inventor
黄志红
李坚
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Nanjing Niebo IOT Technology Co Ltd
Original Assignee
Nanjing Niebo IOT Technology Co Ltd
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Publication date
Application filed by Nanjing Niebo IOT Technology Co Ltd filed Critical Nanjing Niebo IOT Technology Co Ltd
Priority to CN202111087990.3A priority Critical patent/CN113895533A/en
Publication of CN113895533A publication Critical patent/CN113895533A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2209/00—Details of machines or methods for cleaning hollow articles
    • B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
    • B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
    • B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of rail transit, and particularly relates to a rail transit ceiling type inspection robot which comprises a rail pipeline and a machine shell, and further comprises guide rails, a ceiling device, a buffering device, a limiting mechanism, a cleaning mechanism and a monitoring mechanism, wherein the upper surfaces of the two guide rails are fixedly arranged on the inner top wall of the rail pipeline. This track traffic ceiling type patrols and examines robot, clean the mechanism through the setting, be convenient for patrol and examine the better interior roof of robot at track pipeline and adsorb and remove, clean the dust to the adsorbed route of vacuum chuck, vacuum chuck can be better laminate the interior roof at track pipeline, prevent that vacuum chuck from causing because the dust of roof causes the absorption insecure in the track pipeline, thereby lead to patrolling and examining the unable walking of robot roof in track pipeline, solved current track traffic subway and need operating personnel to get into the track after the operation and examine in the unusual circumstances have, need the manual work to patrol and examine.

Description

Track traffic ceiling type inspection robot
Technical Field
The invention relates to the technical field of rail transit, in particular to a ceiling type inspection robot for rail transit.
Background
The urban rail transit system is a transit system which uses vehicles to run on fixed guide rails in cities and is mainly used for urban passenger transportation.
Current track traffic subway is after the operation, need the staff to get into and patrol and examine in the track, detect the track in have or not abnormal conditions, prevent that the accident from appearing in the subway of later stage, cause the casualties, need the manual work to patrol and examine usually, this troublesome poeration needs the manual work to get into the track and inspects, light is not enough in the track, the accident of falling down appears easily, need consume the plenty of time simultaneously and inspect, has reduced work efficiency.
Disclosure of Invention
The invention provides a rail transit ceiling type inspection robot which is based on the technical problems that after operation of an existing rail transit subway is finished, an operator needs to enter a rail to inspect whether abnormal conditions exist in the rail or not, manual inspection is needed, the operation is troublesome, falling accidents are easy to occur, meanwhile, a large amount of time is consumed for inspection, and the working efficiency is reduced.
The invention provides a rail transit ceiling type inspection robot which comprises a rail pipeline, a machine shell, guide rails, a ceiling device, a buffer device, a limiting mechanism, a cleaning mechanism and a monitoring mechanism, wherein the upper surfaces of the two guide rails are fixedly arranged on the inner top wall of the rail pipeline;
the top suction device is positioned on the upper surface of the shell and drives the shell to move on the inner wall of the track pipeline in an adsorption mode;
the buffer device is positioned in the shell and buffers the shaking generated by the movement of the ceiling device;
the limiting mechanisms are positioned on the outer surfaces of the two sides of the shell and limit the movement of the ceiling device;
the cleaning mechanism is positioned on the outer surface of the limiting mechanism and cleans the moving track of the ceiling device in advance;
the monitoring mechanism is located on the outer surface of the shell and monitors the interior of the track pipeline.
Preferably, the top suction device comprises a driving mechanism and a top suction mechanism, the driving mechanism drives the top suction mechanism to advance, and the top suction mechanism adsorbs the inner wall of the track pipeline to fix;
preferably, the driving mechanism comprises a device box, the outer surface of the device box is inserted into the inner wall of the notch of the casing in a sliding manner, a driving motor is fixedly mounted on the inner bottom wall of the device box, a transmission rod is fixedly mounted on the inner side wall of the device box through a bearing, an output shaft of the driving motor drives the transmission rod to rotate through a bevel gear set, connecting rods are fixedly mounted on two sides of the inner side wall of the device box, and two ends of the transmission rod respectively drive the two connecting rods to rotate through the bevel gear set;
through above-mentioned technical scheme, wherein driving motor's one end runs through the inside that the lower surface of device case extends to the casing, and driving motor passes through bevel gear group drive transfer line and rotates, and the bevel gear drive that the rotation of transfer line passed through both ends drives the connecting rod rotation with its meshing bevel gear, and the lateral surface of casing is run through at the both ends of connecting rod.
