Explosion-proof inspection robot walking mechanism with self-adaptive track tensioning adjustment function

Abstract

The invention discloses an anti-explosion inspection robot walking mechanism with a self-adaptive track tensioning adjusting function, which comprises an adjusting box, adjusting rods are respectively arranged on a group of opposite outer walls of the adjusting box, a supporting wheel is arranged on one adjusting rod, a driving wheel is arranged on the other adjusting rod, a coupler is further arranged on the driving wheel, and the supporting wheel is connected with the coupler. A lifting rod is arranged at the bottom of the adjusting box, a loading wheel is arranged at the free end of the lifting rod, the adjusting rod is in linkage with the lifting rod, the outer sides of the driving wheel, the supporting wheel and the loading wheel are sleeved with a crawler belt, and when the adjusting rod moves towards the outside of the adjusting box, the lifting rod moves towards the inside of the adjusting box; when the adjusting rods move towards the interior of the adjusting box, the lifting rods move towards the exterior of the adjusting box, and the moving distance of the lifting rods does not exceed the sum of the moving distances of the two adjusting rods within the same time. The height of the gravity center of the robot can be adjusted while the crawler belt is tensioned, the driving requirements on different road surfaces are met, and the situation that the robot is stranded due to the too low center when driving on a rugged road surface can be avoided.

Description

Technical Field

[0001] This invention belongs to the field of [the field of] ... Background Technology

[0002] In explosion-proof scenarios such as petrochemicals, mining, and hazardous chemical storage, all-terrain inspection robots are core equipment for replacing manual labor in equipment monitoring and environmental detection. The stability and adaptability of their locomotion mechanisms directly determine the safety and efficiency of inspection operations. Currently, the locomotion mechanisms of all-terrain explosion-proof inspection robots used in the industry mainly adopt traditional tracked designs, achieving movement through the cooperation of fixed wheel systems (drive wheels, support wheels, and load-bearing wheels) and tracks. However, in practical applications, they face several technical bottlenecks and struggle to meet the demands of complex working conditions. Specific problems are as follows.

[0003] When traveling on a hard, flat road surface, the tracks experience less impact. In this case, it is necessary to prioritize power transmission efficiency and driving stability. Tensioning the tracks can prevent them from sliding laterally, jumping, or derailing, while also improving transmission efficiency.

[0004] When traveling on soft and rough roads, the tracks are subjected to greater impact. At this time, it is necessary to absorb vibration and buffer the impact to reduce component wear. In this case, the loose track can absorb the impact through the "elastic buffer" of the track, avoiding damage to rigid components such as track plates, pins, and track rollers due to stress concentration.

[0005] The existing inspection robot track tension is mostly adjusted manually, which cannot be switched according to the terrain and environment, making it inconvenient to use; and if the chassis is too low when the inspection robot is traversing rough roads, it is easy to bottom out, causing the robot to get stuck.

[0006] Therefore, we need to design a walking mechanism for an explosion-proof inspection robot with adaptive track tension adjustment to solve these problems. Summary of the Invention

[0007] The problem to be solved by the present invention is to provide a walking mechanism for an explosion-proof inspection robot with adaptive track tension adjustment function.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0009] A walking mechanism for an explosion-proof inspection robot with adaptive track tension adjustment includes an adjustment box. Adjustment rods are respectively arranged on a set of opposing outer walls of the adjustment box. One adjustment rod has a support wheel, and the other adjustment rod has a drive wheel. A coupling is also provided on the drive wheel. A lifting rod is located at the bottom of the adjustment box, and a load-bearing wheel is located at the free end of the lifting rod. The adjustment rod is linked to the lifting rod. Tracks are fitted around the drive wheel, the support wheel, and the load-bearing wheel. When the adjustment rod moves outward from the adjustment box, the lifting rod moves inward from the adjustment box; when the adjustment rod moves inward from the adjustment box, the lifting rod moves outward from the adjustment box. Within the same time period, the moving distance of the lifting rod does not exceed the sum of the moving distances of the two adjustment rods.

