CN117022335A - The traveling mechanism of the rail-mounted inspection robot, the inspection robot and the inspection system - Google Patents
The traveling mechanism of the rail-mounted inspection robot, the inspection robot and the inspection system Download PDFInfo
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- CN117022335A CN117022335A CN202311257061.1A CN202311257061A CN117022335A CN 117022335 A CN117022335 A CN 117022335A CN 202311257061 A CN202311257061 A CN 202311257061A CN 117022335 A CN117022335 A CN 117022335A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
- B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B12/00—Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
- B61B12/02—Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
- B61F5/12—Bolster supports or mountings incorporating dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
本申请提出挂轨式巡检机器人的行走机构、巡检机器人及巡检系统，所述行走机构适于在V形轨道上行走，其包括：基座以及分别设置在所述基座上的驱动轮、第一限位轮和第二限位轮，所述驱动轮呈对称布置的两侧端部与所述V形轨道呈对称布设的侧斜面分别形成斜面接触配合；所述第一限位轮和所述第二限位轮分别垂直于所述V形轨道的侧斜面并对应配合所述驱动轮，用于夹紧所述V形轨道。本申请不仅能够有效避免杂物落在V型轨道上，同时V型轨道满足形状对称且易加工实现的需求，此外V型轨道能够以最少的限位方向实现挂轨式巡检机器人与其牢固地贴合，在降低挂轨式巡检机器人的机构复杂度的同时实现巡检机器人的稳定。
This application proposes a walking mechanism of a rail-mounted inspection robot, an inspection robot and an inspection system. The walking mechanism is suitable for walking on a V-shaped track and includes: a base and drives respectively provided on the base. wheel, a first limiting wheel and a second limiting wheel, the two side ends of the symmetrically arranged driving wheel and the symmetrically arranged side slopes of the V-shaped track respectively form an inclined surface contact fit; the first limiting wheel The wheel and the second limiting wheel are respectively perpendicular to the side slope of the V-shaped track and correspondingly cooperate with the driving wheel for clamping the V-shaped track. This application can not only effectively prevent debris from falling on the V-shaped track, but also the V-shaped track meets the requirements of symmetrical shape and easy processing. In addition, the V-shaped track can realize the rail-mounted inspection robot and its secure connection with the least limit direction. Fitting to achieve stability of the inspection robot while reducing the structural complexity of the rail-mounted inspection robot.
Description
Technical Field
The application relates to the technical field of robots, in particular to a running mechanism of a rail-mounted inspection robot, the inspection robot and an inspection system.
Background
The rail-mounted inspection robot is an inspection robot system capable of moving based on a fixed track, the movement of the robot does not depend on the ground environment, walks according to a planned path, so that real-time monitoring, abnormal alarming and the like are carried out on the situation along the planned path, the rail-mounted inspection robot is commonly used for power lines, tracks, tunnels, buildings and the like, autonomous climbing and turning can be realized in the driving process, and the inspection requirement in some narrow areas can be met. The fixed track form of the existing rail-mounted inspection robot mainly comprises types such as an I type, a T type, a C type, an L type, a round type and the like. The I-shaped track can prevent sundries from falling on the track to a certain extent, but the inspection robot is inconvenient to flexibly set an inspection path due to the fact that a larger turning radius is required, so that the inspection robot cannot be close to a key monitoring position; the C-shaped track can prevent sundries from falling on the track to a certain extent, but the track is special in shape and difficult to purchase; the T-shaped track cannot avoid sundries falling on the track, and the sundries on the track can influence the movement of a travelling mechanism of the rail-hanging robot; the asymmetric L-shaped track mounting mode leads to the fact that the running gear of the robot can not realize symmetry, and then causes the focus of robot unstable in the motion process, appears rocking and slope, and simultaneously can't avoid debris to fall on the track and produce the influence to the running gear motion of hanging rail robot.
