CN114161451B - Intelligent inspection robot - Google Patents
Intelligent inspection robot Download PDFInfo
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- CN114161451B CN114161451B CN202210125975.1A CN202210125975A CN114161451B CN 114161451 B CN114161451 B CN 114161451B CN 202210125975 A CN202210125975 A CN 202210125975A CN 114161451 B CN114161451 B CN 114161451B
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- guide rail
- sliding
- connecting rod
- rack
- rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Manipulator (AREA)
Abstract
The invention discloses an intelligent inspection robot which comprises a fixed rail, a sliding device, a moving rail, an inspection assembly and a rail changing device, wherein the inspection assembly comprises a sliding vehicle, a mechanical arm and a detection device; the motion track comprises a first guide rail, a second guide rail and a first connecting rod; the rail replacing device comprises a driving gear, a driven gear, a fixed rod, a fixed sleeve, a lifting screw rod, a rotating gear and a first rack; the sliding device is used for driving the first guide rail, the first connecting rod and the driving gear to slide to the first rack so as to realize that the driving gear is meshed with the first rack. The intelligent inspection robot provided by the invention solves the technical problems that the inspection robot works in the air to replace batteries, is inconvenient to operate and has safety risks in the related technology.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent inspection robot.
Background
Various facilities such as municipal administration, electric power, communication, gas, water supply and drainage and the like need to be monitored regularly so as to find potential problems in time. The robot is adopted for inspection, the robot can be deployed at any time to reach a designated position, and detection and inspection can be carried out under the condition that whether a dangerous case exists or not is unknown.
In the related art, an intelligent rail type inspection robot is proposed, in which a sliding rail is installed at the top of a building, and an inspection device is slidably installed on the sliding rail. The robot has the advantages of high speed, high efficiency, no restriction by ground characteristics and no occupation of ground space.
The power supply required for ensuring the sliding of the inspection device on the sliding track. The following two approaches are often used: first, a sliding track is used to power the inspection device. And secondly, a storage battery is arranged in the inspection device.
The use of a sliding rail for power supply leads to an increase in the cost of laying the internal circuitry of the sliding rail and also to an increase in the maintenance cost of the sliding rail. Set up the battery power supply in inspection device, when the battery electric quantity is not enough, the user need carry out aerial operation to new and old battery change in the completion inspection device, whole process is very loaded down with trivial details inconvenient, and still has aerial operation's risk.
Therefore, there is a need to provide a new intelligent inspection robot to solve the above technical problems.
Disclosure of Invention
The invention mainly aims to provide an intelligent inspection robot, and aims to solve the technical problems that in the related art, batteries of the intelligent inspection robot are inconvenient to operate and have safety risks when the intelligent inspection robot works in the air.
The invention provides an intelligent inspection robot which comprises a fixed track, a sliding device, a moving track, an inspection assembly and a track changing device, wherein the sliding device is connected with the fixed track in a sliding mode;
the moving track comprises a first guide rail, a second guide rail and a first connecting rod, one end of the first guide rail is assembled with the second guide rail, one end of the first connecting rod is rotatably arranged on the sliding device, and the other end of the first connecting rod is hinged with the other end of the first guide rail;
the rail replacing device comprises a driving gear, a driven gear, a fixed rod, a fixed sleeve, a lifting screw and a rotating gear, wherein the driven gear and the driving gear are sequentially assembled in a penetrating manner by a first connecting rod;
the sliding device is used for driving the first guide rail, the first connecting rod and the rail replacing device to slide to the first rack so as to realize that the driving gear is meshed with the first rack.
Preferably, the intelligent inspection robot further comprises a charging station, and the charging station is positioned on one side of the first guide rail, which faces away from the second guide rail;
the lifting screw rod extends into the lifting groove and presses the first guide rail, a pressing block is further installed in the lifting groove, and the pressing block and the lifting screw rod are arranged adjacently.