[0010] Preferably, an outer support and an inner support are fixed on the outer wall of the adjusting box where the adjusting rod is provided. The adjusting rod is located between the outer support and the inner support. One of the adjusting rods is provided with a connecting frame, and the other adjusting rod is provided with a support frame. The connecting frame and the support frame are slidably connected to the inner support and the outer support. The drive wheel is provided with a mounting shaft. The connecting frame is rotatably connected to the drive wheel through the mounting shaft. The support wheel is fixedly provided with a support shaft. The support frame is rotatably connected to the support wheel through the support shaft.

[0011] This configuration, with the outer and inner supports fixed to the outer wall of the adjustment box, provides precise bidirectional guiding constraints for the support frame and connecting frame. Driven by the adjusting rod, they constantly slide between the inner and outer supports, preventing offset and wobbling during adjustment. This ensures the positional accuracy of the support wheel and drive wheel, thereby guaranteeing the stability of the track drive. The connecting frame and support frame correspond to the drive wheel and support wheel respectively, and are rotatably connected to the wheel body via mounting shafts and support shafts. This ensures both reliable power transmission to the drive wheel and flexible follow-up of the support wheel. Simultaneously, the sliding connection between the connecting frame and support frame and the inner and outer supports reduces frictional resistance during the extension and retraction of the adjusting rod, improving the smoothness of adjustment, reducing component wear, and facilitating the disassembly and replacement of the wheel body or adjusting rod during later maintenance.

[0012] Preferably, an mounting groove is provided on the inner support on one side of the connecting frame, and the coupling is located in the mounting groove. The coupling includes an input disc, a transmission disc, and an output disc. Three drive connecting rods are hinged to one end face of the transmission disc, and three transmission connecting rods are hinged to the other end face. The three drive connecting rods and the three transmission connecting rods are evenly distributed around the circumference of the transmission disc. The three drive connecting rods are parallel to each other, and their free ends are connected to one end face of the input disc. An input shaft is fixedly provided on the other end face of the input disc. The three transmission connecting rods are parallel to each other, and their free ends are hinged to one end face of the output disc. The other end face of the output disc is fixedly connected to the shaft on the drive wheel.

[0013] This design, with the mounting slot on the inner bracket housing the coupling, provides space for its installation and movement while protecting it from wear or jamming due to harsh environments. This is particularly suitable for the complex working conditions of explosion-proof inspection robots, extending the coupling's service life. The coupling employs an input disc, transmission disc, output disc, and multiple parallel connecting rods. This design ensures that the three drive connecting rods and three transmission connecting rods are evenly distributed and parallel to each other along the circumference of the transmission disc. This compensates for coaxiality errors between the input shaft and the drive wheel shaft, guaranteeing effective power transmission during drive wheel movement. The evenly distributed connecting rods also balance forces, reducing power loss during transmission. The connection method, with the input shaft fixed to the input disc and the output disc fixed to the drive wheel shaft, ensures direct power transmission from the motor to the drive wheel, avoiding the risk of power interruption and improving the power reliability of the walking mechanism.

[0014] Preferably, the support frame is further provided with a buffer assembly, which includes a buffer groove, a buffer spring, a guide hole, a guide rod, and a push block. The buffer groove is formed on the support frame, the guide hole is set on the inner wall of the buffer groove and is parallel to the axis of the adjusting rod, one end of the guide rod is inserted into the guide hole, and the other end is fixedly connected to the push block, the buffer spring is sleeved on the guide rod outside the guide hole, and the support shaft is located in the buffer groove on one side of the push block.

[0015] This design prevents damage to the robot from sudden impacts to the track during movement. When the impact is transmitted to the support wheel, the support shaft pushes the push block within the buffer groove. The push block moves the guide rod along the guide hole, simultaneously compressing the buffer spring. The buffer spring absorbs the impact energy through deformation, preventing the impact force from being directly transmitted to the adjustment box and the robot body, thus improving the robot's stability. The cooperation between the guide hole and the guide rod ensures that the push block's movement direction is consistent with the force direction of the support wheel, preventing the push block from shifting and causing buffer failure. The buffer groove provides movement space for the support shaft, allowing the buffering action to be completed smoothly. The overall component structure is simple and the buffering effect is precise, making it suitable for the high stability requirements of equipment in explosion-proof inspection scenarios.

