Driving device for a patrol robot

Abstract

The application relates to a driving device for a patrol robot, which comprises a first mounting base provided with a pair of upper guide wheels on the top surface of a track and located on both sides respectively and a pair of lower guide wheels matched with the bottom corners of the track; a second mounting base provided with a pair of upper guide wheels on the top surface of the track and located on both sides respectively and a pair of lower guide wheels matched with the bottom corners respectively; an intermediate connecting piece connected between the first and second mounting bases; two fork arm anti-swing mechanisms mounted on the first mounting base and located on both sides of the track, each fork arm anti-swing mechanism having a fork-shaped structure composed of a horizontal sleeve, a horizontal arm and an inclined arm, spring thrust is applied to the horizontal arm and the inclined arm by the horizontal sleeve, and lever pushing force is applied to the lower guide wheel on the inclined arm by lever action, so that the lower guide wheel keeps rolling operation by adhering to or abutting against the bottom corner; the second mounting base is provided with two fork arm anti-swing mechanisms which are the same as those of the first mounting base.

Description

Technical Field

[0001] This invention relates to the field of track inspection robot technology, specifically to an inspection robot drive device and its anti-sway mechanism. 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 numerous monitoring items and long routes, especially in ultra-long utility tunnels with harsh environmental conditions, high degree of enclosure, numerous structures, and inconvenient communication, manual inspections are extremely difficult and impractical, and it is also difficult to effectively guarantee the personal safety of inspection personnel. Because inspection robots possess the basic characteristics of perception, decision-making, and execution, they can assist or even replace humans in completing this dangerous, arduous, and complex task, improving work efficiency and quality.

[0003] In existing track inspection robot systems, the inspection robot typically operates as a single unit on the track for inspection. Since these robots may need to operate under harsh conditions, such as in mines, underground environments, or areas with high levels of flammable dust—places with strict explosion-proof standards—the design of the robot's drive unit must meet requirements for reliability, stability, lightweight design, and explosion protection as much as possible. In some applications, due to limited space, the robot's size must be minimized. Furthermore, the impact of harsh environments on the track, along with track tolerances and wear, can cause the drive unit to vibrate or oscillate during operation, especially after a period of use or under heavy loads. This can be due to loose guide wheels, deformation, or mismatch with the track. These issues severely affect the stability, reliability, and safety of the track inspection robot and its drive unit, as well as the lifespan and operational safety of the drive unit and guide wheels. Therefore, this problem must be addressed.

[0004] The industry needs to continuously improve the drive mechanism and anti-sway mechanism of inspection robots to minimize or even eliminate the above-mentioned technical defects, and to continuously improve the performance of inspection robots and achieve other technological advantages.

[0005] 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

[0006] The present invention is proposed in view of the foregoing and other further ideas.

[0007] One of the basic concepts of this invention is to disclose a drive device for an inspection robot, the drive device comprising: a first mounting base, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted, the pair of upper guide wheels being arranged on the top surface of the inspection robot's track and located on the left and right sides respectively, and the pair of lower guide wheels respectively engaging at two bottom corners of the track; a second mounting base, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted, the pair of upper guide wheels being arranged on the top surface of the inspection robot's track and located on the left and right sides respectively, and the pair of lower guide wheels respectively engaging at two bottom corners of the track; an intermediate connecting member connecting the first mounting base and the second mounting base; and two fork-arm anti-sway mechanisms mounted on the first mounting base and located on the left and right sides of the track, wherein each of the fork-arm anti-sway mechanisms has a fork-shaped structure composed of a horizontal sleeve, a horizontal arm, and a diagonal arm. Each of the fork arm anti-sway mechanisms is configured such that the horizontal sleeve fixedly mounted on the first mounting base applies a spring force to the corresponding horizontal arm and the inclined arm, and applies a lever force towards the track to the lower guide wheel on the inclined arm through a lever action, so that the lower guide wheel keeps rolling against or against the corresponding bottom corner of the track; two fork arm anti-sway mechanisms are mounted on the second mounting base and located on the left and right sides of the track, wherein each of the fork arm anti-sway mechanisms has a fork-shaped structure composed of a horizontal sleeve, a horizontal arm and an inclined arm, wherein each of the fork arm anti-sway mechanisms is configured such that the horizontal sleeve fixedly mounted on the second mounting base applies a spring force to the corresponding horizontal arm and the inclined arm, and applies a lever force towards the track to the lower guide wheel on the inclined arm through a lever action, so that the lower guide wheel keeps rolling against or against the corresponding bottom corner of the track.

