Inspection robot system and position determination method

Abstract

The present application relates to a kind of inspection robot system and position determination method.The inspection robot system includes: hollow annular track, with the inner cavity extending along annular track;Inspection robot, which is installed on annular track by inspection robot platform and can travel along annular track, for the target in the environment where annular track is located is inspected;Conveying chain, including a plurality of chain segments and a plurality of roller assemblies connected on chain segment, a plurality of chain segments are connected with a plurality of roller assemblies to form a closed loop, conveying chain is arranged in the inner cavity of annular track;Drive device is arranged to drive roller assembly to roll in the inner cavity along annular track, and then drive conveying chain to run in the inner cavity of annular track, in turn drive inspection robot to travel along annular track.The inspection robot platform is operatively connected with conveying chain and can be driven by conveying chain to travel along annular track.The structure of the inspection robot system of the present application is simple, convenient to arrange, and the cost is relatively low.

Description

Technical Field

[0001] This invention relates to the field of track inspection robot technology, specifically to an inspection robot system and a method for determining the position of the inspection robot in the inspection robot system. Background Technology

[0002] Inspections of long-distance or complex sites such as utility tunnels and coal mines are fundamental and crucial for site safety. Due to the large number of monitoring items and long routes, especially in ultra-long utility tunnels where the environmental conditions are harsh, highly enclosed, contain numerous structures, and communication is inconvenient, manual inspections of the site are extremely difficult and impractical, and it is also difficult to effectively guarantee the personal safety of inspection personnel.

[0003] Because robots possess basic characteristics such as perception, decision-making, and execution, they can assist or even replace humans in completing dangerous, arduous, and complex tasks like inspections, thereby improving work efficiency and quality.

[0004] When working, inspection robots typically move along a fixed path on a track platform and monitor the environment that needs to be inspected. With technological advancements and increasing demand, many places have begun to adopt track-based inspection robots, such as factories, livestock farms, smart farms, municipal utility tunnels, underground coal mines, and so on.

[0005] However, existing track inspection robot systems suffer from complex transmission structures, making them difficult to maintain and costly. These systems also experience issues such as derailment, slippage, and difficulty climbing slopes.

[0006] The present invention urgently needs to improve the inspection robot system to mitigate or even eliminate the above-mentioned technical defects and other technical disadvantages.

[0007] The information included in this background section of the present invention specification, including any references cited herein and any descriptions or discussions thereof, is included for technical reference purposes only and is not intended to limit the scope of the invention. Summary of the Invention

[0008] The present invention is proposed in view of the foregoing and other further ideas.

[0009] According to one aspect of the present invention, an inspection robot system is provided, comprising: a hollow annular track having an inner cavity extending along the annular track; an inspection robot mounted on the annular track via an inspection robot platform and capable of traveling along the annular track for inspecting targets in the environment of the annular track; a conveyor chain comprising multiple chain segments and multiple roller assemblies spaced apart from the chain segments, the multiple chain segments and the multiple roller assemblies forming a closed loop, the conveyor chain being arranged within the inner cavity of the annular track; and a drive device configured to drive the conveyor chain to run within the inner cavity of the annular track by driving the roller assemblies to roll along the annular track, thereby driving the inspection robot to travel along the annular track. The inspection robot platform is operably connected to the conveyor chain and can be driven by the conveyor chain to travel along the annular track.

[0010] According to one embodiment, each of the roller assemblies has at least one roller configured to make rolling contact with the wall of the cavity; and the plurality of roller assemblies are connected to the plurality of chain segments at substantially equal intervals.

[0011] According to one embodiment, in the straight track segment of the circular track, the chain segment of the conveyor chain is configured to substantially not contact the wall of the cavity during straight-line operation.

[0012] According to one embodiment, the cross-section of the inner cavity is generally square, and the four corners of the square are rounded or chamfered; and the roller assembly includes two roller groups arranged along the extension direction of the chain segment, each roller group having four rollers, the four rollers in each roller group being arranged to be in rolling contact with the four corners respectively.

[0013] According to one embodiment, the four corners are all first arcs, and the cross-section of the roller surface of each roller in the roller assembly is a second arc, wherein the radius of the first arc is slightly greater than or equal to the radius of the second arc.

[0014] According to one embodiment, the roller assembly includes: a support frame having a central axis; at least one roller group, each roller group consisting of four rollers, each roller in the at least one roller group being rotatably mounted on the support frame; wherein the four rollers in each roller group are arranged to be in rolling contact with the four rounded or chamfered corners of the generally square cross-section of the inner cavity.

[0015] According to one embodiment, the axles of the four rollers in each roller group are aligned or staggered along the central axis.

[0016] According to one embodiment, two rollers in each roller group are located on both sides of the central axis, and the rotation axis of each of these two rollers is perpendicular to a first plane containing the central axis; the other two rollers in each roller group are located on both sides of the central axis, and the rotation axis of each of these other two rollers is perpendicular to a second plane containing the central axis; the second plane intersects the first plane.

[0017] According to one embodiment, the second plane is perpendicular to the first plane.

[0018] According to one embodiment, the support frame is a one-piece molded structure, or it is assembled from multiple components.

[0019] According to one embodiment, the support frame includes four support members, each support member being located between two adjacent rollers in each roller group, and one end of the axle of each of the two adjacent rollers is fixed to this support member.

[0020] According to one embodiment, each support extends in a direction generally parallel to the central axis, and each support includes a base plate and two side plates respectively connected to both sides of the base plate; and one end of the axle of a roller is fixed to the side plate of a corresponding support, and the other end of the axle of the roller is fixed to the side plate of another corresponding support.

[0021] According to one embodiment, the roller assembly further includes a first pair of connecting posts and a second pair of connecting posts; the first pair of connecting posts are detachably mounted on two base plates of two opposing supports; and the second pair of connecting posts are detachably mounted on two base plates of two other opposing supports.

[0022] According to one embodiment, the roller assembly further includes a first connecting rod and a second connecting rod; and the first connecting rod and the second connecting rod are arranged along the central axis, wherein one connecting post of the first pair of connecting posts and one connecting post of the second pair of connecting posts pass through the first connecting rod, and the other connecting post of the first pair of connecting posts and the other connecting post of the second pair of connecting posts pass through the second connecting rod.

[0023] According to one embodiment, insertion holes are provided at both ends of the first connecting rod and the second connecting rod that are far apart from each other.

[0024] According to one embodiment, the end is deformed to secure one end of the chain segment within the socket.

[0025] According to one embodiment, the support frame has two ends, at least one of which is used to receive thrust along the central axis.

[0026] According to one embodiment, the outer contour of the annular track has a square cross-section, and the four corners of the square are all third arc shapes; and the inspection robot platform includes a platform body and a plurality of rolling wheels rotatably mounted on the platform body, the rolling surface of each rolling wheel has a fourth arc shape cross-section, and the plurality of rolling wheels are arranged such that each of the four corners contacts at least one rolling wheel.

[0027] According to one embodiment, the chain segment is a flexible cable, and a roller assembly is connected between every two of the flexible cables.

[0028] According to one embodiment, the flexible cable is selected from one of the following: metal cable, steel wire, iron wire, metal chain, and rope.

[0029] According to one embodiment, the chain segment is a rigid segment, and a roller assembly is connected between every two of the rigid segments.

[0030] According to one embodiment, the rigid segment is selected from one of a metal rod, a metal strip, a nylon rod, or a composite material rod.

[0031] According to one embodiment, the drive device includes two sprockets and an annular chain arranged around the two sprockets, the rotation axes of the two sprockets being substantially parallel, and a plurality of push assemblies mounted on the annular chain; and the plurality of push assemblies are arranged at intervals on the annular chain; when the annular chain rotates around the two sprockets, one of the push assemblies engages with one of the roller assemblies on the conveyor chain, and another push assembly adjacent to the first push assembly moves with the rotation of the annular chain to engage with another roller assembly adjacent to the first roller assembly.

[0032] According to one embodiment, the pushing assembly is provided with a guide post that is perpendicular to the moving direction of the annular chain and substantially parallel to the rotation axis; and the driving device further includes a linear guide rail, which is arranged along a section of the annular chain between the two rotation axes to guide the guide post passing through the linear guide rail to move in a straight line.

[0033] According to one embodiment, the linear guide rail includes a positioning part and a guiding part, wherein the positioning part is fixedly connected to the guiding part and is used to fix the guiding part in place.

