CN115302524A - Track type inspection robot - Google Patents

Abstract

The invention discloses a rail type inspection robot, which comprises a robot main body, a rail type inspection robot, a plurality of guide rails and a plurality of inspection cameras, wherein the robot main body comprises a movable base, a lifting piece and an inspection camera; patrol and examine the subassembly, patrol and examine seat and telescopic screw including first, the second, first patrol and examine seat and second and patrol and examine a sliding connection, telescopic screw rotates and installs and patrol and examine between the seat in first and patrol and examine the seat with the second, and the movable base is located telescopic screw outside through the first sliding block and the second sliding block thread bush of bottom. Can realize patrolling and examining the camera through the piece of going up and down to patrol and examine the routing inspection of relevant equipment co-altitude position, can change through flexible screw rod collocation two sets of seats of patrolling and examining and patrol and examine length, and then satisfy the difference and patrol and examine the requirement of task to image acquisition.

Description

Track type inspection robot

Technical Field

The invention relates to the technical field of inspection robots, in particular to a rail type inspection robot.

Background

At present, machine room routing inspection in the industry mainly depends on manual work, and the manual routing inspection mode is low in efficiency and easy to make mistakes. For some machine room environments with poor conditions, the working environment of personnel is very hard. In some places, the inspection mode is to install a hanger rail camera, the camera moves on a fixed track, but the movement track length is limited by the track to be certain, and different inspection tasks cannot be flexibly adapted.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

In order to solve the technical problems, the invention provides the following technical scheme: a rail-mounted inspection robot comprises a robot main body, a lifting piece and an inspection camera, wherein the robot main body comprises a movable base, the lifting piece and the inspection camera; patrol and examine the subassembly, patrol and examine seat and telescopic screw including first, the second, first patrol and examine seat and second and patrol and examine a sliding connection, telescopic screw rotates and installs and patrol and examine between the seat in first and patrol and examine the seat with the second, and the movable base is located telescopic screw outside through the first sliding block and the second sliding block thread bush of bottom.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: the lifting piece comprises a hydraulic cylinder, two groups of inner shearing fork rods, two groups of outer shearing fork rods and a supporting plate, one end of each inner shearing fork rod is hinged to the movable base, the other end of each inner shearing fork rod is slidably mounted at the bottom of the supporting plate, one end of each outer shearing fork rod is hinged to the supporting plate, the other end of each outer shearing fork rod is slidably mounted at the top of the movable base, a push rod is connected between the two groups of outer shearing fork rods, and the hydraulic cylinder is connected with the push rod.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: a first sliding rod is arranged on the movable base, and one end of the outer shear fork rod is slidably mounted on the first sliding rod.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: a second sliding rod is arranged on the supporting plate, and one end of the inner scissor rod is slidably mounted on the second sliding rod.

As a preferable scheme of the track type inspection robot of the present invention, wherein: a connecting rod is arranged between the two groups of inner scissor rods. .

As a preferable scheme of the track type inspection robot of the present invention, wherein: the centers of the inner scissor rod and the outer scissor rod are hinged in a crossed manner through a bolt.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: patrol and examine the camera and be located the backup pad top is provided with two sets ofly, and two sets ofly patrol and examine the camera orientation different directions.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: the first seat top of patrolling and examining is provided with first slide rail, the second is patrolled and examined the seat top and is provided with the second slide rail, the sliding tray has been seted up to mobile base bottom both sides, and first slide rail and second slide rail are located the sliding tray.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: the bottom of the movable base is also provided with a sliding wheel.

As a preferable scheme of the rail type inspection robot of the present invention, wherein: the telescopic screw rod is composed of a first screw rod, a second screw rod, a third screw rod and a fourth screw rod which are connected with each other and have continuous threads, a cavity is arranged inside the first screw rod, the second screw rod and the third screw rod, the end parts of the second screw rod, the third screw rod and the fourth screw rod are connected with extension rods, and the extension rods are located in the cavity.