[0008] According to one embodiment, the upper part of the first mounting base is provided with a pair of booms located on the left and right sides of the track. Each of the booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and configured to respectively engage with the top surface and bottom corner of the track; and

[0009] The upper part of the second mounting base is provided with a pair of booms located on the left and right sides of the track. Each of the booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and configured to fit on the top and bottom corners of the track, respectively.

[0010] According to one embodiment, the transverse sleeve is a hollow structure with an inner cavity, wherein the transverse sleeve is fixedly installed on the first mounting base or the second mounting base, and a thrust column is installed at one end of the inner cavity of the transverse sleeve.

[0011] The cross arm is arranged coaxially adjacent to or abutting the cross sleeve, and is also a hollow structure with an inner cavity. A threaded core is installed at the opposite end of the cross arm's inner cavity.

[0012] A compression spring, the two ends of which are pre-compressed and respectively installed and abut against the inner cavities of the cross arm and the cross sleeve, and respectively sleeved on the threaded core and the thrust core, thereby providing the compression spring force between the cross arm and the cross sleeve.

[0013] According to one embodiment, the end of the thrust core that is inside the cavity of the transverse sleeve is threadedly connected to the cavity of the transverse sleeve, and the other end of the thrust core that extends out of the transverse sleeve is rotatably mounted with the upper guide wheel.

[0014] According to one embodiment, the compression spring is a compression helical spring, wherein one end of the compression helical spring abuts against the inner cavity of the transverse sleeve and / or the stepped structure of the thrust core, and the other end of the compression helical spring abuts against the inner cavity of the transverse arm and / or the stepped structure of the threaded core.

[0015] According to one embodiment, the threaded core is threadedly connected to the inner cavity of the cross arm, and an adjustment hole is provided at the end of the threaded core that extends out of the cross arm. The threaded connection is adjusted through the adjustment hole, thereby changing the compression spring force of the compression spring.

[0016] According to one embodiment, the diagonal arm of the fork arm anti-sway mechanism is angled relative to its horizontal arm and obliquely passes through the boom of the corresponding first and / or second mounting base.

[0017] According to one embodiment, the lower guide wheel is rotatably mounted on the end of the inclined arm that passes through the boom, or is connected to the mounting shaft of the lower guide wheel.

[0018] According to one embodiment, the inclined arm is provided with a pivot pin that pivotally engages the inclined arm with a corresponding first or second mounting base.

[0019] According to one embodiment, the pivot pin at a midpoint on the slant arm pivotally connects the slant arm to the boom of the corresponding first or second mounting base.

[0020] According to one embodiment, the horizontal arm and the diagonal arm of each of the fork arm anti-sway mechanisms are integrally formed or fixedly connected together.

[0021] According to one embodiment, all of the fork arm anti-sway mechanisms have the same structure as each other.

[0022] According to one embodiment, the diagonal arm of the fork arm anti-sway mechanism is angled relative to its horizontal arm and obliquely passes through the boom of the corresponding first and / or second mounting base.

[0023] According to one embodiment, the lower guide wheel is rotatably mounted on the end of the inclined arm that passes through the boom, or connected to the mounting shaft of the lower guide wheel to apply a spring thrust to the lower guide wheel via the inclined arm.

[0024] According to one embodiment, the slant arm is provided with a pivot pin for pinning the slant arm to the corresponding boom.

[0025] According to one embodiment, the driving device further includes: a motor and a transmission sprocket rotatably connected to the motor, wherein the rotational motion of the motor drives the transmission sprocket to rotate; a transmission chain, the transmission chain being fixedly mounted on the track, wherein the transmission sprocket meshes with the transmission chain, thereby running along the track together with the driving device when driven to rotate.

[0026] According to one embodiment, the configuration of the motor is selected from one of the following options:

[0027] A single motor, wherein the single motor is mounted on a first mounting base or a second mounting base, and the drive sprocket is mounted on a corresponding first mounting base or second mounting base; and

[0028] A first motor and a second motor are mounted on the first mounting base. The first motor is mounted on the first mounting base and a first transmission sprocket driven to rotate by the first motor is also mounted on the first mounting base. The second motor is mounted on the second mounting base and a second transmission sprocket driven to rotate by the second motor is also mounted on the second mounting base.