Preferably, the ceiling mechanism comprises rocking bars, one ends of the two rocking bars are respectively and fixedly installed at two ends of the connecting rod, one ends of the rocking bars are hinged with an arc plate through a pin shaft, the outer surfaces of two sides of the device box are respectively and fixedly provided with a limiting ring, the outer side surface of the arc plate is rotatably connected with a limiting block through the connecting rod, the outer surface of the limiting block is in sliding connection with the inner wall of the limiting ring, ceiling cylinders distributed in a rectangular array are fixedly installed on the lower surface of the arc plate, and vacuum suckers are fixedly installed after piston rods of the ceiling cylinders penetrate through the upper surface of the arc plate;
through the technical scheme, the rocking rods on one side of the device box are symmetrically distributed, the rocking rods on the same connecting rod are reversely distributed, when the vacuum sucker at the right end of the connecting rod is contacted with the inner wall of the track pipeline, the vacuum sucker at the left end is away from the inner wall of the track pipeline, the vacuum sucker at the right end of the other connecting rod is away from the inner wall of the track pipeline, the vacuum sucker at the left end is contacted and adsorbed with the inner wall of the track pipeline, the device box can be fixed on the outer surface of the track pipeline, the outer surface of the arc plate is connected with the outer surface of the limiting block through the bearing through the fixedly connected rod body, the arc plate always keeps rotating vertical to the inner wall of the track pipeline to limit the rotation of the arc plate, the arc plate is arc-shaped, a plurality of vacuum suckers can be attached to the inner wall of the track pipeline, the adsorption is firmer, and the ceiling cylinder can adjust the distance between the vacuum suckers and the inner wall of the track pipeline, the number of the vacuum chucks is adjusted according to the radian of the top wall in the track pipeline, so that the vacuum chucks can be completely adsorbed on the inner wall of the track pipeline.
Preferably, the buffer device comprises slide groove bodies, the lower surfaces of the slide groove bodies are fixedly arranged on the inner bottom wall of the casing in a rectangular array distribution manner, slide blocks are fixedly arranged on both sides of the lower surface of the device box, the outer surfaces of the slide blocks are in sliding insertion connection with the inner walls of the slide groove bodies, a press plate is fixedly arranged on the outer surface of each slide block, the other end of each press plate is fixedly arranged on the outer surface of the other slide block, damping springs are fixedly connected to the inner bottom wall of the casing in a rectangular array distribution manner, and the other ends of the damping springs are fixedly connected to the lower surface of the press plate;
through above-mentioned technical scheme, driven when the device case passes through the arc piece and rotates the removal and go up and down, the slider of device case lower surface can slide at the spout is internal, presses damping spring, the removal of absorbing device case for the casing is driven when the device case removes and is removed, nevertheless can not go up and down, keeps the stability of camera.
Preferably, the limiting mechanism comprises connecting frames, one ends of the connecting frames are respectively and fixedly mounted on the outer side surface of the casing, limiting clamping blocks are respectively and fixedly mounted at one ends of the connecting frames, the outer surfaces of the limiting clamping blocks are in sliding sleeve connection with the outer surface of the guide rail, rollers are respectively and fixedly mounted on the inner side walls of the limiting clamping blocks, and the outer surfaces of the rollers are in sliding connection with the inner side walls of the guide rail;
through the technical scheme, the shell is limited by the fact that the limiting clamping block is sleeved on the outer surface of the guide rail, the shell can be stably moved, the idler wheels can facilitate the movement of the shell, and the movement is smooth.
