CN220145957U - Lifting rail inspection robot - Google Patents

Abstract

The utility model discloses a lifting rail inspection robot, which comprises a machine body, wherein the upper part of the machine body is provided with two travelling wheel parts which travel along a rail, a processor is arranged in the machine body, laser radars are arranged in front and behind the machine body, the front end and the rear end of the travelling wheel parts on the machine body are also provided with obstacle clearing dustpans, the opening of each obstacle clearing dustpan faces to one side far away from the travelling wheel part, one side far away from the travelling wheel part of each obstacle clearing dustpan is provided with a proximity sensor, the machine body is provided with a speed sensor, and the proximity sensor and the speed sensor are in information connection with the processor; the obstacle clearing dustpan is arranged in front of and behind the travelling wheel part, so that when sundries appear on the track, the obstacle clearing dustpan can push the sundries to advance or retract the sundries into the obstacle clearing dustpan, and the sundries are prevented from entering the travelling wheel part to damage the travelling wheel part; by arranging the proximity sensor and the speed sensor, the proximity sensor detects an obstacle and the speed sensor detects that the walking speed of the machine body is rapidly reduced, signals are transmitted to the processor, and the processor controls the walking wheel to stop.

Description

Lifting rail inspection robot

Technical Field

The utility model relates to the technical field of inspection equipment, in particular to a lifting rail inspection robot.

Background

In the daily inspection work of wind power plant relay protection room, can be equipped with the hanging rail inspection robot often, be used for replacing artifical inspection, it compares in the robot of inspecting of walking on ground, can not receive interference restriction or topography influence of equipment on ground, wide application in environments such as switch room, block terminal room, GIS room, relay protection room and city utility tunnel.

In the prior art, through searching, the utility model patent with the Chinese patent publication number of CN214818594U discloses a hanging rail type inspection robot, which mainly comprises a machine body a, wherein a walking wheel part c capable of being connected with a track b is arranged at the upper part of the machine body a, a processor is arranged in the machine body a, the processor is in information communication with the walking wheel part c and is used for controlling a track b connecting device to run along a preset track when the inspection robot works, laser radars d are also arranged at the front side and the rear side of the machine body, the laser radars d are in information communication with the processor and are used for detecting the front side and the rear side of the machine body and sending real-time distance data to the processor, and the processor judges whether an obstacle is approaching or not.

In the prior art, the suspended track type inspection robot similar to the technical scheme can timely identify, alarm or control parking when the laser radar detects that an obstacle exists in the advancing direction of the machine body. However, in the prior art, the situation that the position to be improved exists is still found in the implementation process, the laser radar can only detect the obstacle in the advancing direction of the machine body, and the possible sundries on the track cannot be identified due to the angle problem, so that when the sundries appear on the track due to various reasons, the problem that the walking wheel part of the inspection robot is blocked by the sundries on the track easily occurs, and the walking wheel part is easy to damage or influence the normal operation of the equipment.

Disclosure of Invention

In view of the defects and drawbacks existing in the prior art, the utility model aims to provide a hanging rail inspection robot, which solves the problems that a walking wheel part of the inspection robot is easy to be blocked by sundries on a track when sundries appear on the track of the hanging rail inspection robot in the prior art, so that the walking wheel part is easy to damage or influence the normal operation of equipment.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a lifting rail inspection robot, includes the fuselage, and fuselage upper portion is provided with two cards in track left and right sides and along the walking wheel portion of track walking, is provided with the treater in the fuselage, and fuselage front end and rear end are provided with the lidar that can discern the barrier, and lidar and walking wheel portion all with treater information connection, be in on the fuselage the front end and the rear end of walking wheel portion still all are provided with the clearance dustpan, and the opening orientation of clearance dustpan is kept away from one side of walking wheel portion, and one side that clearance dustpan kept away from walking wheel portion is provided with proximity sensor, is provided with speed sensor on the fuselage, proximity sensor and speed sensor and treater information connection.

As a further improvement of the utility model, the bottom plate of the obstacle clearance dustpan is sequentially provided with an arc-shaped section and an inclined section from one side close to the travelling wheel part to one side far from the travelling wheel part, the inclined section is gradually and downwards inclined from one side close to the travelling wheel part to one side far from the travelling wheel part, and the lowest end of the inclined section is in contact with the track.