[0029] According to one embodiment, a first pivoting mechanism and a second pivoting mechanism are respectively provided on the first mounting base and the second mounting base. The two ends of the intermediate connecting member are pivotally directly or indirectly connected to the first pivoting mechanism and the second pivoting mechanism, respectively, so that the intermediate connecting member is pivotable relative to the first mounting base and the second mounting base. This design and arrangement of the pivoting mechanisms allows sufficient design and installation space to be provided for the respective motors (when needed) and drive sprockets of the first and second mounting bases, and facilitates the mounting of the inspection robot module and / or other components on the intermediate connecting member.

[0030] According to one embodiment, the first pivoting mechanism includes a first pivot hole located on the body of the first mounting base or on a structural member fixedly connected thereto, and a first pivot pivotally mounted in the first pivot hole; the second pivoting mechanism includes a second pivot hole located on the body of the second mounting base or on a structural member fixedly connected thereto, and a second pivot pivotally mounted in the second pivot hole.

[0031] According to one embodiment, both the first mounting base and the second mounting base are integrally formed; or

[0032] The main bodies of both the first mounting base and the second mounting base are assembled from multiple plates, and the pair of booms of both the first mounting base and the second mounting base are plate-shaped or strip-shaped booms fixedly connected to their respective main bodies.

[0033] According to one embodiment, a speed reduction mechanism is further provided between the motor and the transmission sprocket.

[0034] According to one embodiment, an inspection robot or an inspection robot module is installed on the intermediate connector.

[0035] According to one embodiment, the pivot pin forms a live pin connection.

[0036] According to one embodiment, the drive device has a lightweight structure, wherein multiple perforated holes are machined on the main body and boom of the first mounting base and the second mounting base; and the intermediate connector is in the form of a perforated plate with multiple perforated holes.

[0037] According to one embodiment, the upper guide wheel and the lower guide wheel are mounted to match the contour of the track, and are respectively close to the top and bottom of the track to guide and carry the drive device.

[0038] According to one embodiment, a thrust ball bearing sleeved on the pivot is further provided in the pivot hole.

[0039] According to one embodiment, the transmission chain is fixedly mounted on the bottom surface of the track and extends along the track.

[0040] According to one embodiment, the drive chain is fixedly mounted on the bottom surface of the track near the centerline by rivets or screws.

[0041] According to one embodiment, the track is a square track with a square cross-section overall.

[0042] According to one embodiment, the guide wheel is a flanged guide wheel.

[0043] According to one embodiment, the transmission sprocket is rotatably connected to the motor shaft via the reduction mechanism and is driven to rotate by the motor.

[0044] According to one embodiment, the reduction mechanism is a meshing worm gear and worm, wherein the worm is driven by the rotating shaft of the motor, and the worm gear is driven by the transmission sprocket.

[0045] According to one embodiment, the inspection robot is an integral inspection robot or a serial inspection robot containing a set of robot modules.

[0046] According to one embodiment, the drive sprocket is disposed inside the body of the first and / or second mounting base, positioned below the track, and meshes with the drive chain fixedly mounted on the bottom surface of the track.

[0047] According to one embodiment, the inspection robot or inspection robot module includes at least one of the following functional modules: a lighting module, a video-thermal imaging-audio module, a gas sensor module, an intercom module, a ground wireless sensor data collection module, a fire protection module, and a video-thermal imaging lens cleaning module.

[0048] According to one embodiment, the transmission chain is a toothed chain or a roller chain.

[0049] According to one embodiment, at least a portion of the drive chain is a laterally bendable chain, for example, one that provides three-dimensional extension freedom.

[0050] According to one embodiment, the transmission chain is a continuous chain fixedly installed on the track along its length.

[0051] According to one embodiment, the transmission chain consists of at least two chain segments seamlessly joined and fixed to the track along its length.

[0052] The drive device for inspection robots of the present invention can be used in outdoor environments, underground mines, dock transportation sites, industrial production lines, long-distance rail conveying, long-distance belt conveying, explosion-proof, freeze-proof, rainproof, or dustproof environments.

[0053] Further embodiments of the present invention can also achieve other advantageous technical effects not listed one by one. These other technical effects may be partially described below and can be expected and understood by those skilled in the art after reading the present invention. Attached Figure Description

[0054] 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.