Preferably, the cleaning mechanism comprises a cleaning hydraulic cylinder group, the outer surface of the cleaning hydraulic cylinder group is fixedly installed inside the connecting frame, one end of a piston rod of the cleaning hydraulic cylinder group is fixedly installed with a cleaning box, the inner bottom wall of the cleaning box is fixedly installed with a cleaning motor, two supporting plates are fixedly installed on two sides of the inner top wall of the cleaning box through bearings, and an output shaft of the cleaning motor drives the two supporting plates to rotate through a gear set;
through above-mentioned technical scheme, clean the distance that hydraulic cylinder group can adjust brush apart from track pipeline inner wall, the output shaft fixed mounting who cleans the motor has the gear, and the one end fixed mounting of supporting disk has the gear, through cleaning gear on the motor and the gear engagement on the supporting disk that is located both sides, can drive the supporting disk and rotate.
Preferably, the inner side wall of the supporting plate is slidably connected with a brush, the inner bottom wall of the casing is fixedly connected with damping springs distributed in a rectangular array, and one end of each of the plurality of return springs is fixedly connected with the lower surface of the brush;
through above-mentioned technical scheme, brush and supporting disk slip grafting for drive the brush when the supporting disk pivoted and rotate, the brush receives in the rail way roof and is curved extrusion, can make the brush slope in the supporting disk, and the brush of being convenient for cleans rail way's inner wall, makes things convenient for the vacuum chuck in later stage to adsorb, and reset spring can make the brush reset.
Preferably, the monitoring mechanism comprises cameras, the two cameras are respectively and fixedly installed on two sides of the lower surface of the casing, the lower surface of the casing is fixedly provided with a smoke sensor, and the lower surface of the casing is fixedly provided with a temperature and humidity sensor;
through above-mentioned technical scheme, the camera is rotatory camera, can be according to adjusting, and the angle that the camera was adjusted to the inside condition of operating personnel observation track pipeline of being convenient for is observed, and the camera has full-color function, can transmit the condition in the track pipeline with colored picture under the track pipeline not enough light condition, and the operating personnel of being convenient for observes.
Preferably, charging seats are fixedly mounted on two sides of the inner top wall of the track pipeline, charging pole pieces are fixedly mounted on two sides of the lower surface of the casing, and a storage battery is fixedly mounted on the outer surface of the casing;
through the technical scheme, wherein the pole piece that charges for the battery after contacting with the pole piece on the charging seat, battery and pole piece electric connection charge, track pipeline both ends are the fixed mounting charging seat all, it can charge nearby to be convenient for patrol and examine the robot, patrol and examine and be provided with supersonic generator on the robot, send the ultrasonic wave through ultrasonic emitter, be provided with the ultrasonic receiver on the charging seat, accept the ultrasonic wave and then handle, obtain the position appearance of patrolling and examining the robot for the charging seat, then give the robot with positional information feedback to patrolling and examining, make the robot constantly adjust the position appearance and be close to the charging seat and charge.
The beneficial effects of the invention are as follows:
1. by arranging the top suction device, the inspection robot can be adsorbed on the inner top wall of the track pipeline to move, the connecting rod is driven to rotate by the driving motor, the rocker can drive the arc plate to rotate, the vacuum suction cups on the arc plate can be kept to rotate vertically to the inner top wall of the track pipeline by the limiting blocks on the arc plate which are connected to the inner wall of the limiting ring in a sliding manner, so that the vacuum suction cups can be conveniently adsorbed, the vacuum suction cups are distributed along the outer surface rectangular array of the arc plate and can be attached to the inner top wall of the track pipeline, the vacuum suction cups can be driven to move forwards after being adsorbed to the inner top wall of the track pipeline by the rotation of the arc plate, the inspection robot can be driven to move in the track pipeline to replace an operator to carry out inspection work, and the problem that the operator needs to enter the track to inspect whether the track after the operation of the existing track traffic subway is finished is solved, need the manual work to patrol and examine, this troublesome poeration appears easily, falls down the accident, need consume the technical problem that a large amount of time examined, has reduced work efficiency simultaneously.