In addition, in order to ensure the safe operation of the inspection robot, the inspection robot needs to be firmly attached to the track without derailing accidents, and therefore, a limiting device needs to be designed for each possible derailing direction when the rail-mounted inspection robot moves. According to the characteristics of the sections of the I-shaped track, the T-shaped track and the C-shaped track, the track inspection robot on the section at least needs 6 limiting positions to realize stable movement; according to the characteristics of the section of the L-shaped track, the track inspection robot on the section can realize stable movement only by limiting at least 4 positions; according to the characteristics of the circular track section, the track inspection robot at least needs to realize 3 position limiting to realize stable movement on the section, but can only limit the radial direction position of the robot and cannot limit the circumferential direction position of the robot, so that the circular track cannot realize the real limiting of the inspection robot, and the phenomenon of shaking can be caused in the moving process.
Disclosure of Invention
The present application aims to solve at least one of the technical problems in the related art to some extent. Therefore, the application aims to provide a travelling mechanism of a rail-mounted inspection robot, the inspection robot and an inspection system, which not only can effectively prevent sundries from falling on a V-shaped track, but also can meet the requirements of symmetrical shape and easy processing and realization, and in addition, the V-shaped track can realize firm attachment of the rail-mounted inspection robot and the rail-mounted inspection robot in the least limiting direction, thereby reducing the mechanism complexity of the rail-mounted inspection robot and realizing the stability of the inspection robot.
According to a first aspect of the present application, there is provided a running gear of a rail-mounted inspection robot, the running gear being adapted to run on a V-shaped track, comprising: the driving wheel, the first limiting wheel and the second limiting wheel are respectively arranged on the base, and two side end parts of the driving wheel which are symmetrically arranged form inclined surface contact fit with side inclined surfaces which are symmetrically arranged on the V-shaped track respectively; the first limiting wheel and the second limiting wheel are respectively perpendicular to the side inclined planes of the V-shaped track and correspondingly matched with the driving wheel, and are used for clamping the V-shaped track.
In some embodiments, the running gear further comprises a drive assembly mounted to the base for driving the drive wheel.
In some embodiments, the drive assembly includes a motor bracket, a motor, a drive shaft, a timing belt, and a shaft; wherein the bottom of the motor bracket is provided with a motor base for fixing the motor; the transmission shaft and the rotating shaft are respectively connected with the motor bracket in a rotating way and are arranged at intervals; the motor drives the transmission shaft to rotate, the synchronous belt is sleeved between the transmission shaft and the rotating shaft, and the driving wheel is sleeved in the middle of the rotating shaft.
In some embodiments, the running mechanism further comprises a damping assembly, and the damping assembly comprises at least two first dampers which are positioned on two sides of the motor bracket and distributed on opposite sides, and are used for damping the driving wheel and enabling the driving wheel to be in close contact with the V-shaped track.
In some embodiments, the first shock absorber is vertically arranged, one end of the first shock absorber is connected with the motor bracket, and the other end of the first shock absorber is connected with the inner bracket outside the motor bracket; the inner support is rotatably arranged inside the base.
In some embodiments, the shock assembly further comprises a second shock absorber; the second shock absorbers are respectively in one-to-one correspondence with the first limiting wheels and the second limiting wheels, and are respectively connected between the first limiting wheels and the base and between the second limiting wheels and the base.
In some embodiments, the base is U-shaped, and the drive wheel is located in the middle of the base; the first limiting wheel is arranged at one end of the base, the second limiting wheel is arranged at the other end of the base, and the first limiting wheel and the second limiting wheel are symmetrically arranged relative to the driving wheel.
In some embodiments, the first limit wheel and the second limit wheel are at least two and are arranged at intervals along the extending direction of the V-shaped track; the distance between the adjacent first limit wheels is equal to the distance between the adjacent first limit wheels, and the distance is set according to the minimum curve radius of the V-shaped track.
According to a second aspect of the present application, a patrol robot is presented, comprising a patrol robot body and at least one travelling mechanism according to any one of the embodiments described above.