Preferably, the charging station includes a mounting frame, a rotating device and at least two charging guide rails, the rotating device is mounted in the mounting frame, and each charging guide rail is obliquely arranged on the rotating device; wherein, at least one is equipped with reserve tour subassembly on the guide rail that charges.
Preferably, the rail replacing device further comprises a rotating frame and a rotating sleeve, one end of the rotating frame is connected with the first connecting rod, the rotating sleeve is rotatably installed at the other end of the rotating frame, the lifting screw is connected with the rotating sleeve through a sliding key, and the rotating gear is assembled on the rotating sleeve.
Preferably, the number of the fixed tracks and the number of the sliding devices are two, and the fixed tracks and the sliding devices are arranged in a one-to-one correspondence manner;
one end of the first connecting rod is rotatably arranged on one sliding device;
the moving track further comprises a second connecting rod, one end of the second connecting rod is connected with the other sliding device, and the other end of the second connecting rod is connected with the second guide rail.
Preferably, a sliding groove structure is formed in the second guide rail, and the other end of the second connecting rod is connected with the sliding groove structure in a sliding manner; the arrangement direction of the sliding groove structure is parallel to the arrangement direction of the second guide rail.
Preferably, the intelligent inspection robot further comprises a derailing device, the derailing device comprises a double-gear set and a rack connecting piece, the double-gear set is rotatably mounted on the other sliding device, the rack connecting piece is fixedly connected with the second guide rail, the arrangement direction of the rack connecting piece is parallel to the arrangement direction of the sliding groove structure, the rack connecting piece is meshed with the bottom end of the double-gear set, and a second rack is suspended between the double-gear set and the second connecting rod; and the other sliding device is used for driving the second guide rail, the second connecting rod and the derailing device to slide to the second rack so as to realize the meshing of the top end of the double gear set and the second rack.
Preferably, one of the first guide rail and the second guide rail is provided with an assembling block, the other is provided with an assembling groove, and the assembling block is assembled with the assembling groove.
Preferably, the sliding device comprises a sliding block, a threaded rod and a driving motor, the sliding block is connected with the fixed track in a sliding mode, one end of the threaded rod is connected with the sliding block in a threaded mode, and the other end of the threaded rod is connected with a driving shaft of the driving motor.
Preferably, the sliding apparatus further includes a mounting plate to which the driving motor is mounted.
In the intelligent inspection robot provided by the invention, when the electric quantity of a storage battery in the inspection assembly is insufficient, the sliding vehicle slides into the first guide rail, and the sliding device is used for driving the first guide rail, the first connecting rod and the driving gear to slide to the first rack so as to realize the meshing of the driving gear and the first rack; the first rack can drive the driving gear to rotate along with the driving gear driven by the sliding device, and the driving gear sequentially drives the first connecting rod, the driven gear, the rotating gear and the lifting screw to rotate; meanwhile, the first connecting rod can drive the first guide rail to rotate, so that the first guide rail is separated from the second guide rail; and, because lifting screw and fixed sleeve threaded connection, lifting screw can rise thereupon when the pivoted, no longer press first guide rail, finally realize first guide rail under the effect of dead weight, take place the slope, the assembly of patrolling on the first guide rail roll-off first guide rail thereupon falls into predetermined whereabouts position, at predetermined whereabouts position, can accomplish the old and new battery change of patrolling the assembly, perhaps, also can directly accomplish the change of old and new subassembly of patrolling, thereby avoid the inconvenience that aerial operation changed the battery and brought, also can avoid the safety risk of aerial operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a preferred embodiment of the intelligent inspection robot provided by the present invention;
FIG. 2 is a cross-sectional view A-A shown in FIG. 1;
FIG. 3 is an enlarged view of the portion B shown in FIG. 2;
FIG. 4 is a schematic view of the assembly of the first guide rail and the lifting screw shown in FIG. 3;
fig. 5 is a use view of the first rail and the charging station shown in fig. 1;
FIG. 6 is an enlarged view of the portion C shown in FIG. 2;
FIG. 7 is an enlarged view of section D of FIG. 2;
fig. 8 is an assembly schematic diagram of the second connecting rod and the second guide rail shown in fig. 2.