2. The inspection robot can be kept stable by arranging the buffer device, the device box can be lifted while moving, the lifting of the device box is prevented from driving the casing to lift, the device box is inserted into the inner wall of the notch of the casing, the lower surface slide block of the device box can be lifted in the sliding groove body, the damping spring can be compressed, the movement of the device box drives the casing to move simultaneously, the lifting of the device box in the sliding groove body is eliminated by lifting the slide block in the sliding groove body, so that the casing can be driven to move while keeping stable, the camera can be kept stable, the problems that an operator needs to enter the track to inspect whether the track is abnormal after the operation of the existing track traffic subway is finished, the manual inspection is needed are solved, the operation is troublesome, the falling accident easily occurs, and a large amount of time is consumed for inspection are solved, the technical problem of reducing the working efficiency is solved.
3. Through setting up the cleaning mechanism, be convenient for patrol and examine better interior roof at the track pipeline of robot and adsorb and remove, clean the dust to the adsorbed route of vacuum chuck, the interior roof of laminating at the track pipeline that the vacuum chuck can be better of being convenient for, it causes because the dust of roof in the track pipeline to adsorb insecurely to prevent vacuum chuck, thereby lead to patrolling and examining the unable walking of robot roof in the track pipeline, it needs whether the operating personnel gets into to examine in the track to have the abnormal conditions to have solved current track traffic subway after the operation finishes, need the manual work to patrol and examine, this troublesome poeration, the accident of falling down appears easily, need consume the plenty of time to inspect simultaneously, work efficiency's technical problem has been reduced.
Drawings
Fig. 1 is a schematic diagram of a rail transit ceiling type inspection robot provided by the invention;
fig. 2 is a perspective view of a charging seat structure of a rail transit ceiling type inspection robot according to the present invention;
FIG. 3 is a perspective view of the device box structure of the rail transit ceiling type inspection robot provided by the invention;
fig. 4 is a perspective view of a shell structure of a rail transit ceiling type inspection robot provided by the invention;
fig. 5 is a perspective view of a limit ring structure of a rail transit ceiling type inspection robot provided by the invention;
fig. 6 is a perspective view of a transmission rod structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 7 is a perspective view of a pressing plate structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 8 is a perspective view of a connection frame structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 9 is a perspective view of a brush structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 10 is a perspective view of a supporting disc structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 11 is a perspective view of a charging pole piece structure of a rail transit ceiling type inspection robot according to the present invention;
fig. 12 is a perspective view of a camera structure of a rail transit ceiling type inspection robot according to the present invention.
In the figure: 1. a track pipe; 11. a guide rail; 12. a housing; 2. a device case; 21. a drive motor; 22. a transmission rod; 23. a connecting rod; 24. a rocker; 25. an arc plate; 26. a limiting ring; 27. a limiting block; 28. a ceiling cylinder; 29. a vacuum chuck; 3. a chute body; 31. a slider; 32. pressing a plate; 33. a damping spring; 4. a connecting frame; 41. a limiting clamping block; 42. a roller; 5. cleaning a hydraulic cylinder group; 51. cleaning the box; 52. cleaning a motor; 53. a support disc; 54. a brush; 55. a return spring; 6. a camera; 61. a smoke sensor; 62. a temperature and humidity sensor; 63. a charging seat; 64. charging the pole piece; 65. and (4) a storage battery.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-12, a rail transit ceiling type inspection robot comprises a rail pipeline 1 and a casing 12, and further comprises guide rails 11, a ceiling device, a buffer device, a limiting mechanism, a cleaning mechanism and a monitoring mechanism, wherein the upper surfaces of the two guide rails 11 are fixedly installed on the inner top wall of the rail pipeline 1.