According to a third aspect of the present application, a patrol system is provided, comprising a V-shaped track and a patrol robot as described in any one of the embodiments above.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic perspective view of a travelling mechanism according to an embodiment of the present application at a first view angle;
fig. 2 is a schematic perspective view of a travelling mechanism according to an embodiment of the present application at a second view angle;
FIG. 3 is a schematic diagram illustrating a driving wheel according to an embodiment of the present application;
FIG. 4 is a schematic view illustrating a first limiting wheel according to an embodiment of the present application;
FIG. 5 is a block diagram of a patrol robot according to an embodiment of the present application;
FIG. 6 is a block diagram illustrating a patrol system according to an embodiment of the present application;
in the figure; 100. a base; 110. a driving wheel; 120. a first limit wheel; 130. the second limiting wheel;
210. a motor bracket; 220. a motor; 230. a transmission shaft; 240. a synchronous belt; 250. a rotating shaft; 260. a drive bevel gear; 270. a passive bevel gear;
300. an inner bracket;
410. a first shock absorber; 420. a second damper;
A. inspection robot; B. a walking mechanism; C. a V-shaped track; D. a patrol robot body; E. and (5) a patrol system.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which a product of the application is conventionally put in use, it is merely for convenience of describing the present application and simplifying the description, and it is not indicated or implied that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like in the description of the present application, if any, are used for distinguishing between the descriptions and not necessarily for indicating or implying a relative importance.
As shown in fig. 1, according to a first aspect of the present application, a travelling mechanism B of a rail-mounted inspection robot a is provided, the travelling mechanism B being adapted to travel on a V-shaped track C, comprising: the base 100, and the driving wheel 110, the first limiting wheel 120 and the second limiting wheel 130 which are respectively arranged on the base 100, wherein two side ends of the driving wheel 110 which are symmetrically arranged form inclined surface contact fit with side inclined surfaces which are symmetrically arranged on the V-shaped track C; the first limiting wheel 120 and the second limiting wheel 130 are respectively perpendicular to the side inclined surfaces of the V-shaped track C and correspondingly matched with the driving wheel 110 for clamping the V-shaped track C.
In this embodiment, for convenience of description, the vertical direction is taken as the up-down direction, the horizontal direction is the left-right direction, and the extending direction of the V-shaped track is taken as the front-back direction. The V-shaped track comprises a left inclined plane and a right inclined plane which are axisymmetric left and right, wherein an included angle between the two inclined planes is 90 degrees, the opening direction of the V-shaped track is downward, and the V-shaped track can be any other suitable angle without being limited to the angle.
The travelling mechanism B comprises a base 100, a driving wheel 110, a first limiting wheel 120 and a second limiting wheel 130, wherein the driving wheel 110, the first limiting wheel 120 and the second limiting wheel 130 are arranged on the base 100, two side end parts which are symmetrically arranged on the driving wheel 110 are respectively in contact fit with the left inclined surface and the right inclined surface of the V-shaped track, the first limiting wheel 120 is vertical to the left inclined surface of the V-shaped track and in contact fit with the left inclined surface, and the first limiting wheel 120 is matched with the driving wheel 110 to tighten the left inclined surface of the V-shaped track C; similarly, the second limiting wheel 130 is perpendicular to the right inclined surface of the V-shaped rail and is in contact fit with the right inclined surface, and is matched with the driving wheel 110 to tighten the right inclined surface of the V-shaped rail C.
As shown in fig. 1, the base 100 is in a U shape, the driving wheel 110 is located in the middle of the base 100 and below the V-shaped rail, the V-shaped rail extends along the front-rear direction, the driving wheel 110 is in a left-right axisymmetric structure, and includes left and right end conical surfaces respectively in contact fit with a left inclined surface and a right inclined surface of the V-shaped rail, wherein the gradient of the conical surfaces matches the gradient of the left inclined surface and the right inclined surface, and in the embodiment, the gradient is 45 °; the first limiting wheel 120 is arranged at the left end of the base 100 and above the left inclined plane of the V-shaped track, and the first limiting wheel 120 is arranged vertically to the left inclined plane; similarly, the second limiting wheel 130 is arranged at the right end of the base 100 and above the right inclined plane of the V-shaped track, and the second limiting wheel 130 is arranged vertically to the right inclined plane; the first limiting wheel 120 and the second limiting wheel 130 compress the V-shaped track on the driving wheel 110, and the V-shaped track can effectively prevent sundries from falling on the track, and simultaneously meet the requirements of symmetrical shape, light weight and easy processing realization; in addition, the travelling mechanism B in the embodiment can ensure the limit requirements of the V-shaped track section in four directions only by using the first limit wheel 120, the second limit wheel 130 and the driving wheel 110, so that the travelling mechanism B of the rail-mounted inspection robot A is more compact and simpler.