[0055] Figure 1 This is a schematic diagram of the main configuration of a drive unit for an inspection robot equipped with a fork arm anti-sway mechanism according to a first embodiment of the present invention, showing the construction and arrangement of an exemplary drive unit arranged on a track, for example, with a square cross-section.

[0056] Figure 2 yes Figure 1 The schematic end view of the drive unit with the fork arm anti-sway mechanism shown in the embodiment illustrates further details of the drive unit and the fork arm anti-sway mechanism.

[0057] Figure 3 yes Figure 1 and Figure 2 The schematic cross-sectional view shown is of a drive unit for an inspection robot equipped with a fork arm anti-sway mechanism, illustrating the structure and installation details of the drive unit and the fork arm anti-sway mechanism.

[0058] Figure 4 yes Figure 1 and Figure 2 The diagram shows a schematic longitudinal sectional view from one side of the drive unit for the inspection robot, which is equipped with a fork arm anti-sway mechanism.

[0059] Figure 5 This is a schematic diagram of the general structure of a drive device for an inspection robot equipped with a fork arm anti-sway mechanism according to a second embodiment of the present invention, which is consistent with... Figure 1 The main difference in the drive device of the first embodiment shown lies in the different construction and design of the first mounting base, the second mounting base, and the intermediate connecting member. Detailed Implementation

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to direct connection or indirect connection 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.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "up," "down," "left," "right," etc., used in connection with the drive device and its components such as the anti-sway mechanism, are used to describe and define the orientation of the drive device of the track inspection robot in its normal operating state.

[0065] The present invention will now be described and illustrated in further detail with reference to the accompanying drawings and specific embodiments.

[0066] First embodiment of the drive device

[0067] like Figure 1-4 As shown, Figure 1 This is a perspective view of the main configuration of a drive unit 200 for an inspection robot equipped with a fork arm anti-sway mechanism 250 according to a first embodiment of the present invention, showing the construction and arrangement of the drive unit 200 arranged on an exemplary track 100, for example, with a square cross-section. Figure 2 yes Figure 1 The schematic end view of the drive unit 200 with the fork arm anti-sway mechanism 250 installed in the embodiment shown schematically illustrates more details of the drive unit 200 and the fork arm anti-sway mechanism 250. Figure 3 yes Figure 1 and Figure 2 The schematic cross-sectional view shown is of a drive unit 200 for an inspection robot equipped with a fork arm anti-sway mechanism 250, illustrating the structure and installation details of the drive unit 200 and the fork arm anti-sway mechanism 250. Figure 4 yes Figure 1 and Figure 2 The schematic longitudinal sectional view shown is of a drive unit 200 for an inspection robot equipped with a fork arm anti-sway mechanism 250, viewed from one side.

[0068] like Figure 1-4 The diagram schematically illustrates the main components and overall arrangement of a drive unit 200 for an inspection robot, equipped with a fork arm anti-sway mechanism 250, according to a first embodiment of the present invention. The drive unit 200 can be mounted on a track 100, and the inspection robot (or inspection robot module / monitoring module) can be mounted and fixed to the drive unit 200 (e.g., suspended on an intermediate connector 230, for example, in the form of an intermediate connecting plate) or otherwise connected to the drive unit 200 to move together along the track. Driven by the drive unit 200, the robot operates along the track 100 via a transmission sprocket 241 engaging with a transmission chain 110 fixed on the track 100 to inspect targets in the surrounding environment.

[0069] Specifically, such as Figure 1-4 As shown, the drive unit 200 may include a first mounting base 210 mounted to roll on the track 100 via its guide wheels, a second mounting base 220 mounted to roll on the track 100 via its guide wheels, and an intermediate connector 230 connecting the first mounting base 210 and the second mounting base 220 in series, such that the first mounting base 210 and the second mounting base 220 can roll on the track 100 one after the other in a series. The intermediate connector 230 may be, for example, but not limited to, an intermediate connecting plate as shown in the figure, on which an inspection robot or an inspection robot module / monitoring module (not shown) may be hoisted.