As shown in fig. 1-6, the ceiling device is located on the upper surface of the casing 12 and drives the casing 12 to move on the inner wall of the track pipeline 1 in an adsorption manner;
the top suction device comprises a driving mechanism and a top suction mechanism, the driving mechanism drives the top suction mechanism to move forward, and the top suction mechanism adsorbs the inner wall of the track pipeline 1 to be fixed;
a driving mechanism, which is arranged on the inner wall of the notch of the casing 12 and is used for supporting the driving mechanism, the device case 2 is slidably inserted into the inner wall of the notch of the casing 12, and, in order to automatically drive the device case 2 to move, a driving motor 21 is fixedly installed at an inner bottom wall of the apparatus case 2, and in order to transmit a rotational force of the driving motor 21, a transmission rod 22 is fixedly arranged on the inner side wall of the device box 2 through a bearing, an output shaft of a driving motor 21 drives a transmission rod to rotate through a bevel gear set, the bevel gear set is composed of two meshed bevel gears, one bevel gear is arranged on the output shaft of the driving motor 21, the other bevel gear is arranged at the middle end of the transmission rod 22, in order to transmit the rotating force of the transmission rod 22 and drive the ceiling mechanism to rotate for the purpose of crawling, the inner walls of the two sides of the device box 2 are fixedly provided with connecting rods 23 through bearings, and the two ends of the transmission rod 22 respectively drive the two connecting rods 23 to rotate through bevel gear sets;
a ceiling mechanism, which is installed on one end of the connecting rod 23, for driving the ceiling mechanism to rotate, a rocker 24 is fixedly installed at one end of the connecting rod 23, which penetrates through the outer side surface of the device box 2, in order to perform ceiling work, an arc plate 25 is hinged at one end of the plurality of rockers 24 through a pin shaft, in order to keep the arc plate 25 to be always vertically downward in the rotating process, a limit ring 26 is fixedly installed at both sides of the device box 2, in order to limit the arc plate 25, a limit block 27 is rotatably connected at the outer side surface of the arc plate 25 through the connecting rod 23, one end of the connecting rod 23 is fixedly installed with the outer side surface of the arc plate 25, the other end of the connecting rod 23 is fixedly installed with the limit block 27 through a bearing, then the outer surface of the limit block 27 is slidably connected with the inner wall of the limit ring 26 in order to limit the arc plate 25, in order to adjust the ceiling mechanism according to the radian of the track pipeline 1, ceiling cylinders 28 distributed in a rectangular array are fixedly installed at the lower surface of the arc plate 25, in order to perform the ceiling work, the apparatus case 2 is fixed, a piston rod of the ceiling cylinder 28 penetrates the upper surface of the arc plate 25, and then a vacuum suction cup 29 is fixedly installed, and the outer surface of the vacuum suction cup 29 is sucked to the inner ceiling wall of the track pipe 1.
As shown in fig. 7, the buffer device is located inside the housing 12 and buffers the movement of the suction device to generate shaking;
the buffer device is installed on the inner bottom wall of the machine shell 12, in order to limit the device box 2, the chute body 3 is fixedly installed on the inner bottom wall of the machine shell 12, the chute body 3 is distributed on the inner bottom wall of the machine shell 12 in a rectangular array, in order to enable the device box 2 to be in sliding connection with the chute body 3, the sliding blocks 31 are fixedly installed on two sides of the lower surface of the device box 2, then the outer surfaces of the sliding blocks 31 are in sliding insertion connection with the inner wall of the chute body 3, in order to buffer and absorb shock for the device box 2, the pressing plates 32 are fixedly installed on the outer surfaces of the sliding blocks 31, then one ends of the pressing plates 32 are fixedly installed on the outer surfaces of the other sliding blocks 31, in order to buffer lifting acting force generated by the device box 2 in moving work, the damping springs 33 are fixedly connected to the inner bottom wall of the machine shell 12 in a rectangular array, and then the other ends of the damping springs 33 are fixedly connected to the lower surface of the pressing plates 32.
As shown in fig. 8-9, the limiting mechanisms are located on the outer surfaces of the two sides of the housing 12 and limit the movement of the ejector;
limiting mechanism, install on the position of the lateral surface of casing 12, in order to support limiting mechanism, at the equal fixed mounting link 4 of both sides surface of casing 12, in order to carry on spacingly to the removal of casing 12, at the equal fixed mounting of the one end of a plurality of links 4 spacing fixture block 41, the inner wall of spacing fixture block 41 cup joints with the surface slip of guide rail 11, for the convenience of the removal of casing 12 is smooth and easy, at the equal fixed mounting gyro wheel 42 of inside wall both sides of spacing fixture block 41, then the surface of gyro wheel 42 and the inside wall sliding connection of guide rail 11.