As a further improvement of the utility model, the side of the inclined section, which is far away from the travelling wheel part, is made of a section of rubber plate.

As a further development of the utility model, the arcuate segment is not in contact with the rail.

As a further improvement of the utility model, the obstacle clearing dustpan is detachably connected with the machine body.

Compared with the prior art, the utility model has the following advantages:

1. the front end and the rear end of the travelling wheel part are provided with the obstacle-removing dustpan, when sundries appear on the track, the machine body and the travelling wheel part can push the sundries to advance or collect the sundries into the obstacle-removing dustpan in the advancing process, so that the sundries are prevented from entering the travelling wheel part, the travelling wheel part is damaged or blocked to cause the travelling wheel part to stop passively, and normal inspection work is influenced; in addition, the proximity sensor is arranged on one side, far away from the travelling wheel part, of the obstacle clearing dustpan, the speed sensor is arranged on the machine body, and the proximity sensor and the speed sensor are in information connection with the processor, so that after the proximity sensor detects an obstacle and the speed sensor detects that the travelling speed of the machine body is rapidly reduced and lasts for a certain time, a signal is transmitted to the processor, the processor controls the travelling wheel part to park, alarms, and when the obstacle clearing dustpan is prevented from advancing, a larger obstacle is encountered on a track, and when the obstacle influences the equipment to pass through (the travelling speed of the machine body is rapidly reduced and lasts for a certain time to judge), the equipment can be controlled to actively park, and the problem that the obstacle clearing dustpan or the travelling wheel part is subjected to hard damage of the obstacle is avoided to continuously maintain advancing power.

2. Through establishing arc section and slope section in proper order with the bottom plate of clearance dustpan to the one side that keeps away from walking wheel portion from the one side that is close to walking wheel portion, arc section is convenient for accomodate the debris that falls into clearance dustpan, and slope section forms the closed angle and is convenient for clear up debris, and reduces slope section and orbital whole friction.

3. By setting the arcuate segment out of contact with the rail, friction between the arcuate segment and the rail is reduced.

4. The obstacle clearing dustpan is detachably connected with the machine body, so that the obstacle clearing dustpan is convenient to detach to clear sundries in the obstacle clearing dustpan or is convenient to replace and maintain.

Drawings

The utility model is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic diagram of a prior art structure;

FIG. 2 is a schematic diagram of the overall structure of the present utility model;

FIG. 3 is a cross-sectional view of FIG. 2;

in the figure: 1. a body; 2. a road wheel section; 3. a track; 4. a laser radar; 5. obstacle clearing dustpans; 51. an arc section; 52. an inclined section; 6. a proximity sensor; 7. a speed sensor; 8. a processor.

Detailed Description

The utility model is described in further detail below with reference to fig. 2-3. For the sake of clarity, only the structures related to the utility model are shown in the drawings.

For convenience of description, the coordinate system is defined as shown in fig. 2, and the left-right direction is a transverse direction, the front-rear direction is a longitudinal direction, and the up-down direction is a vertical direction.

The embodiment of the utility model discloses a lifting rail inspection robot. Referring to fig. 2, a lifting rail inspection robot comprises a body 1, two travelling wheel parts 2 clamped at the left side and the right side of a track 3 and travelling along the track 3 are arranged at the upper part of the body 1, as shown in fig. 3, a processor 8 is arranged in the body 1, a laser radar 4 capable of identifying an obstacle is arranged at the front end and the rear end of the body 1, the laser radar 4 and the travelling wheel parts 2 are in information connection with the processor 8, when the laser radar 4 detects that the obstacle exists in the advancing direction, signals are transmitted to the processor 8, and the processor 8 controls the travelling wheel parts 2 to decelerate or stop.