[0016] Preferably, a set of adjusting tubes are rotatably arranged on the inner walls of the adjusting box. The adjusting rod passes through the side wall of the adjusting box and is connected to the adjusting tube. A driven gear is fixedly arranged at the free end of each adjusting tube. A lifting tube is rotatably arranged in the adjusting box between two driven gears. The lifting rod passes through the bottom of the adjusting box and is connected to the lifting tube. A drive gear and a worm gear are fixedly arranged on the lifting tube. The drive gear meshes with the driven gear. An adjusting motor is fixedly arranged in the adjusting box on one side of the worm gear. A worm is fixedly arranged at the output end of the adjusting motor. The worm meshes with the worm gear.

[0017] This configuration, with the threaded connection between the adjusting tube and the adjusting rod, and the lifting tube and the lifting rod, ensures adjustment accuracy. The high precision of the threaded transmission allows for minute linear adjustments of the adjusting rod and the lifting rod, ensuring precise control of track tension. Furthermore, the threaded structure has a self-locking property, eliminating the need for additional fasteners after adjustment and preventing the adjusting rod and lifting rod from loosening due to external forces, thus ensuring structural stability.

[0018] The meshing design of the driven gear and the driving gear enables synchronous linkage between the adjusting rod and the lifting rod, and has high transmission efficiency and strong reliability.

[0019] The regulating motor drives the lifting tube through a worm gear. The worm gear mechanism has the characteristics of speed reduction and torque amplification, which can convert the high speed of the motor into a large torque, which is sufficient to drive the regulating tube and the lifting tube to rotate. At the same time, the self-locking property of the worm gear further strengthens the structural fixation after adjustment, preventing the lifting tube from rotating in the opposite direction due to load. The overall mechanism realizes the automatic adjustment of track tension without manual intervention, which is suitable for the autonomous operation requirements of inspection robots.

[0020] Preferably, when the number of lifting tubes exceeds one, the driving gear is fixed on the lifting tube near the driven gear, and each lifting tube is also fixedly provided with a synchronous pulley, and adjacent synchronous pulleys are connected by a transmission belt sleeve.

[0021] With this setup, when the number of lifting tubes exceeds one (i.e., the robot has multiple sets of load-bearing wheels), the synchronous pulleys and drive belts work together to achieve synchronous transmission of multiple lifting tubes. Adjacent lifting tubes are connected by drive belt sets, ensuring that all lifting tubes rotate synchronously under the drive of the adjusting motor, thereby driving all lifting rods to extend and retract synchronously. This avoids inconsistent load-bearing wheel heights due to differences in the rotational speeds of multiple lifting tubes, preventing robot tilting and uneven track stress. Synchronous belt drives offer good stability, low noise, and a constant transmission ratio, ensuring completely consistent adjustment of multiple lifting tubes. Furthermore, the structure of the synchronous pulleys and drive belts is easy to assemble and disassemble, facilitating later maintenance and improving the expandability of the walking mechanism.

[0022] Preferably, both the adjusting rod and the lifting rod are externally threaded rods, and both the adjusting tube and the lifting tube have internal threads on their inner walls. The adjusting rod is inserted into the adjusting tube and connected by a threaded engagement, and the lifting rod is inserted into the lifting tube and connected by a threaded engagement.

[0023] This design, with externally threaded rods for the adjusting rod and lifting rod, and internally threaded inner walls for the adjusting tube and lifting tube, results in a simple overall structure, low processing cost, and high control precision. Furthermore, it facilitates disassembly and maintenance; if the adjusting rod or lifting rod needs replacement due to wear, simply unscrew the old part to install the new one, eliminating the need to disassemble the entire adjusting box and reducing maintenance difficulty. Moreover, the threaded fit offers strong load-bearing capacity, allowing the threaded connection to withstand significant axial forces, such as the tension of track tensioning and the supporting force of road wheels. Long-term use is less prone to stripping or breakage, ensuring high reliability.

[0024] Preferably, a number of rollers are rotatably mounted on the top of the regulating box.