The reference numbers illustrate:
1-a fixed track, 2-a sliding device, 3-a moving track, 4-a patrol assembly, 5-a track changing device, 6-a charging station, 7-a derailing device, 8-a first rack and 9-a second rack;
21-a slide block, 22-a threaded rod, 23-a driving motor and 24-a mounting plate;
31-a first guide rail, 32-a second guide rail, 33-a first connecting rod, 34-a second connecting rod, 35-an assembling block, 36-a pressing block and 37-a sliding groove structure; 311-lifting groove, 312-assembling groove;
41-sliding vehicle, 42-mechanical arm, 43-detection device;
51-driving gear, 52-driven gear, 53-fixed rod, 54-fixed sleeve, 55-lifting screw, 56-rotating gear, 58-rotating frame and 59-rotating sleeve;
61-mounting frame, 62-rotating device, 63-charging guide rail;
71-double gear set, 72-rack connection.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an intelligent inspection robot.
Referring to fig. 1 to 3, in an embodiment of the present invention, the intelligent inspection robot includes a fixed track 1, a sliding device 2, a moving track 3, an inspection module 4 and a track changing device 5, wherein the sliding device 2 is slidably connected to the fixed track 1, the moving track 3 is suspended below the fixed track 1, the inspection module 4 includes a sliding car 41, a mechanical arm 42 and a detection device 43, the sliding car 41 is slidably connected to the moving track 3, and the mechanical arm 42 is used for connecting the sliding car 41 to the detection device 43;
the moving track 3 comprises a first guide rail 31, a second guide rail 32 and a first connecting rod 33, wherein one end of the first guide rail 31 is assembled with the second guide rail 32, one end of the first connecting rod 33 is rotatably mounted on the sliding device 2, and the other end of the first connecting rod 33 is hinged with the other end of the first guide rail 31;
the rail replacing device 5 comprises a driving gear 51, a driven gear 52, a fixed rod 53, a fixed sleeve 54, a lifting screw 55 and a rotating gear 56, wherein the first connecting rod 33 sequentially penetrates through the driven gear 52 and the driving gear 51, the fixed rod 53 is used for connecting the first connecting rod 33 and the fixed sleeve 54, the lifting screw 55 is in threaded connection with the fixed sleeve 54, the lifting screw 55 presses the first guide rail 31, the rotating gear 56 is assembled on the lifting screw 55, the rotating gear 56 is meshed with the driven gear 52, a first rack 8 is located at one end of the fixed rail 1, and the first rack 8 is suspended between the driving gear 51 and the lifting screw 55;
the sliding device 2 is configured to drive the first guide rail 31, the first connecting rod 33, and the rail replacing device 5 to slide toward the first rack 8, so as to engage the driving gear 51 with the first rack 8.
In this embodiment, the sliding cart 41 is configured to drive the mechanical arm 42 and the detection device 43 to slide on the first guide rail 31 and the second guide rail 32 in a reciprocating manner, and the mechanical arm 42 is configured to adjust a patrol height and a patrol angle of the detection device 43.
The control module is used for responding to an intelligent control signal of the control terminal and correspondingly adjusting the work of the detection module, and the control module is also used for adjusting and controlling the work of the sliding vehicle 41 and the mechanical arm 42. And finally, intelligent inspection of the inspection assembly 4 is realized. A storage battery is arranged in the sliding vehicle 41 to supply power to the working elements.
Referring to fig. 2 again, in the embodiment, blocking members are fixed at the ends of the first guide rail 31 and the second guide rail 32, which are away from each other, so as to prevent the inspection module 4 from falling off accidentally during normal inspection.