[0034] According to one embodiment, the guide portion includes two guide rods, with a linear guide groove defined between the two guide rods, the linear guide groove receiving and guiding the guide post.

[0035] According to one embodiment, guide posts are provided on both sides of the pushing component, and the linear guide rail simultaneously guides the guide posts on both sides of the pushing component.

[0036] According to one embodiment, the number of the plurality of pushing components is at least two; and the plurality of pushing components are arranged at approximately equal intervals on the annular chain, wherein the spacing between two adjacent pushing components substantially corresponds to the spacing between two adjacent roller components.

[0037] According to one embodiment, the pushing assembly includes a mounting portion and a push rod portion. The mounting portion is fixed to the annular chain, and the push rod portion is fixed to the mounting portion and extends outward from the annular chain perpendicular to the direction of movement of the annular chain.

[0038] According to one embodiment, the distance between the push rod portions of two adjacent push assemblies is equal to or slightly greater than the sum of the length of one roller assembly and the distance between the two adjacent roller assemblies.

[0039] According to one embodiment, the pushing assembly includes two pawls, each pawl including a mounting portion and a push rod portion. The mounting portion is fixed to the annular chain, and the push rod portion is fixed to the mounting portion and extends outward from the annular chain perpendicular to the direction of movement of the annular chain. An accommodating space is formed between the two push rod portions of the pushing assembly, and the accommodating space is used to accommodate the pushed portion of a roller assembly.

[0040] According to one embodiment, in the direction of movement of the annular chain, the distance between the front pawl in each push assembly and the front pawl in another push assembly adjacent to each push assembly is fixed.

[0041] According to one embodiment, the drive device further includes a motor, wherein at least one of the two sprockets is a drive wheel driven by the motor.

[0042] According to one embodiment, the motor is a servo motor, wherein the servo motor is configured to drive the drive wheel clockwise and counterclockwise, such that the pushing component on the annular chain can push the roller assembly in the forward and reverse directions.

[0043] According to one embodiment, the annular track has a clearance groove, which allows the pushing component to enter the inner cavity and push the roller assembly.

[0044] According to one embodiment, the pushing component is provided with an avoidance notch, which is configured to prevent interference between the pushing component and the segment of the conveyor chain when the pushing component is pushed and engaged with the roller assembly on the conveyor chain.

[0045] According to one embodiment, the annular track has long slots in the wall portion designed to allow the inspection robot platform to pass through along the extension direction of the annular track.

[0046] According to one embodiment, the annular track includes a straight track segment extending along a straight line and a curved track segment extending along a curve. The curved track segment has a curved inner cavity and outer and inner sidewalls of the track that are opposite to each other. A plurality of rolling support wheels are rotatably mounted relative to the curved track segment for at least partially replacing the inner sidewall of the track. Some or all of the plurality of rolling support wheels are used to roll support a chain segment moving through the inner sidewall of the track. The curved track segment is at least partially slotted or hollowed out at the location where the plurality of rolling support wheels are arranged on the inner sidewall of the track.

[0047] According to one embodiment, the support surface of at least a portion of the plurality of rolling support wheels protrudes to the inner side of the inner wall of the curved track segment; or, the support surface of at least a portion of the plurality of rolling support wheels is flush with the inner wall of the curved track segment; or, the support surface of at least a portion of the plurality of rolling support wheels is located outside the curved inner cavity.

[0048] According to one embodiment, the plurality of rolling support wheels are directly and rotatably mounted on the curved track section.

[0049] According to one embodiment, the inspection robot system includes a fixed frame that is fixedly mounted on the curved track section, and a plurality of rolling support wheels that are rotatably mounted on the fixed frame, with each rolling support wheel partially protruding into the curved inner cavity.

[0050] According to one embodiment, the fixing frame includes a middle plate and two side plates. The middle plate is fixedly installed on the inner side wall of the track, and the two side plates extend vertically away from the inner side wall of the track from both sides of the middle plate. Furthermore, each rolling support wheel is disposed between the two side plates via a pivot connected to the two side plates.

[0051] According to one embodiment, the inner sidewall of the track is provided with sidewall through holes at least at the locations corresponding to each rolling support wheel, and the intermediate plate is provided with through holes at least at the locations corresponding to each rolling support wheel, so that a portion of each rolling support wheel passes through the through holes and the sidewall through holes in sequence and extends into the curved inner cavity.

[0052] According to one embodiment, the curved track segment extends in a horizontal direction, in a vertical direction, and / or in a direction inclined relative to the horizontal direction.

[0053] According to one embodiment, the roller assembly is configured such that when moving along the annular track, its rollers are in rolling contact only with the wall of the inner cavity of the annular track, and the side of the rollers does not rub against the wall of the inner cavity.

[0054] Another aspect of the present invention discloses a position determination method for determining the real-time position of an inspection robot in any one or more of the described inspection robot systems, wherein the driving device includes a servo motor and a sprocket having a diameter D, the servo motor driving the sprocket to rotate, the method comprising: determining an initial position of the inspection robot on a conveyor chain before it begins to move; the driving device driving the conveyor chain to move the inspection robot from the initial position, and obtaining the number of revolutions N of the servo motor since the inspection robot began to move from the initial position; calculating the distance the inspection robot has moved from the initial position using the number of revolutions N and the diameter D, thereby determining the real-time position of the inspection robot on the conveyor chain.

[0055] According to one embodiment, the servo motor includes an encoder for determining the number of revolutions N.

[0056] Another aspect of the present invention discloses the rail inspection robot system of the present invention and its transmission chain and roller assembly, which is particularly suitable for inspection in, for example, underground mines, dock transportation sites, industrial production lines, long-distance rail conveying sites, long-distance belt conveying sites or explosion-proof sites, as well as in other harsh or dangerous environments.

[0057] The beneficial effects of this invention are as follows: In the inspection robot system of this embodiment, a novel conveyor chain is provided by constructing the conveyor chain as comprising multiple chain segments and multiple roller assemblies spaced apart on the chain segments, and connecting the multiple chain segments and the multiple roller assemblies to form a closed loop. These chain segments and roller assemblies can be mass-produced and easily connected into a closed loop adapted to the length of the circular track as needed; the manufacturing cost of the chain segments and roller assemblies is also low. Therefore, the inspection robot system of this embodiment has a simple structure, is easy to arrange, and has a low cost. Attached Figure Description

[0058] The above-described features and advantages of these embodiments, as well as other features and advantages, and the ways in which they are implemented, will become more apparent from the following description in conjunction with the accompanying drawings, and embodiments of the invention will be better understood.

[0059] Figure 1 This is a schematic diagram of the overall structure of the inspection robot system according to an embodiment of the present invention;

[0060] Figure 2This is a schematic diagram of a part of the conveyor chain in an inspection robot system according to an embodiment of the present invention;

[0061] Figure 3 This is a partial structural diagram of the conveyor chain and the circular track in the inspection robot system according to an embodiment of the present invention;

[0062] Figure 4 yes Figure 3 An enlarged schematic diagram of part IV;

[0063] Figure 5 This is a partial structural diagram of the inspection robot platform and the circular track in the inspection robot system according to an embodiment of the present invention, showing the inspection robot carried on the inspection robot platform;

[0064] Figure 6 This is a partial structural diagram of the drive device cooperating with the circular track and roller assembly in the inspection robot system according to an embodiment of the present invention;

[0065] Figure 7 yes Figure 4 A top view of the roller assembly shown;

[0066] Figure 8 yes Figure 4 A schematic diagram of the roller assembly shown from the left.

[0067] Figure 9 yes Figure 4 A cross-sectional view of the roller assembly along the horizontal plane;

[0068] Figure 10 yes Figure 4 A cross-sectional view of the roller assembly shown along a vertical plane;

[0069] Figure 11 yes Figure 4 A cross-sectional schematic diagram of the roller assembly and the circular track shown.

[0070] Figure 12 yes Figure 6 A three-dimensional structural schematic diagram of the driving device shown;

[0071] Figure 13 yes Figure 12 Front view schematic diagram of the drive device shown;

[0072] Figure 14 yes Figure 12 Left view schematic diagram of the drive device shown;

[0073] Figure 15 This is a partial structural diagram of the curved track segment and the straight track segment in the inspection robot system according to an embodiment of the present invention;

[0074] Figure 16 This is a schematic diagram illustrating the interaction between curved track segments and straight track segments with chain segments and roller assemblies in an inspection robot system according to an embodiment of the present invention.