[0070] like Figure 1-4 As shown, the first mounting base 210, the second mounting base 220, and the intermediate connecting member 230 of the drive unit 200 can be designed to be lightweight, in order to minimize the weight of the drive unit 200 and the load on the drive motor. Excessive weight and load not only affect the operation and lifespan of the motor, but may also affect the stable and reliable operation and service life of the drive unit's guide wheel. Therefore, as shown in the figure, the main bodies of the first mounting base 210 and the second mounting base 220 can be constructed, for example, from perforated plates, and the intermediate connecting member 230 can also be constructed from perforated plates, in order to reduce weight.

[0071] The drive unit 200 may further include a motor 240, a reduction mechanism (not shown), and a transmission sprocket 241. The rotational motion of the motor 240 can be transmitted directly or via the reduction mechanism to the transmission sprocket 241, thereby driving the transmission sprocket 241 to rotate. The transmission sprocket 241 meshes with a transmission chain 110 fixed on the track 100 and runs along the track 100, thereby driving the drive unit 200 and the inspection robot mounted or connected to the drive unit 200 to run along the track 100 to inspect surrounding targets. The motor 240 may be, for example, a servo motor 240. Figure 2 As shown, the drive motor 240 is rotatably mounted on one side of the main body of the first mounting base 210, and is connected to a transmission sprocket 241 arranged in the middle of the main body of the first mounting base 210, for example, in a coaxial or parallel manner (e.g., via a reduction mechanism not shown), thereby driving the transmission sprocket 241 to rotate. An example of a reduction mechanism is a worm gear and worm. This worm gear type reduction mechanism not only effectively reduces speed but also provides self-locking / braking, facilitating the parking of the inspection robot (module) on the track 100 when needed without requiring additional braking / self-locking devices.

[0072] like Figure 1-4 As shown, the upper part of the main body of the first mounting base 210 may be provided with a pair of booms 212 and 213, which are arranged in a caliper-like manner (but spaced apart from each other from the track 100) on both sides of the track 100 after installation. The booms 212 and 213 may be integrally formed with the main body or may be separate components assembled with the main body later. The booms 212 and 213 are preferably arranged symmetrically, for example, in the form of plates or strips. Two guide wheels 212A and 212B are rotatably mounted on the booms 212 in a generally vertical direction and are spaced apart from each other. They are constructed and configured to engage with the top and bottom surfaces of the track 100 respectively after installation, serving to guide, limit, and roll on the top and bottom surfaces of the track respectively. Similarly, two guide wheels 213A and 213B are rotatably mounted on the boom 213. These wheels are constructed and configured to engage with the top and bottom surfaces of the track 100 after installation, respectively, serving to guide, limit, and roll along the top and bottom surfaces of the track. Therefore, the first mounting base 210 includes a pair of upper guide wheels 212A and 213A disposed on the top surface of the track 100, rolling and guiding along its left and right sides and primarily bearing load, as well as two corner wheels (such as those at the bottom of the track 100) engaging with the left and right corners of the track 100. Figure 2-3A pair of lower guide rollers 212B and 213B roll, guide, and carry the rollers at the two curved corners below the track 100 shown. These upper guide rollers 212A and 213A and the lower guide rollers 212B and 213B can be equipped with ball bearings or, for example, oil-lubricated sliding bearings, and the lower guide rollers 212B and 213B have a concave curved profile that matches the curved corners. Additionally, as... Figure 3 As shown, each of the pair of upper guide wheels 212A and 213A may be provided with a flange (not shown), which may sometimes roll against or even abut against the side of the corner of the upper part of the track 110 during operation, serving as a guide and limiter.

[0073] Similarly, such as Figure 1-3 As shown, the upper part of the main body of the second mounting base 220 may also be provided with a pair of booms 222 and 223 that are rotatably suspended on the track 100 by two pairs of guide wheels. A pair of upper guide wheels and a pair of lower guide wheels (shown but not indicated by reference numerals) can be mounted on these booms 222 and 223. The construction, configuration, and mounting positions of these upper and lower guide wheels on the second mounting base 220 can be the same as those of the pair of upper guide wheels 212A, 213A and the pair of lower guide wheels 212B, 213B of the first mounting base 210. These lower guide wheels have a concave arc-shaped profile that matches the arc-shaped corner and roll in coordination with the corresponding bottom corner of the track.