In some embodiments, running gear B further includes a drive assembly mounted to base 100 for driving drive wheel 110.
Wherein, the driving assembly is disposed on the base 100 for driving the driving wheel 110, and comprises a motor bracket 210, a motor 220, a transmission shaft 230, a synchronous belt 240 and a rotation shaft 250; the motor bracket 210 may have a U-shaped structure, and is located inside the base 100 and connected with the base 100, the bottom of the motor bracket 210 is provided with a motor 220 base 100 for fixing a motor 220, a motor 220 shaft is vertically disposed, the top of the motor 220 shaft is provided with a transmission bevel gear 260, two ends of the transmission shaft 230 and the rotation shaft 250 are respectively connected to the motor bracket 210 in a rotating manner, and the two ends are separated by a certain vertical distance in the vertical direction and are parallel to each other. Wherein the transmission shaft 230 is located above the shaft of the motor 220, and a driven bevel gear 270 matched with a transmission bevel gear 260 on the shaft of the motor 220 is sleeved outside the transmission shaft, and the transmission shaft 230 is driven to rotate by the motor 220 through the mutual engagement of the two gears. In addition, in the embodiment, the synchronous belt 240 is sleeved outside the end parts of the same side of the transmission shaft 230 and the rotation shaft 250, and the rotation shaft 250 can be driven to rotate by the rotation of the synchronous belt 240 under the condition that the transmission shaft 230 rotates, and meanwhile, the driving wheel 110 is sleeved in the middle part of the rotation shaft 250, so that the driving of the driving wheel 110 by the motor 220 is realized.
In addition, in some embodiments, the motor support 210 may be rotatably connected to the base 100, and connected to the inner support 300 through the motor support 210, and the inner support 300 may be U-shaped and located outside the motor support 210, wherein the bottom of the inner support 300 is connected to the base 100 through an inner ring and an outer ring of a bearing, so that the inner support 300 and the base 100 may rotate relatively, and thus, when the driving wheel 110 encounters a V-shaped track turning, the inner support 300, parts mounted on the inner support 300, the motor support 210, and parts mounted on the motor support 210 may all implement passive steering.
In some embodiments, the running gear B further includes a shock absorbing assembly including at least two first shock absorbers 410 disposed at both sides of the motor bracket 210 and distributed at opposite sides for shock absorbing the driving wheel 110 and bringing the driving wheel 110 into close contact with the V-shaped track C.
Wherein the damper assembly includes at least two first dampers 410, and the at least two first dampers 410 are symmetrically and parallel arranged in the left-right axial direction. As shown in fig. 1 and 3, the first damper 410 is vertically disposed, one end of which is fixed to the outside of the top of the motor bracket 210 in the same horizontal direction as the rotation shaft 250, for damping the driving wheel 110 and bringing the driving wheel 110 into close contact with the V-shaped rail C, and the other end of which is disposed on the inner bracket 300 above the transmission shaft 230.
In some embodiments, the shock assembly further includes a second shock absorber 420; the second shock absorbers 420 are respectively in one-to-one correspondence with the first limiting wheels 120 and the second limiting wheels 130, and are respectively connected between the first limiting wheels 120 and the base 100 and between the second limiting wheels 130 and the base 100.
The second dampers 420 are plural, are used in pair with the first limiting wheels 120 and the second limiting wheels 130, are in one-to-one correspondence, are connected between the first limiting wheels 120 and the base 100 and between the second limiting wheels 130 and the base 100, and are used for damping the vibration of the first limiting wheels 120 and the second limiting wheels 130. The first limiting wheel 120 and the second limiting wheel 130 are at least two, wherein the setting conditions of the first limiting wheel 120 and the second limiting wheel 130 are identical and are mirror symmetry, and the embodiment uses the first limiting wheel 120 as an example for illustration: the at least two first limiting wheels 120 are arranged at intervals along the extending direction of the V-shaped track C to ensure that the running mechanism B is stable and does not overturn in the moving direction, and in this embodiment, the distance between the adjacent first limiting wheels 120 may be set according to the minimum curve radius of the V-shaped track C, that is, the smaller the distance between the adjacent first limiting wheels 120, the stronger the turning capability of the running mechanism B. Similarly, the arrangement of the second limiting wheels 130 is not described herein, and the distance between the adjacent first limiting wheels 120 is equal to the distance between the adjacent second limiting wheels 130.