[0075] Figure 17 yes Figure 16 A magnified view of a portion of the image;

[0076] Figure 18 yes Figure 15 An enlarged schematic diagram of the rolling support wheel on the curved track section and the fixing frame for the rolling support wheel;

[0077] Figure 19 yes Figure 15 An enlarged schematic diagram of the curved track section and the rolling support wheel on it. Detailed Implementation

[0078] In the following description of the accompanying drawings and detailed embodiments, details of one or more embodiments of the invention will be set forth. Other features, objects, and advantages of the invention will become apparent from these descriptions, drawings, and claims.

[0079] It should be understood that the illustrated and described embodiments are not limited in application to the details of the construction and arrangement of the components set forth in the following description or illustrated in the accompanying drawings. The illustrated embodiments may be other embodiments and can be implemented or performed in various ways. The examples are provided by way of explanation rather than limitation of the disclosed embodiments. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the invention without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part of one embodiment may be used with another embodiment to still produce another embodiment. Therefore, this disclosure covers such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0080] Similarly, it is understood that the phrases and terms used in this document are for descriptive purposes and should not be considered restrictive. The use of “including,” “contains,” or “has,” and their variations, in this document is intended to include, in an open-ended manner, the items listed thereafter, their equivalents, and any additional items.

[0081] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0082] The present invention will now be described in more detail with reference to several specific embodiments thereof.

[0083] like Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the overall structure of the inspection robot system 100 according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a portion of the conveyor chain 100A in an inspection robot system 100 according to an embodiment of the present invention. The inspection robot system 100 includes a circular track 10, an inspection robot 21, an inspection robot platform 22, the conveyor chain 100A, and a drive device 100B. The conveyor chain 100A is connected in a loop and is disposed within the circular track 10; the drive device 100B is fixedly disposed at a certain position relative to the circular track 10 and is used to drive the conveyor chain 100A to rotate cyclically within the circular track 10; the inspection robot platform 22 is connected to the conveyor chain 100A and is configured to move along the circular track 10; the inspection robot 21 is mounted on the inspection robot platform 22 to move together with the inspection robot platform 22. Therefore, the conveyor chain 100A is a conveyor chain used to carry the inspection robot 21.

[0084] More specifically, refer to Figure 3 and Figure 4 As shown, Figure 3 This is a partial structural diagram of the cooperation between the conveyor chain 100A and the circular track 10 in the inspection robot system 100 according to an embodiment of the present invention. Figure 4 yes Figure 3 An enlarged schematic diagram of the V-shaped portion; the annular track 10 is constructed to be hollow, thus having an inner cavity 11 extending along the annular track 10. The annular track 10 may be made of materials such as aluminum or stainless steel, and may be formed by splicing together multiple segments including straight and curved sections to form a closed ring. The inner cavity 11 extends through the entire interior of the annular track 10 to provide a channel for the conveyor chain 100A to circulate within it.

[0085] Refer to Figure 2 As shown, the conveyor chain 100A includes multiple chain segments 23 and multiple roller assemblies 30 spaced apart and connected to the chain segments 23. The multiple chain segments 23 and the multiple roller assemblies 30 can be connected to form a closed loop. Figure 3 and Figure 4 As shown, the conveyor chain 100A is arranged in the inner cavity 11 of the annular track 10.

[0086] Refer to together Figure 5 As shown, Figure 5This is a partial structural diagram of the inspection robot platform 22 and the circular track 10 in an inspection robot system 100 according to an embodiment of the present invention. It shows the inspection robot 21 carried on the inspection robot platform 22. The inspection robot 21 is mounted on the circular track 10 via the inspection robot platform 22 and can move along the circular track 10 to inspect targets in the environment of the circular track 10. In one embodiment, the inspection robot 21 may include a camera, a voice intercom, an alarm, and a control unit, etc., and the camera, voice intercom, and alarm are all communicatively connected to the control unit. The inspection robot platform 22 is operably connected to the conveyor chain 100A and can be driven by the conveyor chain 100A to move along the circular track 10. For example, the inspection robot platform 22 can be connected to one of the roller assemblies 30 of the conveyor chain 100A by screws, clips, or other connection methods, so that it can be driven by this roller assembly 30, which moves within the circular track 10, and thus also move along the circular track 10.

[0087] Refer to together Figure 6 As shown, Figure 6 This is a partial structural diagram of the drive device 100B cooperating with the annular track 10 and the roller assembly 30 in the inspection robot system 100 according to an embodiment of the present invention; the drive device 100B is configured to drive the roller assembly 30 to roll along the annular track 10 in the inner cavity 11, thereby driving the conveyor chain 100A to run in the inner cavity 11 of the annular track 10, and thus driving the inspection robot 21 to move along the annular track 10.

[0088] In the inspection robot system 100 of this embodiment, a novel conveyor chain is provided by configuring the conveyor chain 100A to include multiple chain segments 23 and multiple roller assemblies 30 spaced apart on the chain segments 23, and connecting the multiple chain segments 23 and the multiple roller assemblies 30 to form a closed loop. These chain segments 23 and roller assemblies 30 can be mass-produced and easily connected into a closed loop adapted to the length of the circular track 10 as needed; the manufacturing cost of the chain segments 23 and roller assemblies 30 is also low. Therefore, the inspection robot system 100 of this embodiment has a simple structure, is easy to arrange, and has a low cost.

[0089] Refer to Figure 2 As shown, in some embodiments, the conveyor chain 100A may include: a plurality of chain segments 23; a plurality of roller assemblies 30, wherein the plurality of roller assemblies 30 and the plurality of chain segments 23 are sequentially and alternately connected. The conveyor chain 100A in this embodiment can be constructed as a long strip, and is not limited to forming a closed loop.

[0090] In some further embodiments, such as Figures 1 to 3As shown, the plurality of roller assemblies 30 are arranged at substantially equal intervals on the conveyor chain 100A; and the plurality of roller assemblies 30 and the plurality of chain segments 23 are connected to form a closed loop.

[0091] In some further embodiments, such as Figure 4 As shown, each chain segment 23 is detachably connected to the two roller assemblies 30 at both ends. In this way, if a roller assembly 30 or a flexible chain segment 23 is damaged, the damaged roller assembly 30 or flexible chain segment 23 can be easily removed and replaced with a new component. In some other embodiments, each chain segment 23 may be permanently connected to the two roller assemblies 30 at both ends.

[0092] like Figure 4 and Figures 7 to 10 As shown, where Figure 7 yes Figure 4 The diagram shows a top view of the roller assembly 30. Figure 8 yes Figure 4 The left view of the roller assembly 30 shown is a schematic diagram. Figure 9 yes Figure 4 The diagram shows a cross-sectional view of the roller assembly 30 along a horizontal plane. Figure 10 yes Figure 4 The diagram shows a cross-sectional view of the roller assembly 30 along a vertical plane; in further embodiments, each of the roller assemblies 30 has at least one roller 31, the at least one roller 31 being configured to... Figure 4 The walls of the inner cavity 11 shown are in rolling contact. The plurality of roller assemblies 30 are connected to the plurality of chain segments 23 at approximately equal intervals. For example, each roller assembly 30 may have one, two, three, four, eight, or twelve rollers 31. By providing rollers 31, the movement of the roller assembly 30 on the annular track 10 can be introduced into rolling motion, thereby reducing friction, thus reducing motion resistance, and also reducing wear between components. By arranging the plurality of roller assemblies 30 at approximately equal intervals, it is convenient to use a plurality of chain segments 23 of substantially equal length to connect to the plurality of roller assemblies 30, thereby simplifying the manufacturing of the chain segments 23.

[0093] In some further embodiments, such as Figure 4As shown, in the straight track segment 12 of the circular track 10, the chain segment 23 of the conveyor chain 100A is configured such that it substantially does not contact the wall of the inner cavity 11 during straight-line operation. By setting the connection position of the chain segment 23 on the roller assembly 30, the chain segment 23 can extend approximately along the central axis of the roller assembly 30; furthermore, due to the support of the roller assembly 30 on the chain segment 23 within the inner cavity 11, the chain segment 23 is positioned approximately at the center of the inner cavity 11 without contacting the wall of the inner cavity 11. In this way, friction between the chain segment 23 and the wall of the inner cavity 11 during operation is prevented, thereby improving the service life of the component.