As shown in fig. 9-10, the cleaning mechanism is located on the outer surface of the limiting mechanism and performs cleaning work on the moving track of the ejector in advance;
a cleaning mechanism which is arranged at the inner position of the connecting frame 4, a cleaning hydraulic cylinder group 5 is fixedly arranged in the connecting frame 4 for adjusting the position of the cleaning mechanism, a cleaning box 51 is fixedly arranged at one end of a piston rod of the cleaning hydraulic cylinder group 5 for supporting the cleaning mechanism, a cleaning motor 52 is fixedly arranged on the inner bottom wall of the cleaning box 51 for automatically cleaning, supporting plates 53 are fixedly arranged at two sides of the inner top wall of the cleaning box 51 through inner rings of bearings, an output shaft of the cleaning motor 52 drives two supporting plates 53 to rotate through a gear set, the gear set is composed of three gears, one gear is fixedly arranged on an output shaft of the cleaning motor 52, and the other two gears are respectively fixedly arranged at one end of the supporting plate 53;
further, in order to clean the inner top wall of the track pipe 1 and ensure that the vacuum chuck 29 is better firmly adsorbed, the inner side wall of the supporting plate 53 is slidably connected with a brush 54, in order to better clean, the inner bottom wall of the supporting plate 53 is fixedly connected with return springs 55 distributed in an annular array, and then one end of each return spring 55 is fixedly connected with the lower surface of the corresponding brush 54 to reset the brush 54.
As shown in fig. 11-12, the monitoring mechanism is located on the outer surface of the housing 12 and performs monitoring work on the inside of the track pipe 1;
the monitoring mechanism is arranged at the position of the lower surface of the casing 12, in order to monitor the condition in the track pipeline 1, cameras 6 are fixedly arranged on two sides of the lower surface of the casing 12, each camera 6 is a rotary camera 6, has a full-color function and can rotate, the condition of each corner in the track pipeline 1 can be observed conveniently, the full-color function can transmit a monitored picture in a color image under the condition of insufficient light of the track pipeline 1, the observation by workers is convenient, in order to monitor the smoke condition in the track pipeline 1 and prevent the fire, a smoke sensor 61 is fixedly arranged on the lower surface of the casing 12, and in order to monitor the temperature and the humidity in the track pipeline 1, a temperature and humidity sensor 62 is fixedly arranged on the lower surface of the casing 12;
in order to charge the inspection robot, the charging seats 63 are fixedly mounted on two sides of the inner top wall of the track pipeline 1, the inspection robot can be charged, the charging pole pieces 64 are fixedly mounted on two sides of the lower surface of the casing 12, and the storage battery 65 is fixedly mounted on the outer surface of the casing 12 to store the charged electric energy.
The working principle is as follows: when the inspection robot needs to work, the driving motor 21 in the control device box 2 is started to drive the transmission rod 22 to rotate, the transmission rod 22 drives the connecting rods 23 on the two sides to rotate through the bevel gear set, the arc plates 25 hinged with the rocking rods 24 at the two ends of the two connecting rods 23 rotate, the limiting blocks 27 on the outer side surfaces of the arc plates 25 slide in the limiting rings 26 on the outer side surfaces of the device box 2, the ceiling cylinder 28 adjusts the position of the vacuum sucker 29 away from the track pipeline 1 in advance, so that the vacuum sucker 29 can be attached to the track pipeline 1 and is convenient to adsorb, when the vacuum sucker 29 at the right end of the connecting rod 23 is contacted with the inner wall of the track pipeline 1 for adsorption, the vacuum sucker 29 at the left end leaves the inner wall of the track pipeline 1, the vacuum sucker 29 at the right end of the other connecting rod 23 simultaneously leaves the inner wall of the track pipeline 1, and the vacuum sucker 29 at the left end can be contacted with the inner wall of the track pipeline 1 for adsorption, the device box 2 can keep balance, the device box 2 can move forwards along with the adsorption and the separation of the vacuum chuck 29, and the device box 2 can lift in the crawling process;
the device box 2 is lifted to drive the sliding block 31 on the lower surface to be inserted in the sliding groove body 3 on the inner bottom wall of the shell 12 in a sliding mode, when the device box 2 is lifted upwards, the pressing plate 32 drives the damping spring 33 to be stretched, when the device box 2 is lowered, the damping spring 33 is compressed, meanwhile, the device box 2 can move to drive the shell 12 to move forwards, the limiting clamping blocks 41 on the connecting frames 4 on the two sides of the shell 12 move on the guide rails 11 on the track pipeline 1, and the rollers 42 on the inner side walls of the limiting clamping blocks 41 can rotate on the inner walls of the guide rails 11 to limit the shell 12 and keep the shell 12 to move stably;