[0025] With this configuration, the rollers on top of the adjustment box can support the upper part of the track, preventing the track from sagging due to its own weight or tension during travel, thus ensuring the overall flatness of the track and preventing friction and scratches between the track and the top of the adjustment box. The rollers can rotate synchronously with the track movement, converting the sliding friction between the track and the rollers into rolling friction, significantly reducing frictional resistance, reducing track wear, and improving the power transmission efficiency of the drive wheels, thereby enhancing the stability of the robot's movement.

[0026] The advantages and positive effects of this invention are:

[0027] This invention features drive wheels and support wheels that can move relative to or towards each other at both ends of an adjustment box. The movement of the drive wheels and support wheels is linked to the extension and retraction of the load-bearing wheels, and the movement distance is adjusted and limited. When the lifting rod is retracted, the track tension is at its highest, and the robot's center of gravity is at its lowest, meeting the height requirements of hard surfaces. When the lifting rod is extended, the track tension is at its lowest, the robot's center of gravity rises, and inclined planes are formed between the drive wheels and load-bearing wheels, as well as between the support wheels and load-bearing wheels. This enhances the robot's obstacle-crossing ability and also allows the track's elasticity to absorb vibrations and cushion impacts, reducing component wear and extending service life. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a frontal schematic diagram of the low center of gravity and high tension state of the present invention;

[0031] Figure 3 This is a frontal schematic diagram of the high center of gravity and low tension state of the present invention;

[0032] Figure 4 This is a schematic diagram of the internal structure of the regulating box of the present invention;

[0033] Figure 5 This is a schematic diagram showing the positions of the mounting groove and coupling in this invention;

[0034] Figure 6 This is a schematic diagram of the coupling structure of the present invention;

[0035] Figure 7 This is a schematic diagram of the buffer assembly structure on the support frame of the present invention.

[0036] The annotations in the attached figures are explained as follows:

[0037] 1. Adjusting box; 2. Outer support; 3. Inner support; 4. Connecting frame; 5. Adjusting rod; 6. Support wheel; 7. Drive wheel; 8. Mounting slot; 9. Coupling; 91. Input disc; 92. Transmission disc; 93. Output disc; 94. Drive linkage; 95. Input shaft; 96. Transmission linkage; 10. Track; 11. Road wheel; 12. Adjusting tube; 13. Driven gear; 14. Drive gear; 15. Transmission belt; 16. Synchronous pulley; 17. Adjusting motor; 18. Worm gear; 19. Worm wheel; 20. Lifting rod; 21. Lifting tube; 22. Idler roller; 23. Support frame; 24. Buffer spring; 25. Guide rod; 26. Push block; 27. Buffer groove; 28. Support shaft; 29. ​​Mounting shaft; 30. Guide hole. Detailed Implementation

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The present invention will be further described below with reference to the accompanying drawings:

[0041] Example 1: As Figures 1-7As shown, a walking mechanism for an explosion-proof inspection robot with adaptive track tension adjustment function includes an adjustment box 1, which serves as the core load-bearing and adjustment unit. A set of adjustment rods 5 are respectively arranged on its outer walls. The adjustment rods 5 are used to adjust the positions of the support wheel 6 and the drive wheel 7. One adjustment rod 5 has a support wheel 6, which provides auxiliary support and follow-up guidance. The other adjustment rod 5 has a drive wheel 7, which provides power output to the walking mechanism. A coupling 9 is also provided on the drive wheel 7, which connects the power source and the shaft of the drive wheel 7. A lifting rod 20 is provided at the bottom of the adjustment box 1, which is used to adjust the height of the load-bearing wheel 11. The free end of the lifting rod 20 has the load-bearing wheel 11. 1. The load-bearing wheel 11 bears the weight of the robot body, and the adjusting rod 5 and the lifting rod 20 are linked to control the tension of the track 10 through their coordinated movement. The track 10 is fitted on the outside of the drive wheel 7, support wheel 6 and load-bearing wheel 11. The track 10 transmits power and contacts the ground through contact with the three wheels, forming a complete walking system. When the adjusting rod 5 moves outward from the adjusting box 1, the lifting rod 20 will move inward from the adjusting box 1. When the adjusting rod 5 moves inward from the adjusting box 1, the lifting rod 20 will move outward from the adjusting box 1. The moving distance of the lifting rod 20 in the same time does not exceed the sum of the moving distances of the two adjusting rods 5. This limitation can prevent the track 10 from being damaged due to excessive tension, and at the same time ensure that the wheels and the track 10 are always in contact.