[0094] In some further embodiments, such as Figure 4 and Figure 11 As shown, Figure 11 yes Figure 4 The diagram shows a cross-sectional view of the roller assembly 30 and the annular track 10; the cross-section of the inner cavity 11 is generally square, and the four corners 110 of the square are rounded or chamfered. The cross-section of the inner cavity 11 can be rectangular or square, and each corner 110 is preferably smoothly transitioned by rounding, or the corners 110 are set as chamfers. (Refer to...) Figure 4 and Figure 8 As shown, the roller assembly 30 may include two roller groups 30A arranged along the extension direction of the chain segment 23. Each roller group 30A consists of four rollers 31, and the four rollers 31 in each roller group 30A are arranged to be in rolling contact with the four corners 110 respectively. The two roller groups 30A may be arranged close to both ends of the support frame 32. Thus, by setting rounded or chamfered corners 110, the four corners 110 can be stably in contact with the four rollers 31 in each roller group 30A, facilitating smooth rolling of the rollers 31 at the bends of the inner cavity 11. Moreover, by setting four rollers 31, each roller group 30A can roll relative to the wall of the inner cavity 11, further reducing friction and motion resistance. It should be noted here that... Figure 4 The extension direction of the chain segment 23 shown may coincide with the central axis A1 described below, so that the roller assembly 30 may include two roller groups 30A arranged along the central axis A1.

[0095] In some further embodiments, such as Figure 11As shown, the four corners 110 are all first arc shapes, and the cross-section 311 of the roller surface 310 of each roller 31 in the roller assembly 30 is a second arc shape, with the radius of the first arc shape being slightly larger than or equal to the radius of the second arc shape. In this way, at least the highest point of the roller surface 310 of each roller 31 can roll into contact with the corresponding corner 110, thereby guiding the orientation of the roller 31 through the corner 110. Correspondingly, this facilitates the stable forward movement of the roller assembly 30 within the inner cavity 11, reducing the rotation of the roller assembly 30 around its central axis. This ensures the stability of the inspection robot 21 connected to the roller assembly 30.

[0096] In some further embodiments, such as Figure 4 and Figures 7 to 11 As shown, the roller assembly 30 may include a support frame 32 and at least one roller group 30A. The support frame 32 has a central axis A1. Each roller group 30A consists of four rollers 31, and each roller 31 in the at least one roller group 30A is rotatably mounted on the support frame 32. The roller assembly 30 is designed to make rolling contact with the surface of the movement path via the rollers 31 during movement. For example, the roller assembly 30 may include one roller group 30A, two roller groups 30A, three roller groups 30A, etc.; in the illustrated embodiment, two roller groups 30A are used.

[0097] In some further embodiments, such as Figures 7 to 10 As shown, the axles 312 of the four rollers 31 in each roller group 30A are aligned along the central axis A1. That is, the corresponding four axles 312 of the four rollers 31 are all facing the same position on the central axis A1; more specifically, the central axes of these four axles 312 are all located in a plane perpendicular to the central axis A1. The rollers 31 in the roller group 30A are arranged to have rolling contact with the four rounded or chamfered corners 110 of the generally square cross-section of the inner cavity 11 of the motion track. In this way, the supporting force of the annular track 10 on each roller group 30A is more balanced, which helps to reduce the tilting and swaying of the central axis A1 relative to the annular track 10.

[0098] In other embodiments, the shafts 312 of the four rollers 31 in each roller group 30A may also be staggered along the central axis A1. That is, at least two of the corresponding four shafts 312 of the four rollers 31 are directly opposite two different positions on the central axis A1. For example, the shafts 312 of two opposing rollers 31 in each roller group 30A may be aligned along the central axis A1, and the shafts 312 of another two opposing rollers 31 may be aligned along the central axis A1, but the two opposing rollers 31 and the other two opposing rollers 31 are staggered along the central axis A1.

[0099] In some further embodiments, such as Figure 4 and Figure 8 As shown, in each roller group 30A, two rollers 31 are located on either side of the central axis A1, and the rotation axis 312 of each roller 31 is perpendicular to the first plane A2 where the central axis A1 is located; the other two rollers 31 in each roller group 30A are located on either side of the central axis A1, and the rotation axis 312 of each of these other two rollers 31 is perpendicular to the second plane A3 where the central axis A1 is located; the second plane A3 intersects the first plane A2. For example, the angle formed by the intersection of the second plane A3 and the first plane A2 can be between 45 degrees and 135 degrees. In this way, it is possible to... Figure 8 The arrangement of two rollers 31 in an X-shape with the other two rollers 31 facilitates rolling cooperation with the square inner cavity 11.

[0100] In some further embodiments, specifically as follows: Figure 8 As shown, the second plane A3 is perpendicular to the first plane A2. In this manner, a right angle is formed between every two adjacent rollers 31 in each roller assembly 30A. This facilitates the arrangement of the four points furthest from the central axis A1 among four rollers 31 of the same size on a square, thereby facilitating the rolling fit of this roller assembly 30A with the inner cavity 11 of the square. Furthermore, by adopting a square configuration, each roller assembly 30A does not need to consider vertical positioning when transferring to the circular track 10, thus improving assembly efficiency.

[0101] In some further embodiments, the support frame 32 may be a one-piece molded structure or may be assembled from multiple components. The one-piece molded support frame 32 can be a single integral component, for example, made of aluminum alloy. Using a one-piece molded structure facilitates the installation and fixation of the rollers 31. Alternatively, the support frame 32 can be assembled from two, three, or more components through structural design, as long as it fulfills a certain supporting function.

[0102] In some other embodiments, such as Figure 4 and Figures 7 to 10 As shown, the support frame 32 may include four support members 33, each support member 33 being located between two adjacent rollers 31 in each roller group 30A, and one end of the shaft 312 of each of the two adjacent rollers 31 being fixed to this support member 33. By using four support members 33 to construct the support frame 32, the structural complexity of the support frame 32 can be reduced; for example, structural symmetry can be utilized to design at least two of the support members 33 with the same structure, thereby facilitating manufacturing. In addition, these support members 33 can be connected together by the shaft 312 of the rollers 31. Furthermore, since the support frame 32 is constructed with four support members 33, this support frame 32 is allowed to have a certain degree of deformability, thereby improving the adaptability of the roller group 30A to manufacturing errors in the inner cavity 11. It is easy to understand that when each roller group 30A is a square configuration of four rollers 31, the four support members 33 in the support frame 32 can adopt the same structure, which is more conducive to mass production.

[0103] In some further embodiments, such as Figure 4 and Figures 7 to 10 As shown, each support member 33 extends in a direction generally parallel to the central axis A1, and each support member 33 includes a base plate 330 and two side plates 331 respectively connected to both sides of the base plate 330; furthermore, one end of the shaft 312 of a roller 31 is fixed to the side plate 331 of a corresponding support member 33, and the other end of the shaft 312 of the roller 31 is fixed to the side plate 331 of another corresponding support member 33. In this way, the roller 31 and the corresponding support member 33 can be assembled together using the structure for mounting the shaft 312.

[0104] In some further embodiments, such as Figure 9 and Figure 10As shown, the roller assembly 30 may further include a first pair of connecting posts 34 and a second pair of connecting posts 35; the first pair of connecting posts 34 are detachably mounted on two base plates 330 of two opposing support members 33; and the second pair of connecting posts 35 are detachably mounted on two base plates 330 of the other two opposing support members 33. For example, the second pair of connecting posts 35 may be pins, with one end of each pin abutting against one base plate 330, and the other end inserted into the pin's hole via a deformable locking pin 38 to stop and engage with the other base plate 330, thereby preventing the pin from falling off the base plate 330. The first pair of connecting posts 34 may directly be deformable locking pins, with one end abutting against one base plate 330, and the other end passing through the other base plate 330 and deforming to achieve a stop engagement. In other embodiments, the first pair of connecting posts 34 may also adopt the same structure as the second pair of connecting posts 35. By employing the first pair of connecting columns 34 and the second pair of connecting columns 35, the structural strength of the support frame 32 can be enhanced, preventing excessive deformation of the support frame 32 during use.