meanwhile, the cleaning hydraulic cylinder group 5 on the connecting frame 4 pushes the cleaning box 51 to move, so that the brush 54 on the cleaning box 51 is in contact with the inner top wall of the track pipeline 1, the cleaning motor 52 drives the supporting plate 53 to rotate through the gear group, the supporting plate 53 can transfer the brush 54 inserted with the supporting plate to rotate to clean the inner top wall of the track pipeline 1, and meanwhile, when the brush 54 is extruded by the arc-shaped inner top wall of the track pipeline 1, the reset spring 55 of the inner bottom wall of the supporting plate 53 can be extruded, so that the brush 54 is inclined and can be attached to the inner top wall of the track pipeline 1;
the inside condition of track pipeline 1 can be monitored through camera 6 of casing 12 lower surface, smoke transducer 61 can monitor track pipeline 1 and have the condition of being on fire or not, temperature and humidity sensor 62 can monitor track pipeline 1 in temperature and humidity, when patrolling and examining the robot and need charging, through to charging seat 63 signals, charging seat 63 can control and patrol and examine near robot case charging seat 63 and remove when charging seat 63 received signal, charge battery 65 after contacting charging pole piece 64 and the charging seat 63 with casing 12 lower surface.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. A rail transit ceiling type inspection robot comprises a rail pipeline (1) and a machine shell (12), and is characterized by further comprising guide rails (11), a ceiling device, a buffering device, a limiting mechanism, a cleaning mechanism and a monitoring mechanism, wherein the upper surfaces of the two guide rails (11) are fixedly arranged on the inner top wall of the rail pipeline (1);
the top suction device is positioned on the upper surface of the machine shell (12) and drives the machine shell (12) to move on the inner wall of the track pipeline (1) in an adsorption mode;
the buffer device is positioned in the shell (12) and buffers the shaking generated by the movement of the ceiling device;
the limiting mechanisms are positioned on the outer surfaces of the two sides of the shell (12) and limit the movement of the ceiling device;
the cleaning mechanism is positioned on the outer surface of the limiting mechanism and cleans the moving track of the ceiling device in advance;
the monitoring mechanism is positioned on the outer surface of the shell (12) and monitors the interior of the track pipeline (1).
2. The rail transit ceiling type inspection robot according to claim 1, characterized in that: the top suction device comprises a driving mechanism and a top suction mechanism, the driving mechanism drives the top suction mechanism to advance, and the top suction mechanism adsorbs the inner wall of the track pipeline (1) to be fixed.
3. The rail transit ceiling type inspection robot according to claim 2, characterized in that: actuating mechanism includes device case (2), the surface of device case (2) slides and pegs graft the notch inner wall of casing (12), the interior diapire fixed mounting of device case (2) has driving motor (21), the inside wall of device case (2) has transfer line (22) through bearing fixed mounting, the output shaft of driving motor (21) passes through the drive of bevel gear group transfer line (22) rotate, the equal fixed mounting in inside wall both sides of device case (2) has connecting rod (23), the both ends of transfer line (22) are passed through the bevel gear group and are driven two respectively connecting rod (23) rotate.
4. The rail transit ceiling type inspection robot according to claim 3, characterized in that: inhale a mechanism and include rocker (24), two the one end difference fixed mounting of rocker (24) is in the both ends of connecting rod (23), it is a plurality of the one end of rocker (24) all articulates through the round pin axle has arc board (25), the equal fixed mounting in both sides surface of device case (2) has spacing ring (26), the lateral surface of arc board (25) rotates through connecting rod (23) and is connected with stopper (27), the surface of stopper (27) with the inner wall sliding connection of spacing ring (26), the lower fixed surface of arc board (25) installs and inhales a cylinder (28) that are the distribution of rectangle array, the piston rod of inhaling a cylinder (28) runs through fixed mounting has vacuum chuck (29) behind the upper surface of arc board (25).