[0042] An outer support 2 and an inner support 3 are fixed to the outer wall of the adjusting box 1, which is equipped with an adjusting rod 5. The outer support 2 and the inner support 3 form a bidirectional guide structure. The adjusting rod 5 is located between the outer support 2 and the inner support 3. The supports constrain the movement direction of the adjusting rod 5 to prevent it from deviating during adjustment. A connecting frame 4 is provided on one of the adjusting rods 5 to connect the adjusting rod 5 to the drive wheel 7. A support frame 23 is provided on the other adjusting rod 5 to connect the adjusting rod 5 to the support wheel 6. Both the connecting frame 4 and the support frame 23 slide against the inner support 3 and the outer support 2. The connection allows the connecting frame 4 and the support frame 23 to slide synchronously along the bracket with the adjusting rod 5; the drive wheel 7 is provided with a mounting shaft 29, which provides rotational support for the drive wheel 7. The connecting frame 4 is rotatably connected to the drive wheel 7 through the mounting shaft 29, ensuring that the drive wheel 7 can rotate around the mounting shaft 29 and move synchronously with the connecting frame 4; the support wheel 6 is fixedly provided with a support shaft 28, which forms an integrated structure with the support wheel 6. The support frame 23 is rotatably connected to the support wheel 6 through the support shaft 28, allowing the support wheel 6 to rotate around the support shaft 28 and move synchronously with the support frame 23.

[0043] An installation groove 8 is provided on the inner bracket 3 on one side of the connecting frame 4. The installation groove 8 provides protection and installation space for the coupling 9. The coupling 9 is located in the installation groove 8 to prevent external impurities from affecting the transmission of the coupling 9. The coupling 9 includes an input disk 91, a transmission disk 92, and an output disk 93, which together constitute a power transmission intermediate. Three drive connecting rods 94 are hinged to one end face of the transmission disk 92. The drive connecting rods 94 are used to connect the input disk 91 and the transmission disk 92. Three transmission connecting rods 96 are hinged to the other end face. The transmission connecting rods 96 are used to connect the transmission disk 92 and the output disk 93. The three drive connecting rods 94 and the three transmission connecting rods 96 are evenly distributed around the circumference of the transmission disk 92 to ensure force balance. Three drive linkages 94 are parallel to each other, and their free ends are connected to one end face of the input disk 91. The parallel linkage structure compensates for the positional deviation between the input disk 91 and the transmission disk 92. An input shaft 95 is fixedly installed on the other end face of the input disk 91, and the input shaft 95 is used to connect to external power. Three transmission linkages 96 are parallel to each other, and their free ends are hinged to one end face of the output disk 93. The parallel linkage structure compensates for the positional deviation between the transmission disk 92 and the output disk 93. The other end face of the output disk 93 is fixedly connected to the rotating shaft on the drive wheel 7, so that power is transmitted to the drive wheel 7 through the input shaft 95, input disk 91, drive linkage 94, transmission disk 92, transmission linkage 96, and output disk 93.

[0044] The support frame 23 is also equipped with a buffer assembly, which is used to absorb the impact on the support wheel 6. The buffer assembly includes a buffer groove 27, a buffer spring 24, a guide hole 30, a guide rod 25, and a push block 26. The buffer groove 27 is opened on the support frame 23 to provide movement space for the support shaft 28. The guide hole 30 is set on the inner wall of the buffer groove 27 and is parallel to the axis of the adjusting rod 5. The guide hole 30 constrains the movement direction of the guide rod 25. One end of the guide rod 25 is inserted into the guide hole 30, and the other end is fixedly connected to the push block 26, so that the push block 26 can move along the guide hole 30 with the guide rod 25. The buffer spring 24 is sleeved on the guide rod 25 outside the guide hole 30. The buffer spring 24 absorbs the impact force through deformation. The support shaft 28 is located in the buffer groove 27 on one side of the push block 26. When the support wheel 6 is impacted, the support shaft 28 pushes the push block 26 to move, thereby compressing the buffer spring 24 to achieve impact buffering.