In the intelligent inspection robot provided by the invention, when the electric quantity of the storage battery in the inspection assembly 4 is insufficient, the sliding vehicle 41 slides into the first guide rail 31, and the sliding device 2 is used for driving the first guide rail 31, the first connecting rod 33 and the rail replacing device 5 to slide to the first rack 8 so as to realize that the driving gear 51 is meshed with the first rack 8; as the sliding device 2 drives the driving gear 51 to move continuously, the first rack 8 drives the driving gear 51 to rotate, and the driving gear 51 sequentially drives the first connecting rod 33, the driven gear 52, the rotating gear 56 and the lifting screw 55 to rotate; meanwhile, the first connecting rod 33 drives the first guide rail 31 to rotate, so that the first guide rail 31 is separated from the second guide rail 32; moreover, because the lifting screw 55 is in threaded connection with the fixed sleeve 54, the lifting screw 55 can rise along with the rotation of the lifting screw, the first guide rail 31 is not pressed any more, finally, the first guide rail 31 is inclined under the action of the self weight, the patrol assembly 4 on the first guide rail 31 slides out of the first guide rail 31 along with the inclination, and falls into a preset falling position, and the replacement of a new or old battery of the patrol assembly 4 can be completed at the preset falling position, or the replacement of the new or old patrol assembly 4 can also be directly completed, so that the inconvenience caused by the replacement of the battery in the air operation is avoided, and the safety risk of the air operation can also be avoided.
Referring to fig. 1 to 4, the intelligent inspection robot further includes a charging station 6, wherein the charging station 6 is located on a side of the first guide rail 31 facing away from the second guide rail 32;
the first guide rail 31 is provided with a lifting groove 311, the lifting screw 55 extends into the lifting groove 311 and presses the first guide rail 31, a pressing block 36 is further installed in the lifting groove 311, and the pressing block 36 is arranged adjacent to the lifting screw 55.
In this embodiment, the pressing block 36 is integrally formed with the first guide rail 31.
The first rail 31 can be rotated to face the charging station 6, so that the patrol assembly 4 on the first rail 31 is slid into the charging station 6, so as to charge the patrol assembly 4.
Before the first guide rail 31 does not rotate to face the charging station 6, the pressing block 36 is arranged, so that the lifting screw 55 can keep the contact of the pressing block 36 in the lifting process, the first guide rail 31 is kept in a roughly horizontal state, and the patrol assembly 4 is prevented from sliding out of the charging station 6. Meanwhile, the patrol assembly 4 can also properly perform movement or braking operation to avoid slipping out of the charging station 6 before reaching the charging station 6.
Referring to fig. 5, the charging station 6 includes a mounting frame 61, a rotating device 62 and at least two charging rails 63, the rotating device 62 is mounted in the mounting frame 61, and each charging rail 63 is obliquely arranged on the rotating device 62; wherein, at least one charging guide rail 63 is provided with a standby patrol assembly 4.
In this embodiment, the mounting frame 61 is fixed to the top of the building. The mounting frame 61 may be a frame having an opening, as shown in fig. 1. The mounting frame 61 may also be a frame body having two openings, as shown in fig. 5. The charging station 6 may not include the mounting frame 61, and the rotating device 62 may be directly mounted on the roof of the building.
When the first guide rail 31 rotates to face the charging station 6, the lifting screw 55 rises to slide out of the lifting groove 311, and is separated from contact with both the first guide rail 31 and the pressing block 36, the first guide rail 31 inclines downwards, and is assembled with the charging guide rail 63, and the inspection component 4 on the first guide rail 31 slides out of the first guide rail 31 and slides into the charging guide rail 63 under the action of self weight to perform charging;
then, the rotating device 62 rotates to drive the charging guide rail 63 sliding into the inspection module 4 to separate from the first guide rail 31, the other charging guide rail 63 is assembled with the first guide rail 31, and the standby inspection module 4 on the other charging guide rail 63 is started to slide into the first guide rail 31 from the other charging guide rail 63; finally, the replacement of the old and new patrol assemblies 4 and the seamless connection of the charging of the patrol assemblies 4 are realized, and the work time delayed by waiting for the charging and the replacement of the patrol assemblies 4 is reduced.