As shown in fig. 2 and 4, two first limiting wheels 120 are provided, each of which is disposed on the left side of the base 100 and is perpendicular to the left inclined surface of the V-shaped rail, the two first limiting wheels 120 are disposed at intervals in the front-rear direction, and a second shock absorber 420 is connected between each of the first limiting wheels 120 and the base 100; meanwhile, two second limiting wheels 130 are arranged on the left side of the base 100 and perpendicular to the right inclined surface of the V-shaped track, the two second limiting wheels 130 are arranged at intervals in the front-rear direction, a second shock absorber 420 is connected between each second limiting wheel 130 and the base 100, the distance between every two adjacent first limiting wheels 120 is equal to the distance between every two adjacent second limiting wheels 130, and the distance is set according to the minimum curve radius of the V-shaped track C.
According to a second aspect of the present application, a patrol robot is presented, comprising a patrol robot body D and at least one travelling mechanism B according to any one of the embodiments described above.
The inspection robot a in the present application as shown in fig. 5 includes an inspection robot body D and at least one travelling mechanism B according to any one of the foregoing embodiments, where the inspection robot body D is suspended on the V-shaped track C by the travelling mechanism B, and the travelling mechanism B drives the inspection robot body D to move along the V-shaped track C. In addition, in some schemes, one travelling mechanism B can be arranged on the inspection robot body D, and a plurality of travelling mechanisms B can also be arranged. When only one travelling mechanism B is arranged on the inspection robot body D, the travelling mechanism B can be connected with the inspection robot body D relatively fixedly or relatively rotationally. Generally, the inspection robot is directly and relatively fixedly connected, and the travelling mechanism B can drive the inspection robot body D to travel along the V-shaped track C and bend.
The inspection robot body D is only provided with a single travelling mechanism B, which easily causes the inspection robot body D to swing in the air, so that the inspection robot body D can only swing by its own weight, and for the inspection robot body D with a large own weight and a large volume, the single travelling mechanism B may not be capable of carrying its load. However, if the plurality of travelling mechanisms B are arranged on the inspection robot body D for sharing the load together, the local stress of the connecting part of the travelling mechanisms B and the inspection robot body D can be reduced, and in addition, the travelling mechanism disclosed by the application travels along the V-shaped track C, the travelling mechanisms B are not mutually influenced and mutually limited, so that the blocking is avoided when the inspection robot is bent, the blocking is avoided even if the bending radius is smaller, and the flexible travelling of the inspection robot A is ensured.
According to a third aspect of the present application, a patrol system is provided, comprising a V-shaped track C and a patrol robot a according to any one of the embodiments described above.
As shown in fig. 6, the inspection system E provided in this embodiment includes a V-shaped track C and the inspection robot a in any of the foregoing embodiments, which is not only suitable for monitoring a self-elevating building platform, but also suitable for inspecting the pipeline facilities such as a water pipe, a gas pipe, etc., where the inspection robot a is ensured to work for facilitating real-time power taking, and optionally, a current collector is disposed on the inspection robot body D, and the current collector is used to take power in real time to supply the inspection robot a to work.
In order to be able to better confirm the fault location or to facilitate the search for the location of the inspection robot a, optionally an RFID locator is provided on the inspection robot body D. Because the use scene is complicated, for example, self-elevating building platform in this embodiment, its mainly used construction, material or engineering machine tool in the work progress probably can cause the hindrance to inspection robot A's walking, in order to avoid inspection robot A to damage, optionally, inspection robot body D's front and back set up the light respectively and keep away the barrier sensor. In order to control the inspection robot A conveniently, the inspection robot body D can be connected with the background through WIFI or Bluetooth and the like. And carrying out cyclic inspection work or remote control inspection work according to different working models.
It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311257061.1A CN117022335A (en) | 2023-09-27 | 2023-09-27 | The traveling mechanism of the rail-mounted inspection robot, the inspection robot and the inspection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311257061.1A CN117022335A (en) | 2023-09-27 | 2023-09-27 | The traveling mechanism of the rail-mounted inspection robot, the inspection robot and the inspection system |
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| CN117022335A true CN117022335A (en) | 2023-11-10 |
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