[0045] A set of regulating tubes 12 are rotatably mounted on the inner walls of the regulating box 1. The regulating tubes 12 provide a mounting and transmission carrier for the regulating rod 5. The regulating rod 5 passes through the side wall of the regulating box 1 and connects with the regulating tubes 12. The rotation of the regulating tubes 12 drives the regulating rod 5 to extend or retract. A driven gear 13 is fixedly mounted at the free end of each regulating tube 12. The driven gear 13 receives power and drives the regulating tube 12 to rotate. A lifting tube 21 is rotatably mounted inside the regulating box 1 between two driven gears 13. The lifting tube 21 provides a mounting and transmission carrier for the lifting rod 20. The lifting rod 20 passes through the bottom of the regulating box 1 and connects with the lifting tube 21. The rotation of the lifting tube 21 drives the lifting rod 20 to extend or retract. A drive gear 14 and a worm gear 19 are fixedly installed on the lifting tube 21. The drive gear 14 drives the driven gear 13 to rotate, and the worm gear 19 receives the power from the regulating motor 17. The drive gear 14 meshes with the driven gear 13, so that the rotation of the lifting tube 21 can drive the regulating tube 12 to rotate through the gear transmission belt 15. The regulating motor 17 is fixedly installed in the regulating box 1 on one side of the worm gear 19. The regulating motor 17 provides the power source for the regulating action. A worm 18 is fixedly installed at the output end of the regulating motor 17. The worm 18 meshes with the worm gear 19 to form a worm 18 worm gear 19 transmission mechanism, which transmits the power of the regulating motor 17 to the lifting tube 21, so as to realize the synchronous rotation of the regulating tube 12 and the lifting tube 21.

[0046] When the number of lifting tubes 21 exceeds one, that is, when there are multiple sets of load-bearing wheels 11, the drive gear 14 is fixed on the lifting tube 21 near the driven gear 13, and the driven gear 13 is directly driven through the lifting tube 21, reducing the power transmission nodes; each lifting tube 21 is also fixedly provided with a synchronous pulley 16, which is used to realize the synchronous transmission of multiple lifting tubes 21, and adjacent synchronous pulleys 16 are connected by a transmission belt 15, so that all lifting tubes 21 rotate synchronously under the drive of the transmission belt 15, ensuring that the extension and retraction of each lifting rod 20 are consistent.

[0047] Both the adjusting rod 5 and the lifting rod 20 are externally threaded rods. The inner walls of the adjusting tube 12 and the lifting tube 21 are both provided with internal threads. After the adjusting rod 5 is inserted into the adjusting tube 12, it is connected through threaded engagement, so that the rotation of the adjusting tube 12 is converted into the linear extension and retraction of the adjusting rod 5. Similarly, after the lifting rod 20 is inserted into the lifting tube 21, it is connected through threaded engagement, so that the rotation of the lifting tube 21 is converted into the linear extension and retraction of the lifting rod 20. The precise control of the adjustment action is achieved through threaded transmission. At the same time, the threaded structure has a self-locking function to prevent the rod from moving on its own after adjustment.

[0048] Several idlers 22 are rotatably mounted on the top of the regulating box 1. The idlers 22 are used to support the upper part of the track 10 and prevent the track 10 from sag due to its own weight and rub against the regulating box 1. The idlers 22 can rotate synchronously with the movement of the track 10, converting the sliding friction between the track 10 and the idlers 22 into rolling friction, reducing frictional resistance and component wear. At the same time, the limiting function of the idlers 22 prevents the track 10 from running off course during travel and ensures the stable operation of the traveling mechanism.