Referring to fig. 3 again, in the present embodiment, the rail replacing device 5 further includes a rotating frame 58 and a rotating sleeve 59, one end of the rotating frame 58 is connected to the first connecting rod 33, the rotating sleeve 59 is rotatably installed at the other end of the rotating frame 58, the lifting screw 55 is connected to the rotating sleeve 59 in a sliding key manner, wherein the rotating gear 56 is installed on the rotating sleeve 59.
The sliding key connection means that one of two connected elements is provided with a sliding key, the other element is provided with a key groove, and the sliding key is assembled with the key groove. The two connected elements can synchronously rotate and simultaneously realize the relative sliding in the direction of the key slot.
The arrangement of the above structure can make the rotating gear 56 maintain a fixed height during the rotation, and reduce the structural height between the first guide rail 31 and the corresponding sliding device 2.
It is understood that in other embodiments, the rotating gear 56 may be directly fixed to the lifting screw 55, and a thickness difference may be provided between the rotating gear 56 and the driven gear 52. For example, the thickness of the driven gear 52 is greater than that of the driven gear 52, so that the rotating gear 56 and the driven gear 52 are always kept meshed during the process that the rotating gear 56 ascends along with the ascending and descending screw 55.
The rotating gear 56 can also be directly connected with the lifting screw 55 in a sliding key manner, so that the relative sliding between the rotating gear 56 and the lifting screw 55 can be realized, and the rotating gear 56 and the driven gear 52 always keep inconvenient height and are meshed for rotation.
Referring to fig. 1 to 3 and fig. 6 again, in the present embodiment, the number of the fixed rail 1 and the sliding device 2 may be two, and the two are disposed in one-to-one correspondence; the fixed track 1 is fixedly arranged at the top of a building.
One end of the first connecting rod 33 is rotatably mounted on one of the sliding devices 2;
the moving track 3 further comprises a second connecting rod 34, one end of the second connecting rod 34 is connected with the other sliding device 2, and the other end of the second connecting rod 34 is connected with the second guide rail 32.
Two slider 2 can synchronous start to drive first guide rail 31 and second guide rail 32 simultaneous movement, thereby enlarge the intelligence and patrol and examine the inspection field of vision of robot. Meanwhile, the arrangement of the structure can realize that the moving track 3 is suspended below the fixed track 1.
It is understood that, in other embodiments, the number of the fixed rail 1 and the sliding device 2 may be one, and the other end of the second guide rail 32 is directly fixed to the top of the building. The above arrangement also enables the moving track 3 to be suspended below the fixed track 1.
Referring to fig. 1 and fig. 8, as a preferred mode of the present embodiment, a sliding groove structure 37 is disposed on the second guide rail 32, and the other end of the second connecting rod 34 is slidably connected to the sliding groove structure 37; wherein the arrangement direction of the sliding groove structure 37 is parallel to the arrangement direction of the second guide rail 32.
The first guide rail 31 can extrude the second guide rail 32 in the rotating process, and due to the arrangement of the sliding groove structure 37, the second guide rail 32 can slide away from the first guide rail 31, so that the first guide rail 31 can be conveniently separated from the second guide rail 32 in the rotating process.
As another preferable mode of this embodiment, the assembly end of the first rail 31 and the second rail 32 may be L-shaped, so that the first rail 31 and the second rail 32 can be assembled and disassembled without providing the sliding groove structure 37.
Referring to fig. 2 and 6, the intelligent inspection robot further includes a derailing device 7, the derailing device 7 includes a double gear set 71 and a rack connecting member 72, the double gear set 71 is rotatably mounted on the other sliding device 2, the rack connecting member 72 is fixedly connected to the second guide rail 32, a setting direction of the rack connecting member 72 is parallel to a setting direction of the sliding groove structure 37, the rack connecting member 72 is engaged with a bottom end of the double gear set 71, and the second rack 9 is suspended between the double gear set 71 and the second connecting rod 34; the other sliding device 2 is used for driving the second guide rail 32, the second connecting rod 34 and the derailing device 7 to slide towards the second rack 9, so that the top end of the double gear set 71 is meshed with the second rack 9.