[0105] In some further embodiments, such as Figure 9 and Figure 10 As shown, the roller assembly 30 further includes a first connecting rod 36 and a second connecting rod 37. The first connecting rod 36 and the second connecting rod 37 are arranged along the central axis A1. One connecting post from the first pair of connecting posts 34 and one connecting post from the second pair of connecting posts 35 both pass through the first connecting rod 36, and the other connecting post from the first pair of connecting posts 34 and the other connecting post from the second pair of connecting posts 35 both pass through the second connecting rod 37. Further, two first sleeves 341 can be fitted onto each first pair of connecting posts 34, and two second sleeves 351 can be fitted onto each second pair of connecting posts 35, to centrally position the first connecting rod 36 and the second connecting rod 37. In this way, the first connecting rod 36 and the second connecting rod 37 can be connected to the roller assembly 30, and it is easy to position the first connecting rod 36 and the second connecting rod 37 along the central axis A1.

[0106] In some further embodiments, such as Figure 9 and Figure 10 As shown, insertion holes 361 and 371 are respectively provided on the two distant ends 360 and 370 of the first connecting rod 36 and the second connecting rod 37. The insertion holes 361 and 371 facilitate docking with the chain segment 23. For example, in one embodiment, the end 360 can be deformed by compression to secure one end of a chain segment 23 into the insertion hole 361, and the end 370 can be deformed by compression to secure one end of another chain segment 23 into the insertion hole 371. In this way, the connection and installation of the flexible chain segment 23 and the roller assembly 30 can be conveniently and quickly achieved.

[0107] In some further embodiments, such as Figure 7 As shown, the support frame 32 has two ends 320, at least one of which is used to receive a thrust along the central axis A1. Each end 320 may be formed by the end of at least one support member 33. In this way, by receiving a thrust along the central axis A1, the roller assembly 30 can be moved in the annular track 10.

[0108] In some further embodiments, such as Figure 4 and Figure 5 As shown, the outer contour 13 of the annular track 10 has a square cross-section, and the four corners 130 of the square are all third arc shapes. The inspection robot platform 22 includes a platform body 220 and multiple rolling wheels 221 rotatably mounted on the platform body 220. The rolling surface 222 of each rolling wheel 221 has a fourth arc shape in cross-section. The multiple rolling wheels 221 are arranged such that each of the four corners 130 contacts at least one rolling wheel 221. The cross-section of the outer contour 13 can be rectangular or square. Through the design of the third and fourth arc shapes, the platform body 220 can roll on the annular track 10, thereby driving the inspection robot 21 to move smoothly. Although in Figure 4-5 The illustrated embodiment shows an example of the inspection robot platform 22 having rolling wheels 221. However, the inspection robot platform 22 may also be implemented without rolling wheels 221, for example, by being lifted and directly driven by the rolling assembly 30 without additional rolling wheels, all of which are within the scope of this invention.

[0109] In some embodiments, such as Figure 2 and Figure 3 As shown, the chain segment 23 can be a flexible cable, with a roller assembly 30 connected between every two flexible cables. In this way, the conveyor chain 100A including such flexible cables can easily turn through curved track sections; in addition, the flexible cables are easy to manufacture and can reduce costs.

[0110] In some further embodiments, the flexible cable may be selected from one of the following: metal cable, steel wire, iron wire, metal chain, or rope. These forms of flexible cables are readily available or custom-made, thus reducing costs.

[0111] In some other embodiments, the chain segment 23 may be a rigid segment, with one roller assembly 30 connected between every two of the rigid segments. In this way, multiple roller assemblies 30 may also be connected to form a conveyor chain 100A.

[0112] In some further embodiments, the rigid segment may be selected from one of a metal rod, a metal strip, a nylon rod, or a composite material rod. These types of rigid segments are also readily available or custom-made, thus reducing costs.

[0113] In some embodiments, such as Figure 3 and Figure 4 As shown, the roller assembly 30 described in any of the above embodiments and the track 10 of one embodiment can constitute a track assembly 100C. The track 10 of this embodiment may include an inner cavity 11; the cross-section of the inner cavity 11 is generally square, and the four corners 110 of the square are rounded or chamfered. The size and shape of the inner cavity 11 are configured such that the four rollers 31 in the roller assembly 30A are in rolling contact with the corresponding four corners 110, and the side of each roller 31 does not contact the wall of the inner cavity 11.

[0114] In some further embodiments, at least one side of the track 10 of the track assembly 100C is at least partially slotted along its extension direction; by providing the slot, the connection between the inspection robot platform 22 and the roller assembly 30 can be moved through the slot. For example, as Figure 3 and Figure 4 As shown, the bottom surface of the track 10 of the track assembly 100C is at least partially slotted along its extension direction. In other embodiments, slots may also be provided on the track sidewalls.

[0115] In some embodiments, the track assembly 100C can be configured as a track assembly for the inspection robot to travel on, and it can be arranged in a straight line, a curve, or a combination of a straight line and a curve. The track assembly 100C can be arranged in a closed loop or in a segment.

[0116] In some embodiments, such as Figure 6 As shown, the drive device 100B may include two sprockets 41 and an annular chain 42 meshing around the two sprockets 41. The rotation axes A4 of the two sprockets 41 are generally parallel, and a plurality of push assemblies 43 are mounted on the annular chain 42. The plurality of push assemblies 43 are arranged at intervals on the annular chain 42. When the annular chain 42 rotates around the two sprockets 41, one of the push assemblies 43 engages with one of the roller assemblies 30 on the conveyor chain 100A, and another push assembly 43 adjacent to the first push assembly 43 moves with the rotation of the annular chain 42 to engage with another roller assembly 30 adjacent to the first roller assembly 30.

[0117] In the drive device 100B of this embodiment, a plurality of spaced-apart push components 43 are installed on the annular chain 42, and these push components 43 are configured such that one of the push components 43 can push and engage with one of the roller components 30 on the conveyor chain 100A, and another push component 43 adjacent to the one push component 43 can move with the rotation of the annular chain 42 to push and engage with another roller component 30 adjacent to the one roller component 30, thereby continuously pushing each roller component 30 of the conveyor chain 100A, thereby realizing the cyclic movement of the conveyor chain 100A.

[0118] In some further embodiments, such as Figure 6 and Figure 12 and Figure 13 As shown, where Figure 12 yes Figure 6 The schematic diagram of the three-dimensional structure of the drive device 100B shown is as follows. Figure 13 yes Figure 12 The diagram shows a front view of the drive device 100B. The push assembly 43 is provided with a guide post 48 perpendicular to the moving direction A5 of the annular chain 42 and substantially parallel to the rotation axis A4. The drive device 100B also includes a linear guide rail 50, which is arranged along a section of the annular chain 42A between the two rotation axes A4, guiding the guide post 48 through the linear guide rail 50 to move in a straight line. Each push assembly 43 may have one, two, or more guide posts 48. When using one, the guide post 48 can slide against the linear guide rail 50 through a plane, thereby ensuring that the direction of the push assembly 43 is always perpendicular to the moving direction A5, preventing tilting due to a force opposite to the applied thrust. When using two or more guide posts 48, they can be arranged along the moving direction A5 and can be cylindrical, thus achieving the same guiding effect. It is easy to understand that by setting the linear guide rail 50, the guide post 48 passing through the linear guide rail 50 can be guided to move in a straight line, thereby guiding the push component 43 attached to the guide post 48 and this section of the ring chain 42A to move in a straight line as well, and finally causing the ring chain 42 to move stably.

[0119] In some further embodiments, such as Figure 6 and Figure 12As shown, the linear guide rail 50 includes a positioning part 51 and a guiding part 52. The positioning part 51 is fixedly connected to the guiding part 52 and is used to fix the guiding part 52 in place. For example, the positioning part 51 can be fixed to a base that supports two sprockets 41. In this way, the guiding part 52 can be fixed relative to the annular chain 42, thereby facilitating the guiding of the guide post 48 and a section of the annular chain 42A.

[0120] In some further embodiments, such as Figure 12 and Figure 13 As shown, the guide section 52 includes two guide rods 53, with a linear guide groove 54 defined between the two guide rods 53. The linear guide groove 54 receives and guides the guide post 48. By defining the linear guide groove 54 with two guide rods 53, a guiding function is achieved, component manufacturing is facilitated, and material usage is saved. In other embodiments, the linear guide groove can also be machined on a single integral plate to obtain the guide section.

[0121] In some further embodiments, such as Figure 12 and Figure 14 As shown, where Figure 14 yes Figure 12 The diagram shows a left-side view of the drive device 100B. Guide posts 48 are provided on both sides of the push assembly 43, and the linear guide rail 50 simultaneously guides the guide posts 48 on both sides of the push assembly 43. Correspondingly, two guide rods 53 can also be provided on the other side of a section of annular chain 42A, defining a linear guide groove 54 between them. Thus, by having the linear guide rail 50 simultaneously guide the guide posts 48 on both sides of the push assembly 43, the guiding action is made more stable, preventing the push assembly 43 from swaying left and right, that is, preventing rotation around the direction of movement A5.