[0074] Without the anti-sway mechanism 250 of the present invention, during the operation of the drive unit 200 along the track 100 to inspect targets in the surrounding environment, the pair of upper guide wheels 212A and 213A and the pair of lower guide wheels 212B and 213B of the drive unit 200 will bear the weight of the drive unit 200 itself and the load of the inspection robot installed or connected to it. After prolonged use or under heavy loads, the drive unit 200, including the pair of upper guide wheels 212A and 213A, will be subject to the gravity of the hoisting and tend to be pressed down or "sink," thereby correspondingly causing a gap between the pair of lower guide wheels 212B and 213B and the corresponding bottom corner of the track, or a tendency to increase the gap (e.g., as shown in the image). Figure 2(Illustratively shown) The risk of vibration and swaying during operation of the drive unit 200 can be further increased by factors such as loose assembly, deformation, or mismatch with the track due to machining errors / contamination of the track surface. For example, gaps may cause the pair of lower guide wheels 212B and 213B to not perfectly fit / adhere to the corresponding bottom corners of the track, or even result in large, undesirable gaps. This can lead to vibration, shaking, and swaying of the drive unit 200, especially the pair of lower guide wheels 212B and 213B, due to gaps or increased gaps. This severely affects the stability, reliability, and safety of the track inspection robot and its drive unit 200, as well as the service life and safety of the drive unit 200 and its lower guide wheels. Therefore, this problem and design flaw must be addressed.

[0075] One of the main objectives of this invention is to solve the aforementioned problems and design flaws. Therefore, as... Figure 1-4 As shown, on the pair of upper guide wheels 212A and 213A of the first mounting base 210, for example, in a direction generally perpendicular to the plane of the plate boom 212 or the side of the track 100, two fork-arm anti-sway mechanisms 250 are respectively installed to hold / adjust the guide wheels against the track 100 by spring force. Similarly, on the pair of upper guide wheels (not shown) of the second mounting base 220, two fork-arm anti-sway mechanisms 250 are also respectively installed to hold / adjust the guide wheels against the track 100 by spring force, so as to apply spring thrust (outward pressure of a compressed spring) to the corresponding upper and lower guide wheels, as described below.

[0076] More specifically, a fork arm anti-sway mechanism 250 is installed on each boom 212, 213, 222, and 223 of the first mounting base 210 and the second mounting base 220. For example... Figure 1-3 As shown, the fork arm anti-sway mechanism 250 on the boom 212 is provided with a screw-in (threaded connection) mounting hole in the plate boom 212. Figure 2-3 As shown, the plate-shaped boom 212 extends out at both ends. The end of the thrust core 252B exposed on the side of the track 100 is rotatably mounted with the guide wheel 212A, and the end of the thrust core 252B exposed on the side of the fork arm anti-sway mechanism 250 is threadedly connected to the horizontal sleeve 259.

[0077] like Figure 2-3As shown, the fork arm anti-sway mechanism 250 has a fork-shaped structure consisting of a horizontal sleeve 259, a hollow horizontal arm 251, and a diagonal arm 258. Preferably, the hollow horizontal arm 251 and the horizontal sleeve 259, which extend substantially parallel to the top surface of the track 100, are separate components. The hollow horizontal arm 251 is also in the form of a hollow sleeve and may have a substantially coaxial inner cavity, preferably with the same outer and inner diameters (for aesthetics and assembly, but not mandatory). The hollow horizontal arm 251 and the diagonal arm 258 can be integrally formed, such as by casting or stamping, or they can be assembled and fixed together, for example, by welding, screw connection, or riveting. Together with the horizontal sleeve 259, they form a fork-shaped shape.

[0078] As shown in the figure, the thrust core 252B is screwed and fixed approximately coaxially in the inner cavity of the cross sleeve 259 at one end on the side of the fork arm anti-sway mechanism 250 and extends in a section of the inner cavity. The other end of the threaded core 252A is located in the inner cavity of the hollow cross arm 251. Figure 2-3 As shown on the right end), the compression coil spring 254 is disposed in the inner cavity between the threaded core 252A and the thrust core 252B, and is respectively abutted against the threaded core 252A and the thrust core 252B (and / or the bottom end of the inner cavity of the horizontal sleeve 259) by compression spring force at one end of the inner cavity of the hollow horizontal arm 251 and one end of the inner cavity of the horizontal sleeve 259. Figure 2-3 As shown on the left end). As illustrated, according to one example, the two ends of the compression helical spring 254 can be respectively fitted onto the corresponding ends of the threaded core 252A and the thrust core 252B, and respectively abut against the stepped structures at both ends with a certain compression spring force. These stepped structures can be the steps of the threaded core 252A and the thrust core 252B, or steps within the cavity of the threaded core 252A and the transverse sleeve 259. Thus, a compression spring force is formed between the transverse sleeve 259 and the hollow transverse arm 251. This compression spring force, provided by the compression helical spring 254, provides the force to push the hollow transverse arm 251 outward (i.e., towards the left end). Figure 2-3 The pushing force (shown on the right) will exert a lever pushing force on the lower guide wheels 212B and 213B through the lever principle via the inclined arm 258.