[0049] The working process of this embodiment is as follows: When conducting inspections in the workshop, since the workshop floor is a hard surface, the adjusting motor 17 will rotate, which in turn drives the worm gear 18 to rotate the turbine. The worm wheel 19, in turn, drives the lifting tube 21 to rotate. The rotation of the lifting tube 21, in conjunction with the synchronous pulley 16 and the transmission belt 15, causes adjacent lifting tubes 21 to rotate synchronously. Through the engagement of the threads within the lifting tube 21 and the lifting rods 20, all lifting rods 20 move synchronously into the lifting tube 21, lowering the robot's center of gravity. Simultaneously, the rotation of the lifting tube 21 also drives the drive gear 14 to rotate. After the movement, the driven gear 13 will rotate, and the driven gear 13 will drive the regulating tube 12 to rotate. After the regulating tube 12 rotates, it will drive the regulating rod 5 to move, so that both regulating rods 5 move out of the regulating box 1. When the regulating rods 5 extend outward, they will push the drive wheel 7 and the support wheel 6 away from the regulating box 1 through the connecting frame 4 and the support frame 23. Since the sum of the moving distances of the two regulating rods 5 is greater than the moving distance of the lifting rod 20, when the lifting rod 20 is fully inserted into the lifting tube 21, the track 10 will be in the state of highest tension. At this time, the inspection robot can travel at a high speed and perform rapid inspection in the workshop.

[0050] When the workshop inspection is completed and it is time to enter the open-pit oilfield for inspection, the regulating motor 17 starts to rotate in reverse, pushing out the lifting rod 20 through the lifting pipe 21, and simultaneously retracting the regulating rod 5 through the regulating pipe 12. During this process, since the sum of the movement distances of the two regulating rods 5 is greater than the movement distance of the lifting rod 20, the tension of the track 10 is at its minimum when the regulating rod 5 is fully inserted into the regulating pipe 12. At this time, all the lifting rods 20 are fully extended from the regulating box 1, causing the track 10 to form a tension similar to that of the lifting rod 20. Figure 3 As shown, the center of gravity of the inspection robot is raised under the support of the load-bearing wheel 11 at the bottom of the lifting rod 20, and the tension of the track 10 is reduced, which improves the inspection robot's passability on gravel or soft surfaces; and the inclined surface of the track 10 formed between the support wheel 6 and the load-bearing wheel 11 or the drive wheel 7 and the load-bearing wheel 11 can also improve obstacle crossing ability.

[0051] During adjustment or travel, if the track 10 is subjected to a large external impact force, when the impact is transmitted to the support wheel 6, the support shaft 28 on the support wheel 6 will move along the buffer groove 27. When it moves, it will push the push block 26, causing the push block 26 to insert the guide rod 25 into the guide hole 30. During this process, the buffer spring 24 will be compressed to absorb the impact. When the impact is completely absorbed, the buffer spring 24 will extend, pushing the push block 26 to move in the opposite direction, so that the support shaft 28 can be reset. In this way, the various components can be protected.

[0052] During the movement of the drive wheel 7, the inspection robot drives the input disk 91 to rotate via the input shaft 95. When the input disk 91 rotates, it drives the three drive linkages 94 to rotate around the input shaft 95. When the three drive linkages 94 rotate, they drive the transmission disk 92 to rotate. Similarly, the transmission disk 92 drives the output disk 93 to rotate via the three transmission linkages 96, which in turn drives the drive wheel 7 to rotate, providing power to the track 10. When the position of the drive wheel 7 moves, the input disk 91, transmission disk 92, and output disk 93 can maintain synchronous rotation under the drive of the drive linkages 94 and transmission linkages 96 through the adjustment of their relative positions, thus achieving stable power output.

[0053] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A walking mechanism for an explosion-proof inspection robot with adaptive track tension adjustment function, characterized in that: The device includes an adjustment box (1), on which a set of opposing outer walls are respectively provided adjustment rods (5). One of the adjustment rods (5) is provided with a support wheel (6), and the other adjustment rod (5) is provided with a drive wheel (7). A coupling (9) is also provided on the drive wheel (7). A lifting rod (20) is provided at the bottom of the adjustment box (1). A load-bearing wheel (11) is provided at the free end of the lifting rod (20), and the adjustment rod (5) is linked with the lifting rod (20). Tracks (10) are fitted on the outer sides of the drive wheel (7), the support wheel (6) and the load wheel (11). When the adjusting rod (5) moves outward from the adjusting box (1), the lifting rod (20) will move inward from the adjusting box (1); when the adjusting rod (5) moves inward from the adjusting box (1), the lifting rod (20) will move outward from the adjusting box (1), and the moving distance of the lifting rod (20) in the same time does not exceed the sum of the moving distances of the two adjusting rods (5).

2. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 1, characterized in that: An outer support (2) and an inner support (3) are fixed on the outer wall of the adjusting box (1) on which the adjusting rod (5) is provided. The adjusting rod (5) is located between the outer support (2) and the inner support (3). A connecting frame (4) is provided on one of the adjusting rods (5), and a support frame (23) is provided on the other adjusting rod (5). The connecting frame (4) and the support frame (23) are slidably connected to the inner support (3) and the outer support (2). An installation shaft (29) is provided on the drive wheel (7). The connecting frame (4) is rotatably connected to the drive wheel (7) through the installation shaft (29). A support shaft (28) is fixed on the support wheel (6). The support frame (23) is rotatably connected to the support wheel (6) through the support shaft (28).

3. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 2, characterized in that: An installation groove (8) is provided on the inner bracket (3) on one side of the connecting frame (4). The coupling (9) is located in the installation groove (8). The coupling (9) includes an input disk (91), a transmission disk (92), and an output disk (93). Three drive rods (94) are hinged on one end face of the transmission disk (92), and three transmission rods (96) are hinged on the other end face. The three drive rods (94) and the three transmission rods (96) are evenly distributed around the circumference of the transmission disk (92). The three drive rods (94) are parallel to each other, and their free ends are connected to one end face of the input disk (91). An input shaft (95) is fixedly provided on the other end face of the input disk (91). The three transmission rods (96) are parallel to each other, and their free ends are hinged to one end face of the output disk (93). The other end face of the output disk (93) is fixedly connected to the shaft on the drive wheel (7).

4. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 2, characterized in that: The support frame (23) is also provided with a buffer assembly, which includes a buffer groove (27), a buffer spring (24), a guide hole (30), a guide rod (25), and a push block (26). The buffer groove (27) is opened on the support frame (23). The guide hole (30) is set on the inner wall of the buffer groove (27) and is parallel to the axis of the adjusting rod (5). One end of the guide rod (25) is inserted into the guide hole (30), and the other end is fixedly connected to the push block (26). The buffer spring (24) is sleeved on the guide rod (25) outside the guide hole (30). The support shaft (28) is located in the buffer groove (27) on one side of the push block (26).

5. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 1, characterized in that: A set of regulating tubes (12) are rotatably arranged on the inner wall of the regulating box (1). The regulating rod (5) passes through the side wall of the regulating box (1) and is connected to the regulating tube (12). A driven gear (13) is fixedly arranged at the free end of each regulating tube (12). A lifting tube (21) is rotatably arranged in the regulating box (1) between two driven gears (13). The lifting rod (20) passes through the bottom of the regulating box (1) and is connected to the lifting tube (21). A drive gear (14) and a worm gear (19) are fixedly arranged on the lifting tube (21). The drive gear (14) meshes with the driven gear (13). An regulating motor (17) is fixedly arranged in the regulating box (1) on one side of the worm gear (19). A worm (18) is fixedly arranged at the output end of the regulating motor (17). The worm (18) meshes with the worm gear (19).

6. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 5, characterized in that: When the number of the lifting tubes (21) is greater than one, the driving gear (14) is fixed on the lifting tube (21) near the driven gear (13), and each lifting tube (21) is also fixedly provided with a synchronous pulley (16), and adjacent synchronous pulleys (16) are connected by a transmission belt (15).

7. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 5, characterized in that: Both the adjusting rod (5) and the lifting rod (20) are externally threaded rods. Both the adjusting tube (12) and the lifting tube (21) have internal threads on their inner walls. The adjusting rod (5) is inserted into the adjusting tube (12) and connected by a threaded engagement, and the lifting rod (20) is inserted into the lifting tube (21) and connected by a threaded engagement.

8. The walking mechanism of an explosion-proof inspection robot with adaptive track tension adjustment function according to claim 1, characterized in that: Several rollers (22) are rotatably mounted on the top of the regulating box (1).

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