The invention has the beneficial effects that: can realize patrolling and examining the camera through the piece of going up and down to patrol and examine the routing inspection of relevant equipment co-altitude position, can change through flexible screw rod collocation two sets of seats of patrolling and examining and patrol and examine length, and then satisfy the difference and patrol and examine the requirement of task to image acquisition.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:

fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the explosive structure of the present invention.

Fig. 3 is a schematic structural diagram of the main body of the robot of the present invention.

Fig. 4 is a schematic diagram of the inspection assembly in a stretched state.

FIG. 5 is a schematic view of the structure of the telescopic screw in a disassembled state.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 2, a first embodiment of the present invention provides a rail-type inspection robot, which includes a robot main body 100 and an inspection assembly 200, wherein the robot main body 100 includes a mobile base 101, a lifting member 102 and an inspection camera 103, the lifting member 102 is used for lifting the inspection camera 103 so as to observe the operation conditions of different height positions of the equipment, the lifting member 102 is located at the top of the mobile base 101, and the inspection camera 103 is located at the top of the lifting member 102; patrol and examine subassembly 200, patrol and examine seat 201, second including first, patrol and examine seat 202 and telescopic screw 203, first patrol and examine seat 201 and second and patrol and examine seat 202 sliding connection, telescopic screw 203 rotates and installs and patrol and examine between seat 201 and the second and patrol and examine the seat 202 in first, and it is outside that telescopic screw 203 is located to remove base 101 through the first sliding block 101a and the second sliding block 101b thread bush of bottom.

The robot main body 100 is installed at the top of the inspection assembly 200 through the movable base 101, the first inspection seat 201 and the second inspection seat 202 are in sliding connection, the telescopic screw 203 can extend along with the pulling extension of the first inspection seat 201, one end of the telescopic screw 203 is rotationally connected with the first inspection seat 201, the other end of the telescopic screw passes through the second inspection seat 202 and is connected with the output end of a driving motor (not shown in the figure), the telescopic screw 203 is driven to rotate through the driving motor, the first sliding block 101a and the second sliding block 101b are arranged at the middle position of the movable base 101 in front of and behind, the first sliding block 101a and the second sliding block 101b are sleeved on the telescopic screw 203 in a threaded mode, the telescopic screw 203 rotates to enable the first sliding block 101a and the second sliding block 101b to move along the telescopic screw 203, and therefore the robot main body 100 is driven to move along the telescopic screw 203, and inspection operation is conducted.

Further, the lifting member 102 includes a hydraulic cylinder 102a, two sets of inner scissor rods 102b, two sets of outer scissor rods 102c and a support plate 102d, one end of each inner scissor rod 102b is hinged to the movable base 101, the other end of each inner scissor rod is slidably mounted at the bottom of the support plate 102d, one end of each outer scissor rod 102c is hinged to the support plate 102d, the other end of each outer scissor rod is slidably mounted at the top of the movable base 101, a push rod 102e is connected between the two sets of outer scissor rods 102c, and the hydraulic cylinder 102a is connected with the push rod 102 e.

Further, a first slide bar 102f is arranged on the movable base 101, and one end of the outer scissor lever 102c is slidably mounted on the first slide bar 102 f. The support plate 102d is provided with a second slide bar 102g, and one end of the inner scissor lever 102b is slidably mounted on the second slide bar 102 g. A connecting rod is arranged between the two groups of inner scissor rods 102 b. The centers of the inner scissor lever 102b and the outer scissor lever 102c are hinged in a cross mode through a bolt, and therefore the lifting stability of the inspection camera 103 is guaranteed.