In the process that the other sliding device 2 drives the second guide rail 32 to move towards the second rack 9, the second rack 9 drives the double gear set 71 to rotate, and the double gear set 71 rotates to drive the rack connecting piece 72 to slide with the second guide rail 32, so that the second guide rail 32 is separated from the first guide rail 31;
when the other sliding device 2 drives the second guide rail 32 to move away from the second rack 9, the second rack 9 drives the double gear set 71 to rotate in the opposite direction, and the double gear set 71 rotates in the opposite direction to drive the gear connecting piece to slide in the opposite direction with the second guide rail 32, so that the second guide rail 32 and the first guide rail 31 are assembled.
As a preferable mode of the present embodiment, the length of the second rack 9 is greater than the length of the first rack 8 in the installation direction of the fixed rail 1.
Referring to fig. 2 and 7, one of the first guide rail 31 and the second guide rail 32 is provided with an assembling block 35, the other is provided with an assembling groove 312, and the assembling block 35 is assembled with the assembling groove 312.
In this embodiment, the second guide rail 32 is provided with an assembling block 35, and the first guide rail 31 is provided with an assembling groove 312. The arrangement of the assembling groove 312 and the assembling block 35 can ensure the integrity of the movement when the first guide rail 31 and the second guide rail 32 are assembled.
Referring to fig. 1 again, the sliding device 2 includes a sliding block 21, a threaded rod 22 and a driving motor 23, the sliding block 21 is slidably connected to the fixed rail 1, one end of the threaded rod 22 is connected to the sliding block 21 by a thread, and the other end of the threaded rod 22 is connected to a driving shaft of the driving motor 23.
In this embodiment, it can be understood that the first connecting rod 33 and the second connecting rod 34 are respectively connected to the two sliders 21.
The sliding device 2 further includes a mounting plate 24, and the driving motor 23 is mounted to the mounting plate 24. The mounting plate 24 is mounted on the top of a building, and the driving motor 23 can be stably mounted on the mounting plate 24.
In this embodiment, the first rack 8 and the second rack 9 are respectively mounted on two different mounting plates 24. So as to realize that the first rack 8 is suspended between the driving gear 51 and the lifting screw 55 and the second rack 9 is suspended between the double gear set 71 and the second connecting rod 34. It will be appreciated that in other embodiments, the first and second racks 8 and 9 may be mounted on the roof of a building or in appropriate positions on the respective fixed rail 1. So as to realize that the first rack 8 is suspended between the driving gear 51 and the lifting screw 55 and the second rack 9 is suspended between the double gear set 71 and the second connecting rod 34.
The better use method of the intelligent inspection robot provided by the embodiment is as follows:
when the patrol assembly 4 is fully charged:
the first guide rail 31 and the second guide rail 32 are assembled to form an integral moving track 3, and the control tour assembly 4 reciprocates between the first guide rail 31 and the second guide rail 32;
controlling the two sliding devices 2 to respectively drive the first guide rail 31 and the second guide rail 32 to synchronously move in the same direction, so as to inspect the internal condition of the building by using the inspection assembly 4;
when the patrol assembly 4 is short of power:
the control patrol assembly 4 slides into the end of the first guide rail 31 remote from the second guide rail 32;
the two sliding devices 2 respectively drive the first guide rail 31 and the second guide rail 32 to synchronously move in the same direction; the direction of movement is towards the mounting plate 24; since the length of the second rack 9 is greater than that of the first rack 8, the second rack 9 is engaged with the double gear set 71 before the first rack 8 is engaged with the pinion gear 51;
the second rack 9 drives the double gear set 71 to rotate, and the double gear set 71 rotates to drive the rack connecting piece 72 to slide with the second guide rail 32, so that the second guide rail 32 is separated from the first guide rail 31; at this time, the slide device 2 corresponding to the second guide rail 32 is closed, and the second guide rail 32 is kept stationary;
the sliding device 2 corresponding to the first guide rail 31 continuously drives the first guide rail 31, the first connecting rod 33 and the driving gear 51 to continuously slide towards the first rack 8, so as to realize that the driving gear 51 is meshed with the first rack 8;