[0122] In some embodiments, the number of the plurality of push components 43 is at least two, for example, two, three, four, etc. The plurality of push components 43 may be arranged at approximately equal intervals on the annular chain 42. When two push components 43 are used, the first push component 43 moves to engage with one of the roller components 30 on the conveyor chain 100A, and the second push component 43 can move with the rotation of the annular chain 42 to engage with another roller component 30 adjacent to the first roller component 30; when the second push component 43 is about to disengage from the other roller component 30, the first push component 43 moves again to engage with yet another roller component 30 adjacent to the other roller component 30, thereby continuously pushing the roller components 30 of the conveyor chain 100A, thereby realizing the cyclic movement of the conveyor chain 100A.

[0123] In further embodiments, the plurality of actuating components 43 are arranged at substantially equal intervals on the annular chain 42, wherein the spacing between two adjacent actuating components 43 substantially corresponds to the spacing between two adjacent roller components 30. The number of the plurality of actuating components 43 is at least three, for example, three, four, or more. Figure 12 and Figure 13 In the illustrated embodiment, the number of the plurality of pushing components 43 is four. In this application, as long as the pushing components 43 can achieve cyclic pushing of the conveyor chain 100A, their number is not limited.

[0124] In some further embodiments, such as Figure 13 As shown, the pushing assembly 43 includes a mounting portion 45 and a push rod portion 46. The mounting portion 45 can be fixed to the annular chain 42 by means of welding, anchoring, etc. The push rod portion 46 is fixed to the mounting portion 45 and extends outward from the annular chain 42 perpendicular to the direction of movement of the annular chain 42. The push rod portion 46 and the mounting portion 45 can be integrally formed components or assembled from two separate structures. The aforementioned guide post 48 can be fixed to the mounting portion 45 or the push rod portion 46.

[0125] In some further embodiments, such as Figure 13 As shown, the distance between the push rod portions 46 of two adjacent push assemblies 43 is equal to or slightly greater than the sum of the length of one roller assembly 30 and the distance between two adjacent roller assemblies 30. In this way, as the annular chain 42 rotates cyclically, the push assemblies 43 continuously push multiple roller assemblies 30 on the conveyor chain 100A, thereby achieving continuous movement of the conveyor chain 100A.

[0126] In some further embodiments, such as Figure 12 and Figure 13 As shown, the pushing assembly 43 includes two pawls 44, each pawl 44 including a mounting portion 45 and a push rod portion 46. The mounting portion 45 is fixed to the annular chain 42, and the push rod portion 46 is fixed to the mounting portion 45 and extends outward from the annular chain 42 perpendicular to the direction of movement of the annular chain 42. A receiving space 47 is formed between the two push rod portions 46 of the pushing assembly 43. The receiving space 47 is used to accommodate the pushed portion of a roller assembly 30, namely the aforementioned support frame 32. By including two pawls 44 in each pushing assembly 43, the two ends of the support frame 32 can be clamped by the two pawls 44, making the cooperation between the pushing assembly 43 and the support frame 32 more precise; in addition, it is also easy to drive the annular chain 42 in two different directions.

[0127] In some further embodiments, such as Figure 12 and Figure 13 As shown, in the moving direction A5 of the annular chain 42, the distance between the front pawl 44 in each push assembly 43 and the front pawl 44 in another push assembly 43 adjacent to each push assembly 43 is fixed. Since the aforementioned conveyor chain 100A includes multiple chain segments 23 and multiple roller assemblies 30 connected at intervals to the chain segments 23, setting the distance between the front pawl 44 in each push assembly 43 and the front pawl 44 in another push assembly 43 adjacent to each push assembly 43 to a fixed value allows for precise sequential engagement between the push assembly 43 and the multiple roller assemblies 30.

[0128] like Figure 12 and Figure 14 As shown, the push assembly 43 may have a clearance design in the pawl 44, for example, in the form of a clearance notch 44A. This clearance notch 44A may be defined by two pawls 44 with a lateral spacing greater than the lateral width of the chain segment 23 but less than the lateral width of the roller assembly 30. This clearance notch 44A is configured to prevent interference between the push assembly 43 and the chain segment 23 on the conveyor chain 100A when the push assembly 43 and roller assembly 30 are engaged. Of course, the clearance notch 44A may also be in other suitable forms, such as being provided by a pawl 44 with a notch, etc., all of which are within the scope of the present invention.

[0129] In some further embodiments, such as Figure 12 and Figure 14 As shown, the drive device 100B also includes a motor 49, particularly a servo motor, wherein at least one of the two sprockets 41 is a drive wheel driven by the motor 49. Using a motor 49 to drive the sprockets 41 facilitates automated control. To enhance power output, two motors 49 can be used to drive the two sprockets 41 respectively.

[0130] In some embodiments, the motor 49 is a servo motor, configured to drive the drive wheel clockwise and counterclockwise, such that the push assembly 43 on the annular chain 42 can push the roller assembly 30 in both directions. By employing a servo motor, an encoder can be incorporated into the servo motor to determine the motor's rotational speed N. In other embodiments, the motor 49 may also be a stepper motor.

[0131] In some further embodiments, such as Figure 6As shown, the annular track 10 has a clearance groove 140, which allows the pushing component 43 to enter the inner cavity 11 and push the roller assembly 30. The clearance groove 140 can be formed on the top wall 14 of the annular track 10, and it can be an elongated groove, as long as it allows the pushing component 43 to enter the inner cavity 11 of the annular track 10 without hindering the movement of the pushing component 43 relative to the annular track 10.

[0132] In some embodiments, this application also provides a linear drive method. The linear drive method includes: providing a drive device 100B according to any of the embodiments; and causing each guide post 48 to pass sequentially through the linear guide rail 50 so that the guide posts 48 therein are guided by the linear guide rail 50 to move in a straight line.

[0133] In some further embodiments, combined with Figure 6 As shown, the linear drive method is used to drive the conveyor chain 100A with roller assembly 30.

[0134] In some further embodiments, combined with Figure 1 , Figure 2 and Figure 6 As shown, an inspection robot 21 is installed on the conveyor chain 100A. The linear drive method drives the inspection robot 21 installed on the conveyor chain 100A to move along the path of the conveyor chain 100A by driving the conveyor chain 100A to run.

[0135] In some further embodiments, such as Figure 3 and Figure 4 As shown, the annular track 10 has elongated grooves 15 along its extension direction in the wall portion designed to allow the inspection robot platform 22 to pass through. For example, the annular track 10 includes a track bottom wall 15 on which the elongated grooves 150 can be formed. In uphill turning designs, at least a portion of the elongated groove 150 is preferably offset to the side to allow space for the cantilever rollers during uphill turns. Alternatively, the elongated groove 150 may, in some cases, be at least partially centered or at least partially offset to one side, depending on specific design considerations. The elongated groove 150 can form a ring along the annular track 10 to allow the connection between the inspection robot platform 22 and the roller assembly 30 to move through the elongated groove 150. In other embodiments, the elongated groove 150 may also be formed on the track sidewall.

[0136] In some embodiments, such as Figures 15 to 17 As shown, where Figure 15 This is a partial structural diagram of the curved track segment 16 and the straight track segment 12 in the inspection robot system 100 according to an embodiment of the present invention. Figure 16This is a schematic diagram illustrating the interaction between the curved track segment 16 and the straight track segment 12 with the chain segment 23 and the roller assembly 30 in the inspection robot system 100 according to an embodiment of the present invention. Figure 17 yes Figure 16 The diagram shows a partially enlarged view. The annular track 10 includes a straight track segment 12 extending along a straight line and a curved track segment 16 extending along a curve. The curved track segment 16 has a curved inner cavity 11A and opposing outer and inner sidewalls 160 and 161. A plurality of rolling support wheels 24 are rotatably mounted relative to the curved track segment 16 to at least partially replace the inner sidewall 161. Some or all of the rolling support wheels 24 are used to roll and support a chain segment 23 moving through the inner sidewall 161. The curved track segment 16 is at least partially slotted or hollowed out at the location where the rolling support wheels 24 are arranged on the inner sidewall 161. It should be noted that the straight track segment 12 and the curved track segment 16 can constitute a curved track assembly 100D.