When the height of the inspection camera 103 needs to be lifted, the hydraulic cylinder 102a is started, the movable rod of the hydraulic cylinder 102a extends, the movable rod extends to push the push rod 102e connected with the movable rod to move, so that the outer scissor rod 102c and the inner scissor rod 102b are driven to slide along the first sliding rod 102f and the second sliding rod 102g respectively, the support plate 102d and the inspection camera 103 at the top of the support plate are driven to ascend, when the movable rod of the hydraulic cylinder 102a contracts, the outer scissor rod 102c and the inner scissor rod 102b are driven to slide along the first sliding rod 102f and the second sliding rod 102g in opposite directions respectively, the support plate 102d and the inspection camera 103 at the top of the support plate are driven to descend, and therefore the running conditions of different height positions of the equipment are observed.

Further, patrol and examine camera 103 and be located the backup pad 102d top, be provided with two sets ofly, and two sets ofly patrol and examine camera 103 towards different directions to can patrol and examine the different equipment of robot main part 100 both sides simultaneously, accelerate and patrol and examine efficiency.

Example 2

Referring to fig. 1 to 5, a second embodiment of the present invention is different from the first embodiment in that: the robot main body 100 is installed at the top of the inspection assembly 200 through the mobile base 101, the first inspection seat 201 and the second inspection seat 202 are slidably connected, sliding rails are arranged on the tops of the first inspection seat 201 and the second inspection seat 202, sliding grooves 101c are formed in the bottom of the mobile base 101, the sliding grooves 101c are provided with two sets of grooves, and the first sliding rails 204 and the second sliding rails 205 are respectively located in different sliding grooves 101 c. Remove base 101 bottom and be provided with pulley 101d, under the supporting role of pulley 101d, the overwhelming majority gravity of robot main part 100 and removal base 101 is born by pulley 101d, make first patrolling and examining seat 201, the second patrols and examines seat 202 and telescopic screw 203 and need not to bear the pressure of robot main part 100 and removal base 101, thereby reduce loss and wearing and tearing, the rotation through telescopic screw 203 of being convenient for simultaneously drives the displacement of robot main part 100, reduce driving motor's output pressure, pulley 101d also can ensure the stationarity of robot main part 100 in the removal process, and be convenient for robot main part 100 breaks away from and patrols and examines subassembly 200.

Further, the telescopic screw 203 is composed of a first screw 203a, a second screw 203b, a third screw 203c and a fourth screw 203d which are connected with each other and have continuous threads. A cavity 203e is arranged in the first screw 203a, the second screw 203b and the third screw 203c, an extension rod 203f is connected to the end parts of the second screw 203b, the third screw 203c and the fourth screw 203d, and the extension rod 203f is positioned in the cavity 203 e. The end of the extension rod 203f is provided with a rotating block 203g which is distributed in a cross shape, and a displacement groove which is distributed in a cross shape is arranged in the cavity 203 e.

Under a normal state, the first inspection seat 201 and the second inspection seat 202 are overlapped, the first screw 203a, the second screw 203b, the third screw 203c and the fourth screw 203d are tightly connected to form a complete screw section, the extension rods 203f connected with the end portions of the second screw 203b, the third screw 203c and the fourth screw 203d are respectively positioned in the cavities 203e formed by the first screw 203a, the second screw 203b and the third screw 203c, and the rotating blocks 203g which are arranged at the end portions of the extension rods 203f and distributed in a cross shape are positioned in the displacement grooves in the cavities 203e, so that when the fourth screw 203d connected with the output end of the driving motor rotates, the first screw 203a, the second screw 203b and the third screw 203c can be synchronously driven to rotate, and along with the rotation of the telescopic screw 203, the first sliding block 101a and the second sliding block 303 sleeved on the upper threads of the telescopic screw 203 displace along the telescopic screw 203, so as to drive the movable base 101 and the top robot main body 100 to displace along the telescopic screw 203, thereby adjusting the welding position of the robot main body 100 and realizing a long welding operation;