as the sliding device 2 drives the driving gear 51 to move continuously, the first rack 8 drives the driving gear 51 to rotate, and the driving gear 51 sequentially drives the first connecting rod 33, the driven gear 52, the rotating gear 56 and the lifting screw 55 to rotate;
because the lifting screw 55 is in threaded connection with the fixed sleeve 54, the lifting screw 55 can lift along with the rotation, and the pressing block 36 is arranged before the first guide rail 31 does not rotate to face the charging station 6, so that the lifting screw 55 can keep contact with the pressing block 36 in the lifting process, and the first guide rail 31 can keep a substantially horizontal state;
when the first guide rail 31 rotates to face the charging station 6, the lifting screw 55 rises to slide out of the lifting groove 311, and is separated from contact with both the first guide rail 31 and the pressing block 36, the first guide rail 31 inclines downwards, and is assembled with the charging guide rail 63, and the inspection component 4 on the original first guide rail 31 slides out of the first guide rail 31 and slides into the charging guide rail 63 under the action of self weight to perform charging;
the rotating device 62 rotates to drive the charging guide rail 63 sliding into the inspection module 4 to separate from the first guide rail 31, and rotates another charging guide rail 63 to be assembled with the first guide rail 31, and the standby inspection module 4 on another charging guide rail 63 is started to slide into the first guide rail 31 from another charging guide rail 63; finally, the replacement of the old and new inspection assemblies 4 and the seamless connection of the charging of the inspection assemblies 4 are realized, and the work time delayed for waiting the charging and replacement of the inspection assemblies 4 is reduced;
the sliding device 2 corresponding to the first guide rail 31 drives the first guide rail 31 to move along the direction departing from the mounting plate 24, the first rack 8 drives the driving gear 51 to rotate reversely, the driving gear 51 rotates reversely to drive the driven gear 52, the first connecting rod 33 and the rotating gear 56 to rotate reversely, the first guide rail 31 and the lifting screw 55 recover to the original position before rotation, and at the moment, the sliding device 2 corresponding to the first guide rail 31 is closed;
when the sliding device 2 corresponding to the second guide rail 32 is started again to drive the second guide rail 32 to move away from the second rack 9, the second rack 9 drives the double-gear set 71 to rotate in the opposite direction, and the double-gear set 71 rotates in the opposite direction to drive the rack connecting piece 72 to slide in the opposite direction with the second guide rail 32, so that the second guide rail 32 and the first guide rail 31 are assembled into the integral moving track 3.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An intelligent inspection robot is characterized by comprising a fixed track, a sliding device, a moving track, an inspection assembly and a track changing device, wherein the sliding device is connected with the fixed track in a sliding mode, the moving track is suspended below the fixed track, the inspection assembly comprises a sliding car, a mechanical arm and a detection device, the sliding car is connected with the moving track in a sliding mode, and the mechanical arm is used for connecting the sliding car with the detection device;
the moving track comprises a first guide rail, a second guide rail and a first connecting rod, one end of the first guide rail is assembled with the second guide rail, one end of the first connecting rod is rotatably arranged on the sliding device, and the other end of the first connecting rod is hinged with the other end of the first guide rail;
the rail replacing device comprises a driving gear, a driven gear, a fixed rod, a fixed sleeve, a lifting screw and a rotating gear, wherein the driven gear and the driving gear are sequentially assembled in a penetrating manner by a first connecting rod;
the sliding device is used for driving the first guide rail, the first connecting rod and the rail replacing device to slide to the first rack so as to realize that the driving gear is meshed with the first rack.
2. The intelligent inspection robot according to claim 1, further comprising a charging station located on a side of the first rail facing away from the second rail;
the lifting screw rod extends into the lifting groove and presses the first guide rail, a pressing block is further installed in the lifting groove, and the pressing block and the lifting screw rod are arranged adjacently.