[0137] In this embodiment, by providing a plurality of rolling support wheels 24 on the curved track section 16, and by configuring some or all of the plurality of rolling support wheels 24 to roll and support the chain segment 23 that moves through the inner sidewall 161 of the track, contact and friction between the chain segment 23 and the curved track section 16 can be prevented, thereby preventing damage to the components caused by friction.

[0138] In some other embodiments, the plurality of rolling support wheels 24 at least partially replace both the inner sidewall 161 and the outer sidewall 160 of the track, and the curved track segment 16 is at least partially slotted or hollowed out at the locations where the plurality of rolling support wheels 24 are arranged on the inner sidewall 161 and the outer sidewall 160 of the track.

[0139] In some further embodiments, such as Figure 17 As shown, the support surfaces of at least a portion of the rolling support wheels 24 protrude into the inner side of the inner wall 161 of the curved track segment 16. In this way, the chain segment 23 can be supported by the rolling support wheels 24 on the inner side of the inner wall 161 without exposing the chain segment 23 to the curved track segment 16, thus providing protection. In other embodiments, the support surfaces of at least a portion of the rolling support wheels 24 may be flush with the inner wall 161 of the curved track segment 16; or, the support surfaces of at least a portion of the rolling support wheels 24 may be located outside the curved inner cavity 11A.

[0140] In some embodiments, the plurality of rolling support wheels 24 are directly and rotatably mounted on the curved track section 16. For example, the axle of the rolling support wheels 24 can be directly mounted and fixed on the curved track section 16.

[0141] In some other embodiments, such as Figures 15 to 18 As shown, where Figure 18 yes Figure 15 The diagram shows an enlarged view of the rolling support wheels 24 on the curved track section 16 and the mounting bracket 25 for the rolling support wheels 24. The inspection robot system 100 includes a mounting bracket 25, which can be fixedly installed on the curved track section 16 by welding, screws, or other means. The plurality of rolling support wheels 24 are rotatably mounted on the mounting bracket 25, and each rolling support wheel 24 partially protrudes into the curved inner cavity 11A. In some embodiments, the mounting bracket 25 is detachably fixed on the curved track section 16 for easy maintenance and replacement.

[0142] In some further embodiments, such as Figures 15 to 17 As shown, the fixing frame 25 includes a middle plate 250 and two side plates 251. The middle plate 250 is fixedly mounted on the inner side wall 161 of the track, and the two side plates 251 extend vertically away from the inner side wall 161 of the track from both sides of the middle plate 250. Furthermore, each rolling support wheel 24 is disposed between the two side plates 251 via a pivot 26 connected to the two side plates 251. In this manner, it is convenient to first install multiple rolling support wheels 24 on the fixing frame 25, and then install the fixing frame 25 on the curved track section 16.

[0143] In some further embodiments, such as Figure 19 As shown, where Figure 19 yes Figure 15 An enlarged structural schematic diagram of the curved track section 16 and the rolling support wheel 24 thereon is shown; the inner sidewall 161 of the track is provided with a sidewall through hole 162 at least at the location corresponding to each rolling support wheel 24, and the intermediate plate 250 is provided with a through hole 252 at least at the location corresponding to each rolling support wheel 24, so that a portion of each rolling support wheel 24 passes through the through hole 252 and the sidewall through hole 162 in sequence and extends into the curved inner cavity 11A.

[0144] In some further embodiments, such as Figure 1As shown, the curved track segment 16 can extend horizontally or vertically; or, the curved track segment 16 can extend in a direction inclined relative to the horizontal; further, the curved track segment 16 can include various combinations of the aforementioned three extension methods. Combined with the aforementioned design of the rolling support wheel 24, the annular track 10 of this application can have various curved configurations to adapt to complex sites.

[0145] In some embodiments, this application also provides a position determination method for determining the real-time position of an inspection robot 21 in an inspection robot system 100 according to any of the foregoing embodiments, wherein the driving device 100B includes a servo motor and a sprocket 41 with a diameter of D, the servo motor driving the sprocket 41 to rotate, the method comprising: determining the initial position of the inspection robot 21 on the conveyor chain 100A before it begins to move; the driving device 100B driving the conveyor chain 100A to move the inspection robot 21 from the initial position, and obtaining the number of revolutions N of the servo motor after the inspection robot 21 begins to move from the initial position; calculating the distance the inspection robot 21 has moved from the initial position using the number of revolutions N and the diameter D, thereby determining the real-time position of the inspection robot 21 on the conveyor chain 100A.

[0146] In the position determination method of this embodiment, by using a servo motor, the distance that the inspection robot 21 moves from the initial position can be calculated based on the number of revolutions N of the servo motor and the diameter D of the sprocket 41, thereby determining the real-time position of the inspection robot 21 on the conveyor chain 100A, so as to facilitate the tracking and positioning of the inspection robot 21.

[0147] The basic concept of the present invention has been described above with reference to the embodiments. Note that the above are merely preferred embodiments and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention.

[0148] Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it may include more other equivalent embodiments, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A patrol robot system characterized by comprising: The inspection robot system includes: A hollow annular track having an inner cavity extending along the annular track; An inspection robot, which is mounted on the circular track via an inspection robot platform and can move along the circular track, is used to inspect targets in the environment where the circular track is located. A conveyor chain, comprising multiple chain segments and multiple roller assemblies spaced apart and connected to the chain segments, the chain segments and roller assemblies forming a closed loop, the conveyor chain being arranged within the cavity of the annular track; and A drive device is configured to drive the conveyor chain to run in the inner cavity of the annular track by driving the roller assembly to roll along the annular track, thereby driving the inspection robot to move along the annular track. The inspection robot platform is connected to the conveyor chain and can be driven by the conveyor chain to move along the circular track. The roller assembly includes: A support frame having a central axis; and At least one roller group, each roller group consisting of four rollers, wherein each roller in the at least one roller group is rotatably mounted on the support frame; In each roller group, four rollers are arranged to be in rolling contact with the four rounded or chamfered corners of the inner cavity, which has a square cross-section.

2. The patrol robot system according to claim 1, wherein, Each of the roller assemblies has at least one roller configured to make rolling contact with the wall of the cavity; and The plurality of roller assemblies are connected at equal intervals to the plurality of chain segments.

3. The inspection robot system of claim 2, wherein, In the straight track segment of the circular track, the chain segment of the conveyor chain is configured not to contact the wall of the cavity during straight-line operation.

4. The patrol robot system of claim 2, wherein, The cross-section of the inner cavity is square, and the four corners of the square are rounded or chamfered; and The roller assembly includes two roller groups arranged along the extension direction of the chain segment, each roller group having four rollers, the four rollers in each roller group being arranged to be in rolling contact with the four corners respectively.

5. The patrol robot system according to claim 4, wherein, The four corners are all first arcs, and the cross-section of the roller surface of each roller in the roller assembly is a second arc, with the radius of the first arc being slightly greater than or equal to the radius of the second arc.

6. The patrol robot system of claim 1, wherein, The four rollers in each roller group are arranged with their axes aligned or staggered along the central axis.

7. The patrol robot system of claim 1, wherein, Two rollers in each roller group are located on either side of the central axis, and the axis of rotation of each of these two rollers is perpendicular to the first plane containing the central axis; the other two rollers in each roller group are located on either side of the central axis, and the axis of rotation of each of these other two rollers is perpendicular to the second plane containing the central axis; the second plane intersects the first plane.

8. The patrol robot system according to claim 7, wherein, The second plane is perpendicular to the first plane.

9. The patrol robot system of claim 1, wherein, The support frame is either a one-piece molded structure or assembled from multiple components.

10. The inspection robot system of claim 1, wherein, The support frame includes four support members, each of which is located between two adjacent rollers in each roller group, and one end of the axle of each of the two adjacent rollers is fixed to this support member.

11. The patrol robot system of claim 10, wherein, Each support member extends in a direction parallel to the central axis, and each support member includes a base plate and two side plates respectively connected to both sides of the base plate; and One end of the axle of a roller is fixed to the side plate of a corresponding support, and the other end of the axle of the roller is fixed to the side plate of another corresponding support.

12. The inspection robot system of claim 11, wherein, The roller assembly further includes a first pair of connecting posts and a second pair of connecting posts; The first pair of connecting columns are detachably mounted on the two base plates of the two opposing supports; and The second pair of connecting columns are detachably mounted on the two base plates of the other two opposing supports.