when the welding length of the robot main body 100 needs to be adjusted, the first inspection seat 201 is pulled, so that the first inspection seat 201 is extended to the maximum length along the sliding block 202a in the length direction of the inspection assembly 200, the first inspection seat 201 and the second inspection seat 202 are separated from each other, the telescopic screws 203 are extended synchronously, the extension rods 203f connected with the ends of the second screws 203b, the third screws 203c and the fourth screws 203d extend out of the cavities 203e formed by the first screws 203a, the second screws 203b and the third screws 203c, the rotating blocks 203g which are distributed in a cross shape and arranged at the ends of the extension rods 203f reach the end of the displacement groove in the cavities 203e, the telescopic screws 203 are extended to the maximum length, initially, the first sliding block 101a and the second sliding block 303 are positioned on the fourth screws 203d and keep a certain distance, the first sliding block 101a is positioned closer to the third screws 203c, and when the driving motor works, the extended telescopic screws 203 are driven to rotate integrally, the first slide block 101a and the second slide block 303 are displaced along the fourth screw 203d toward the third screw 203c, after a certain distance of displacement, the first slide block 101a leaves the screw section of the fourth screw 203d and reaches the extension rod 203f of the fourth screw 203d, at this time, the second slide block 303 is still at the screw section of the fourth screw 203d, the robot main body 100 and the moving base 101 are still displaced along the fourth screw 203d under the action of the second slide block 303, after a certain distance of displacement again, the first slide block 101a reaches the third screw 203c, the second slide block 303 reaches the extension rod 203f of the fourth screw 203d, at this time, the robot main body 100 and the moving base 101 are displaced along the third screw 203c under the action of the first slide block 101a and reciprocate in sequence until the first slide block 101a reaches the end of the first screw 203a, and the robot main body 100 completes the longest one-time welding operation, the driving motor is reversely rotated, and the robot main body 100 moves back.

It should be noted that the length of the extension rod 203f is an integral multiple of the moving distance of the robot main body 100 when the extension screw 203 rotates once, so that when the first slide block 101a reaches the extension rod 203f of the fourth screw 203d and then contacts the third screw 203c again, the threads of the two can be matched, and the third screw 203c can continue to move along the third screw 203 c. The distance between the first sliding block 101a and the second sliding block 303 is greater than the length of the extension rod 203f, so that when the second sliding block 303 reaches the end of the fourth screw 203d, the first sliding block 101a can contact the third screw 203c again, thereby ensuring the continuity of movement of the robot main body 100.

Example 3

Referring to fig. 1 to 5, a third embodiment of the present invention is different from the second embodiment in that: the rotating block 203g is a magnetic block, the magnetic block is arranged at the joint of the first screw 203a and the second screw 203b, the magnetic block is arranged at the joint of the second screw 203b and the third screw 203c, the magnetic blocks are arranged at the two ends of the third screw 203c and the end part of the cavity 203e, the magnetic blocks are arranged at the joint of the fourth screw 203d and the third screw 203c, and the magnetism of all the contacted magnetic blocks is different.

In this way, there is no attraction between the first screw 203a and the second screw 203b, there is no attraction between the second screw 203b and the third screw 203c, there is attraction between the third screw 203c and the fourth screw, and the extension rod 203f of the fourth screw has an attraction with the inner wall of the cavity of the third screw 203c, so when the first inspection socket 201 is pulled, because there is no attraction between the first screw 203a and the second screw 203b, the extension rod 203f of the second screw 203b protrudes from the cavity 203e of the first screw 203a, the inspection module 200 achieves a primary extension, and the rotating block 203g at the end of the extension rod 203f of the second screw 203b and the magnetic block at the end of the first screw 203a are attracted to be fixed, the first inspection socket 201 is pulled with a greater force, the second screw 203b and the third screw 203c are detached from each other, the inspection module 200 achieves a secondary extension, and the rotating block 203g at the end of the extension rod 203f of the third screw 203c and the magnetic block at the end of the second screw 203b are attracted to be fixed, the magnetic block 203d is pulled with a greater force, the magnetic block 203d of the third screw 203c and the magnetic block 203d are attracted to be fixed, and the extended length of the third screw 203d, and the extended screw 203d are pulled to be fixed, and the extended length of the third screw 203 d. It should be noted that the attractive force between the second and third screws 203b and 203c and the attractive force between the third and fourth screws 203c and 203c are sufficient to overcome the force generated by the displacement of the first and second sliding blocks 101a and 303 thereon, and will not cause the second and third screws 203b and 203c and the third and fourth screws 203c and 203c to separate when the inspection assembly 200 achieves the first or second elongation. Thus, multi-stage adjustment of the inspection assembly 200 can be achieved.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (10)