5. The rail transit ceiling type inspection robot according to claim 3, characterized in that: buffer includes chute body (3), and is a plurality of the lower surface of chute body (3) is rectangle array distribution fixed mounting in the inner diapire of casing (12), the equal fixed mounting in lower surface both sides of device case (2) has slider (31), and is a plurality of the surface of slider (31) with the inner wall of chute body (3) slides and pegs graft, the outer fixed surface of slider (31) installs clamp plate (32), the other end and another of clamp plate (32) the outer fixed surface installation of slider (31), the inner diapire fixedly connected with of casing (12) is damping spring (33) that rectangle array distributes, the other end fixed connection of damping spring (33) is in the lower surface of clamp plate (32).
6. The rail transit ceiling type inspection robot according to claim 1, characterized in that: stop gear includes link (4), the one end difference fixed mounting of link (4) is in the lateral surface of casing (12), and is a plurality of the equal fixed mounting of one end of link (4) has spacing fixture block (41), the surface of spacing fixture block (41) with the surface sliding of guide rail (11) cup joints, the equal fixed mounting of inside wall of spacing fixture block (41) has gyro wheel (42), the surface of gyro wheel (42) with the inside wall sliding connection of guide rail (11).
7. The rail transit ceiling type inspection robot according to claim 6, wherein: clean the mechanism including cleaning hydraulic cylinder group (5), the surface fixed mounting who cleans hydraulic cylinder group (5) is in the inside of link (4), the piston rod one end fixed mounting who cleans hydraulic cylinder group (5) has cleaning box (51), the interior diapire fixed mounting who cleans box (51) has cleaning motor (52), there is supporting disk (53) interior roof both sides of cleaning box (51) through bearing fixed mounting, cleaning motor (52)'s output shaft passes through the gear train drive two supporting disk (53) rotate.
8. The rail transit ceiling type inspection robot according to claim 7, wherein: the inner side wall of the supporting plate (53) is connected with a brush (54) in a sliding mode, the inner bottom wall of the supporting plate (53) is fixedly connected with return springs (55) in an annular array mode, and one end of each return spring (55) is fixedly connected with the lower surface of the brush (54).
9. The rail transit ceiling type inspection robot according to claim 1, characterized in that: monitoring devices includes camera (6), two camera (6) fixed mounting respectively in the lower surface both sides of casing (12), the lower fixed surface of casing (12) installs smoke transducer (61), the lower fixed surface of casing (12) installs temperature and humidity sensor (62).
10. The rail transit ceiling type inspection robot according to claim 1, characterized in that: the utility model discloses a track pipeline, including the interior roof both sides of track pipeline (1) all fixed mounting have charging seat (63), the equal fixed mounting in lower surface both sides of casing (12) has charging pole piece (64), the surface fixed mounting of casing (12) has battery (65).
CN202111087990.3A 2021-09-16 2021-09-16 Track traffic ceiling type inspection robot Withdrawn CN113895533A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111087990.3A CN113895533A (en) 2021-09-16 2021-09-16 Track traffic ceiling type inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111087990.3A CN113895533A (en) 2021-09-16 2021-09-16 Track traffic ceiling type inspection robot

Publications (1)

Publication Number Publication Date
CN113895533A true CN113895533A (en) 2022-01-07

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CN202111087990.3A Withdrawn CN113895533A (en) 2021-09-16 2021-09-16 Track traffic ceiling type inspection robot

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Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115179980A (en) * 2022-08-09 2022-10-14 安徽云轨信息科技有限公司 Bottom detection maintenance vehicle for urban rail transit vehicle
CN115519561A (en) * 2022-11-24 2022-12-27 西安彬林电子科技有限公司 Multifunctional track type industrial intelligent inspection robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115179980A (en) * 2022-08-09 2022-10-14 安徽云轨信息科技有限公司 Bottom detection maintenance vehicle for urban rail transit vehicle
CN115519561A (en) * 2022-11-24 2022-12-27 西安彬林电子科技有限公司 Multifunctional track type industrial intelligent inspection robot

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