3. The intelligent inspection robot according to claim 2, wherein the charging station includes a mounting frame, a rotating device mounted within the mounting frame, and at least two charging rails, each charging rail being obliquely positioned on the rotating device; wherein, at least one is equipped with reserve tour subassembly on the guide rail that charges.
4. The intelligent inspection robot according to claim 1, wherein the rail changing device further includes a rotating frame and a rotating sleeve, one end of the rotating frame is connected to the first connecting rod, the rotating sleeve is rotatably mounted at the other end of the rotating frame, the lifting screw is connected to the rotating sleeve through a sliding key, and the rotating gear is mounted on the rotating sleeve.
5. The intelligent inspection robot according to any one of claims 1-4, wherein the number of the fixed rails and the number of the sliding devices are two, and the fixed rails and the sliding devices are arranged in a one-to-one correspondence;
one end of the first connecting rod is rotatably arranged on one sliding device;
the moving track further comprises a second connecting rod, one end of the second connecting rod is connected with the other sliding device, and the other end of the second connecting rod is connected with the second guide rail.
6. The intelligent inspection robot according to claim 5, wherein the second guide rail is provided with a sliding groove structure, and the other end of the second connecting rod is slidably connected with the sliding groove structure; the arrangement direction of the sliding groove structure is parallel to the arrangement direction of the second guide rail.
7. The intelligent inspection robot according to claim 6, further comprising a derailment device, wherein the derailment device includes a double gear set and a rack connector, the double gear set is rotatably mounted to the other of the slide devices, the rack connector is fixedly connected to the second guide rail, an arrangement direction of the rack connector is parallel to an arrangement direction of the slide groove structure, the rack connector is engaged with a bottom end of the double gear set, and a second rack is suspended between the double gear set and the second connecting rod; and the other sliding device is used for driving the second guide rail, the second connecting rod and the derailing device to slide to the second rack so as to realize the meshing of the top end of the double gear set and the second rack.
8. The intelligent inspection robot according to claim 7, wherein one of the first and second rails is provided with an assembly block, the other is provided with an assembly groove, and the assembly block is assembled with the assembly groove.
9. The intelligent inspection robot according to claim 8, wherein the sliding device includes a sliding block, a threaded rod and a driving motor, the sliding block is slidably connected with the fixed track, one end of the threaded rod is in threaded connection with the sliding block, and the other end of the threaded rod is connected with a driving shaft of the driving motor.
10. The intelligent inspection robot according to claim 9, wherein the slide further includes a mounting plate to which the drive motor is mounted.
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| CN202210125975.1A CN114161451B (en) | 2022-02-10 | 2022-02-10 | Intelligent inspection robot |
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| CN202210125975.1A CN114161451B (en) | 2022-02-10 | 2022-02-10 | Intelligent inspection robot |
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| CN104308861B (en) * | 2014-10-21 | 2016-06-08 | 山东鲁能智能技术有限公司 | A kind of rail mounted robot ambulation route changing apparatus and its implementation |
| CN107097762B (en) * | 2017-05-15 | 2020-06-30 | 上海蔚来汽车有限公司 | Track-guided battery replacing robot, battery charging and replacing station and battery replacing method |
| CN110315503A (en) * | 2018-03-28 | 2019-10-11 | 常州市盈能电气有限公司 | A kind of double-deck big drop crusing robot track-type facilities |
| CN210436135U (en) * | 2019-08-30 | 2020-05-01 | 深圳市施罗德工业集团有限公司 | Track rail transfer device and track |
| CN110919625B (en) * | 2019-11-19 | 2022-02-22 | 国网智能科技股份有限公司 | Three-dimensional orbital transfer device and method for rail-mounted robot |
| CN111604880B (en) * | 2020-04-30 | 2022-08-09 | 中国矿业大学 | Guide rail type inspection robot driven by friction and gear and rack and control method |
| CN113977600B (en) * | 2021-10-27 | 2023-05-09 | 国网辽宁省电力有限公司辽阳供电公司 | Electric power tunnel inspection robot with emergency treatment function |
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