In addition, as shown in fig. 2 and 3, the front end and the rear end of the walking wheel part 2 on the machine body 1 are also provided with an obstacle clearing dustpan 5, the opening of the obstacle clearing dustpan 5 faces to one side far away from the walking wheel part 2, when sundries appear on the track 3, the machine body 1 and the walking wheel part 2 can push the sundries to advance or take the sundries into the obstacle clearing dustpan 5 in the advancing process, so that the sundries are prevented from entering the walking wheel part 2, the walking wheel part 2 is damaged or blocked to enable the walking wheel part 2 to be stopped passively, and normal inspection work is affected. On this basis, the obstacle clearing dustpan 5 is detachably connected with the machine body 1 through bolts, so that the obstacle clearing dustpan 5 is convenient to detach to clear sundries in the obstacle clearing dustpan 5 or the obstacle clearing dustpan 5 is convenient to replace and maintain.

In addition, the side of the obstacle clearance dustpan 5, which is far away from the travelling wheel part 2, is provided with a proximity sensor 6, the machine body 1 is provided with a speed sensor 7, and the proximity sensor 6 and the speed sensor 7 are in information connection with a processor 8, so that after the proximity sensor 6 detects an obstacle and the speed sensor 7 detects that the travelling speed of the machine body 1 is rapidly reduced and lasts for a certain time, a signal is transmitted to the processor 8, the processor 8 controls the travelling wheel part 2 to park and give an alarm, when the obstacle clearance dustpan is prevented from advancing, a larger obstacle is encountered on the track 3, and when the obstacle influences the equipment to pass through (the travelling speed of the machine body 1 is rapidly reduced and is continuously judged for a certain time), the equipment can be controlled to actively park, and the problem that the obstacle clearance dustpan 5 or the travelling wheel part 2 which is caused by continuously keeping advancing power is damaged by the obstacle is avoided.

On the basis of the above, in this embodiment, as shown in fig. 2, the bottom plate of the obstacle clearance dustpan 5 is sequentially provided with an arc-shaped section 51 and an inclined section 52 from the side close to the travelling wheel part 2 to the side far from the travelling wheel part 2, the inclined section 52 is gradually and downwardly inclined from the side close to the travelling wheel part 2 to the side far from the travelling wheel part 2, the arc-shaped section 51 is convenient for accommodating sundries falling into the obstacle clearance dustpan 5, the bottom of the arc-shaped section 51 is not in contact with the track 3, and the friction force between the arc-shaped section 51 and the track 3 is reduced; the side of the inclined section 52 far away from the travelling wheel part 2 is made of a section of rubber plate, and the lowest end of the inclined section 52 is contacted with the track 3; the inclined section 52 forms a sharp corner to facilitate cleaning of debris and reduce the overall friction of the inclined section 52 with the track 3.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. It should be understood that the detailed description is presented for purposes of understanding only and is not intended to limit the utility model to all other embodiments that may be obtained by one skilled in the art without making any inventive effort.

Claims (5)

1. The utility model provides a robot is patrolled and examined to hanger rail, includes the fuselage, and fuselage upper portion is provided with two cards in track left and right sides and along the walking wheel portion of track walking, is provided with the treater in the fuselage, and fuselage front end and rear end are provided with the lidar that can discern the barrier, lidar and walking wheel portion all with treater information connection, its characterized in that: the front end and the rear end of the walking wheel part on the machine body are also provided with an obstacle clearing dustpan, the opening of the obstacle clearing dustpan faces to one side far away from the walking wheel part, one side far away from the walking wheel part of the obstacle clearing dustpan is provided with a proximity sensor, the machine body is provided with a speed sensor, and the proximity sensor and the speed sensor are in information connection with a processor.

2. The lifting rail inspection robot of claim 1, wherein: the bottom plate of the obstacle clearance dustpan is sequentially provided with an arc section and an inclined section from one side close to the travelling wheel part to one side far away from the travelling wheel part, the inclined section is gradually arranged in a downward inclined mode from one side close to the travelling wheel part to one side far away from the travelling wheel part, and the lowest end of the inclined section is in contact with a track.

3. The lifting rail inspection robot of claim 2, wherein: one side of the inclined section, which is far away from the travelling wheel part, is made of a section of rubber plate.

4. The lifting rail inspection robot of claim 2, wherein: the arcuate segment is not in contact with the rail.

5. A lifting rail inspection robot according to any one of claims 1-4, wherein: the obstacle clearing dustpan is detachably connected with the machine body.