1. The utility model provides a robot is patrolled and examined to rail mounted which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the robot comprises a robot main body (100) and a robot control system, wherein the robot main body comprises a movable base (101), a lifting piece (102) and an inspection camera (103), the lifting piece (102) is positioned at the top of the movable base (101), and the inspection camera (103) is positioned at the top of the lifting piece (102);

patrol and examine subassembly (200), patrol and examine seat (201), seat (202) and flexible screw rod (203) including first patrolling and examining seat (201), second, first patrolling and examining seat (201) and second and patrol and examine seat (202) sliding connection, flexible screw rod (203) rotate install in first patrolling and examining seat (201) and second and patrol and examine between seat (202), remove base (101) and locate flexible screw rod (203) outside through first sliding block (101 a) and second sliding block (101 b) thread bush of bottom.

2. The orbital inspection robot according to claim 1, wherein: the lifting piece (102) comprises a hydraulic cylinder (102 a), two groups of inner scissor rods (102 b), two groups of outer scissor rods (102 c) and a support plate (102 d), one end of each inner scissor rod (102 b) is hinged to the corresponding movable base (101), the other end of each inner scissor rod is slidably mounted at the bottom of the corresponding support plate (102 d), one end of each outer scissor rod (102 c) is hinged to the corresponding support plate (102 d), the other end of each outer scissor rod is slidably mounted at the top of the corresponding movable base (101), a push rod (102 e) is connected between the two groups of outer scissor rods (102 c), and the hydraulic cylinder (102 a) is connected with the corresponding push rod (102 e).

3. The track type inspection robot according to claim 2, wherein: a first sliding rod (102 f) is arranged on the movable base (101), and one end of the outer scissor rod (102 c) is slidably mounted on the first sliding rod (102 f).

4. The orbital inspection robot according to claim 3, wherein: a second sliding rod (102 g) is arranged on the supporting plate (102 d), and one end of the inner scissor rod (102 b) is slidably mounted on the second sliding rod (102 g).

5. The track type inspection robot according to claim 4, wherein: a connecting rod is arranged between the two groups of inner scissor rods (102 b).

6. The orbital inspection robot according to claim 5, wherein: the centers of the inner scissor rod (102 b) and the outer scissor rod (102 c) are hinged in a cross mode through a bolt.

7. The orbital inspection robot according to claim 6, wherein: patrol and examine camera (103) and be located backup pad (102 d) top is provided with two sets ofly, and two sets ofly patrol and examine camera (103) orientation different directions.

8. The rail-mounted inspection robot according to any one of claims 1-7, wherein: the first seat (201) top of patrolling and examining is provided with first slide rail (204), the second is patrolled and examined seat (202) top and is provided with second slide rail (205), sliding tray (101 c) have been seted up to removal base (101) bottom both sides, and first slide rail (204) and second slide rail (205) are located in sliding tray (101 c).

9. The track type inspection robot according to claim 8, wherein: the bottom of the movable base (101) is also provided with a sliding wheel (101 d).

10. The orbital inspection robot according to claim 9, wherein: the telescopic screw (203) consists of a first screw (203 a), a second screw (203 b), a third screw (203 c) and a fourth screw (203 d) which are connected with one another and have continuous threads, a cavity (203 e) is formed in the first screw (203 a), the second screw (203 b) and the third screw (203 c), an extension rod (203 f) is connected to the end portions of the second screw (203 b), the third screw (203 c) and the fourth screw (203 d), and the extension rod (203 f) is located in the cavity (203 e).

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