13. The patrol robot system of claim 12, wherein, The roller assembly further includes a first connecting rod and a second connecting rod; and The first connecting rod and the second connecting rod are arranged along the central axis, wherein one of the connecting posts in the first pair and one of the connecting posts in the second pair pass through the first connecting rod, and the other connecting post in the first pair and the other connecting post in the second pair pass through the second connecting rod.

14. The patrol robot system of claim 13, wherein, Both ends of the first connecting rod and the second connecting rod, which are far apart from each other, are provided with insertion holes.

15. The patrol robot system of claim 14, wherein, The end of the chain segment is secured within the socket by deformation.

16. The inspection robot system of claim 1, wherein, The support frame has two ends, at least one of which is used to receive thrust along the central axis.

17. The patrol robot system of claim 1, wherein, The outer contour of the circular track has a square cross-section, and all four corners of the square are third arc shapes; and The inspection robot platform includes a platform body and multiple rolling wheels rotatably mounted on the platform body. The cross-section of the rolling surface of each rolling wheel is a fourth arc shape. The multiple rolling wheels are arranged such that each of the four corners contacts at least one rolling wheel.

18. The patrol robot system of claim 1, wherein, The chain segment is a flexible cable, and a roller assembly is connected between every two of the flexible cables.

19. The patrol robot system of claim 18, wherein, The flexible cable is selected from one of the following: metal cable, steel wire, iron wire, metal chain, or rope.

20. The inspection robot system according to claim 1, characterized in that, The chain segment is a rigid segment, and a roller assembly is connected between every two of the rigid segments.

21. The inspection robot system of claim 20, wherein, The rigid section is selected from one of the following: metal rod, metal strip, nylon rod, or composite material rod.

22. The robotic patrol system of claim 1, wherein, The drive device includes two sprockets and an annular chain surrounding the two sprockets. The rotation axes of the two sprockets are parallel, and multiple driving components are mounted on the annular chain. The plurality of push components are arranged at intervals on the annular chain; as the annular chain rotates around the two sprockets, one of the push components engages with one of the roller components on the conveyor chain, and another push component adjacent to the first push component moves with the rotation of the annular chain to engage with another roller component adjacent to the first roller component.

23. The patrol robot system of claim 22, wherein, The pushing assembly is provided with a guide post that is perpendicular to the moving direction of the annular chain and parallel to the rotation axis; and The drive device also includes a linear guide rail, which is arranged along a segment of annular chain between the two rotation axes to guide the guide column passing through the linear guide rail to move in a straight line.

24. The patrol robot system of claim 23, wherein, The linear guide rail includes a positioning part and a guiding part, wherein the positioning part is fixedly connected to the guiding part and the guiding part is fixedly installed.

25. The patrol robot system of claim 24, wherein, The guide section includes two guide rods, and a linear guide groove is defined between the two guide rods. The linear guide groove receives and guides the guide post.

26. The patrol robot system of claim 25, wherein, The push assembly has guide posts on both sides, and the linear guide rail guides the guide posts on both sides of the push assembly.

27. The robotic patrol system of claim 22, wherein, The number of the plurality of actuating components is at least two; and The plurality of pushing components are arranged at equal intervals on the annular chain, wherein the spacing between two adjacent pushing components corresponds to the spacing between two adjacent roller components.

28. The inspection robot system according to claim 22, characterized in that, The pushing assembly includes a mounting part and a push rod part. The mounting part is fixed to the annular chain, and the push rod part is fixed to the mounting part and extends outward from the annular chain perpendicular to the direction of movement of the annular chain.

29. The patrol robot system of claim 28, wherein, The distance between the push rods of two adjacent push assemblies is equal to or slightly greater than the sum of the length of one roller assembly and the distance between the two adjacent roller assemblies.

30. The robot patrol system of claim 22, wherein, The pushing assembly includes two pawls, each pawl including a mounting part and a push rod part. The mounting part is fixed on the annular chain, and the push rod part is fixed on the mounting part and extends outward from the annular chain perpendicular to the direction of movement of the annular chain. A receiving space is formed between the two push rod portions of the pushing assembly, and the receiving space is used to accommodate the pushed portion of a roller assembly.

31. The robot patrol system of claim 30, wherein, In the direction of movement of the annular chain, the distance between the front pawl in each push assembly and the front pawl in another push assembly adjacent to each push assembly is fixed.

32. The robotic patrol system of claim 22, wherein, The drive device further includes a motor, wherein at least one of the two sprockets is a drive wheel driven by the motor.

33. The patrol robot system of claim 32, wherein, The motor is a servo motor, which is configured to drive the drive wheel clockwise and counterclockwise, so that the pushing component on the annular chain can push the roller assembly in the forward and reverse directions.

34. The robotic patrol system of claim 22, wherein, The annular track has a clearance groove, which allows the pushing component to enter the inner cavity and push the roller assembly.

35. The robotic patrol system of claim 22, wherein, The pushing component is provided with an avoidance notch, which is configured to prevent interference between the pushing component and the chain segment of the conveyor chain when the pushing component is engaged with the roller assembly on the conveyor chain.

36. The inspection robot system according to claim 1, characterized in that, The annular track is designed to allow long slots to be formed in the wall along the extension direction of the annular track as the inspection robot platform passes through.

37. The robot patrol system of claim 1, wherein, The circular track includes a straight track segment extending along a straight line and a curved track segment extending along a curve, the curved track segment having a curved inner cavity and outer and inner track walls opposite to each other. Multiple rolling support wheels are rotatably mounted relative to the curved track segment to at least partially replace the inner wall of the track, and some or all of the multiple rolling support wheels are used to roll support the chain segment moving through the inner wall of the track; The curved track section is at least partially slotted or hollowed out at the location of the inner sidewall of the track where the plurality of rolling support wheels are arranged.

38. The inspection robot system according to claim 37, characterized in that, At least a portion of the rolling support wheels have their support surfaces protruding into the inner side of the inner wall of the curved track section; or At least a portion of the rolling support wheels have their support surfaces flush with the inner wall of the curved track section; or At least a portion of the rolling support wheels have their support surfaces located outside the curved inner cavity.

39. The patrol robot system of claim 37, wherein, The plurality of rolling support wheels are directly and rotatably mounted on the curved track section.

40. The robot patrol system of claim 37, wherein, The inspection robot system includes a fixed frame, which is fixedly mounted on the curved track section. A plurality of rolling support wheels are rotatably mounted on the fixed frame, and each rolling support wheel partially protrudes into the curved inner cavity.

41. The robot patrol system of claim 40, wherein, The fixing frame includes a middle plate and two side plates. The middle plate is fixedly installed on the inner wall of the track, and the two side plates extend perpendicularly away from the inner wall of the track from both sides of the middle plate. Each rolling support wheel is positioned between the two side plates via a pivot connected to the two side plates.

42. The patrol robot system of claim 41, wherein, The inner wall of the track has at least one sidewall through hole at the location corresponding to each rolling support wheel, and the intermediate plate has at least one through hole at the location corresponding to each rolling support wheel, so that a portion of each rolling support wheel passes through the through hole and the sidewall through hole in sequence and extends into the curved inner cavity.

43. The robot patrol system of claim 37, wherein, The curved track segment extends horizontally, vertically, and / or in a direction inclined relative to the horizontal.

44. The robot patrol system of any of claims 1-43, wherein, The roller assembly is configured such that when moving along the annular track, its rollers are in rolling contact only with the wall of the inner cavity of the annular track, and the sides of the rollers do not rub against the wall of the inner cavity.

45. A position determination method for determining the real-time position of an inspection robot in an inspection robot system according to any one of claims 1-44, wherein the driving device includes a servo motor and a sprocket having a diameter D, the servo motor driving the sprocket to rotate, the method comprising: Determine the initial position of the inspection robot on the conveyor chain before it begins to move; The drive device drives the conveyor chain to move the inspection robot from the initial position, and obtains the number of revolutions N of the servo motor after the inspection robot starts moving from the initial position; and The distance the inspection robot moves from its initial position is calculated using the number of revolutions N and the diameter D, thereby determining the real-time position of the inspection robot on the conveyor chain.

46. The position determining method of claim 45, wherein, The servo motor includes an encoder, which is used to determine the number of revolutions N.

47. The inspection robot system according to any one of claims 1-43 is used for inspection in underground mines, dock transportation sites, industrial production lines, long-distance rail conveying, long-distance belt conveying, or explosion-proof sites.

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