CN-121989199-A - Suspension type track inspection robot based on flexible cable crane and rigid guide

Abstract

The invention discloses a suspension type track inspection robot based on flexible cable suspension and rigid guide, and relates to the technical field of automatic inspection and special robots. The robot comprises a walking main support, an electric winch assembly, a multi-mode detection cabin and an intelligent control center, wherein the walking main support is hung on a rail. The multi-mode detection cabin is connected with the electric hoisting assembly through a traction rope to realize vertical lifting, and lifting guide wheels which are clamped and slide in the guide sliding grooves are arranged on the side edges of the multi-mode detection cabin. The invention skillfully combines the large-stroke lifting of the flexible rope and the physical guiding of the rigid chute, thoroughly solves the problem of 'pendulum shaking' generated by the traditional rope hoisting inspection, realizes the light weight of the structure, greatly expands the vertical inspection range, and ensures the absolute stability and high-precision focusing of the multi-mode detection cabin under the complex environment.

Inventors

• WU XIRU
• Fan Jianjin
• XIE JIEXIN

Assignees

• 桂林电子科技大学

Dates

Publication Date

20260508

Application Date

20260324

Claims (6)

1. 1. A suspension type track inspection robot based on flexible cable suspension and rigid guide is characterized in that, The multi-mode detection cabin is suspended below the vertical lifting module and is characterized by comprising a vertical guide arm, an electric hoisting assembly and a traction rope, wherein the vertical guide arm is fixed at the bottom of the rail walking module, a through guide chute is formed in the side face of the vertical guide arm, the multi-mode detection cabin is connected with the electric hoisting assembly through the traction rope, and lifting guide wheels extending into the guide chute are arranged on the side edge of the multi-mode detection cabin.
2. 2. The suspension type track inspection robot based on the flexible cable hoist and the rigid guide according to claim 1, characterized in that, The track walking module comprises an inverted U-shaped track walking main support, hanging walking rollers clamped on two sides of the lower flange of the I-shaped steel track are symmetrically arranged on the inner side of the support, and at least one hanging walking roller is connected with a driving motor arranged on the side face of the main support.
3. 3. The suspension type track inspection robot based on the flexible cable hoist and the rigid guide according to claim 1, characterized in that, The electric hoisting assembly is fixedly arranged in the rail walking main support, the electric hoisting assembly comprises a stepping motor and a reel, one end of the traction rope is wound on the reel, and the other end of the traction rope is connected with the multi-mode detection cabin.
4. 4. The suspension type track inspection robot based on the flexible cable hoist and the rigid guide according to claim 1, characterized in that, When the electric winch assembly receives and releases the traction rope to drive the multi-mode detection cabin to vertically lift, the lifting guide wheel rolls up and down in the guide chute of the vertical guide arm so as to limit the swinging freedom degree of the multi-mode detection cabin in the horizontal direction.
5. 5. The suspension type track inspection robot based on the flexible cable hoist and the rigid guide according to claim 1, characterized in that, The top of the multi-mode detection cabin is connected with the traction rope through a two-axis rotation cradle head, and the two-axis rotation cradle head comprises an X-axis rotation cradle head for controlling horizontal rotation and a Y-axis rotation cradle head for controlling vertical pitching.
6. 6. The suspension type track inspection robot based on the flexible cable hoist and the rigid guide according to claim 1, characterized in that, The intelligent control center is fixedly arranged on the side face of the track walking main support, and the intelligent control center is electrically connected with the driving motor of the track walking module, the electric hoisting assembly and the multi-mode detection cabin respectively.

Description

Suspension type track inspection robot based on flexible cable crane and rigid guide Technical Field The invention belongs to the technical field of automatic inspection and special robots, and particularly relates to a suspension type track inspection robot which is applicable to complex environments such as agricultural greenhouses, industrial workshops and the like, has large-stroke and anti-swing height self-adaptive adjustment capacity and is based on flexible cable cranes and rigid guidance. Background In modern agricultural greenhouses (such as stereoscopic hydroponics, overhead crops) or dense industrial workshops, traditional ground wheel or crawler inspection robots are extremely susceptible to blocking by muddy ground, scattered cables or equipment obstacles, resulting in limited traffic. For this reason, suspended track robots are introduced in the industry. However, most of the existing track robots are used for inspection at a fixed height, and crops or devices with different growth heights cannot be inspected at a close distance. Part of robots adopt lifting mechanisms for hoisting by pure ropes, but when the robot body moves along a track or encounters environmental wind force, a detection cabin for rope suspension can generate serious 'pendulum effect' (shake everywhere), so that the carried vision sensor cannot stably focus and shoot, and collected data is fuzzy and invalid. If the traditional rigid lifting mechanism with the gear and the rack is adopted, the defects of heavy weight, complex structure, limited lifting stroke and the like are overcome. Disclosure of Invention The invention aims to provide a suspension type track inspection robot based on a flexible cable crane and rigid guide, and aims to solve the problems that an existing rope hoisting inspection robot detection cabin is easy to shake and unstable in focusing, a traditional rigid lifting structure is heavy, lifting stroke is limited and the like. The flexible cable crane and rigid guide based suspension type track inspection robot comprises a track walking module, a vertical lifting module, a multi-mode detection cabin and an intelligent control center, wherein the track walking module is suspended on a preset I-shaped steel track, the multi-mode detection cabin is suspended below the vertical lifting module, the vertical lifting module comprises a vertical guide arm, an electric hoisting assembly and a traction rope, the vertical guide arm is fixed at the bottom of the track walking module, a guide chute is formed in the inner side of the vertical guide arm, the multi-mode detection cabin is connected with the electric hoisting assembly through the traction rope, and lifting guide wheels extending into the guide chute are arranged on the side edges of the multi-mode detection cabin. The rail traveling module comprises an inverted U-shaped rail traveling main support, hanging traveling rollers clamped on two sides of the lower flange of the I-shaped steel rail are symmetrically arranged on the inner side of the support, and at least one hanging traveling roller is connected with a driving motor arranged on the side face of the main support. The electric hoisting assembly is fixedly arranged in the main rail walking support, the electric hoisting assembly comprises a stepping motor and a reel, one end of the traction rope is wound on the reel, and the other end of the traction rope is connected with the multi-mode detection cabin. When the electric winch assembly receives and releases the traction rope to drive the multi-mode detection cabin to vertically lift, the lifting guide wheel rolls up and down in the guide chute of the vertical guide arm so as to limit the swinging freedom degree of the multi-mode detection cabin in the horizontal direction. The top of the multi-mode detection cabin is connected with the traction rope through a two-axis rotation cradle head, and the two-axis rotation cradle head comprises an X-axis rotation cradle head for controlling horizontal rotation and a Y-axis rotation cradle head for controlling vertical pitching. The intelligent control center is fixedly arranged on the side face of the track walking main support, and the intelligent control center is electrically connected with the driving motor of the track walking module, the electric hoisting assembly and the multi-mode detection cabin respectively. Compared with the prior art, the invention has the advantages that the flexible rope lifting and the rigid chute guiding are skillfully combined, the lifting guide wheel is always limited in the chute of the vertical guide arm in the lifting and moving process, the freedom degree of the detection cabin in the horizontal direction is physically locked, the absolute stability and high-precision focusing of a camera are ensured, the gear-rack transmission which is heavy and limited by the length is abandoned, the whole machine weight of the robot is greatly reduced by adopting the electric ho