[0079] The external thread of the threaded core 252A and the internal thread of the hollow cross arm 251 form a threaded connection (e.g.) Figure 3 The threaded connection 256 is shown. A retaining nut 253 can be screwed onto the protruding end of the threaded core 252A to help secure and facilitate the installation and removal of the threaded core 252A. An adjustment hole 257, such as a screwdriver adjustment hole, may also be provided at the end of the protruding end of the threaded core 252A to facilitate tightening / loosening of the threaded core 252A by means of, for example, a screwdriver, or to adjust the spring force of the compression spring 254.

[0080] The inclined arm 258, integrally formed or fixedly connected to the hollow cross arm 251, is constructed to be inclined at a certain angle relative to the hollow cross arm 251, thereby forming a fork-shaped fixed shape of the fork arm anti-sway mechanism 250 together with the hollow cross arm 251. The inclined arm 258 can be cylindrical, slatted, or any other construction form suitable for implementing the present invention. The inclined arm 258 of the fork arm anti-sway mechanism 250 is installed obliquely through the lower part of the corresponding boom, and the lower guide wheels 212B, 213B (e.g., ...) can preferably be directly and rotatably mounted directly at the end of the inclined arm 258 that passes through the boom. Figure 3 The lower guide wheel is directly mounted on one end of the corresponding boom, or otherwise connected to the mounting shaft (not shown) on which the lower guide wheels 212B and 213B are rotatably mounted, so that the fork arm anti-sway mechanism 250 can apply lever pushing force to the lower guide wheels 212B and 213B via the inclined arm 258 through the lever principle, as detailed below.

[0081] Specifically, in order to apply lever force to the lower guide wheels 212B and 213B via the lever principle through the inclined arm 258, and also to further fix the inclined arm 258 relative to the corresponding boom, a pivot pin 255 is pivotally pinned to the inclined arm 258 and the corresponding boom 212 / 213 in a pivotal manner, for example, at the general middle section of the inclined arm 258 (allowing the inclined arm 258 to pivot slightly about the pivot pin 255 relative to the corresponding boom 212 / 213). This further ensures the reliable and stable installation and fixation of the fork arm anti-sway mechanism 250 to the corresponding boom, and also ensures the stable application of lever force to the lower guide wheels 212B and 213B via the inclined arm 258. As described above, since a compression spring force is formed between the horizontal sleeve 259 and the hollow horizontal arm 251, this compression spring force provides a force to push the hollow horizontal arm 251 outward (i.e., towards the boom). Figure 2-3 The pushing force (shown on the right) will exert a lever pushing force on the lower guide wheels 212B and 213B through the lever principle via the inclined arm 258, with the pivot pin 255 as the fulcrum, thereby keeping the lower guide wheels 212B and 213B always able to slide relative to / abut against the corresponding corner of the bottom of the track 100.

[0082] Through the above design and concept, after installing the fork arm anti-sway mechanism 250, the horizontal sleeve 259 of the drive unit 200 applies a compression spring force to the hollow horizontal arm 251 through the compression spring 254. This compression spring force is also applied to its inclined arm 258, and through the lever action of the pivot pin 255, it applies a lever pushing force to the lower guide wheels 212B and 213B, keeping the lower guide wheels 212B and 213B abutting / cussing against the corresponding corner parts of the lower part of the track 100. Therefore, during the operation of the drive unit 200 along the track 100, the tendency or phenomenon of swaying, swinging, or shaking of the drive unit 200 and its lower guide wheels 212B and 213B during operation can be greatly reduced or even eliminated. Furthermore, in this structure and design, since the upper guide wheels 212A and 213A always bear most of the lifting load, the tendency and possibility of overloading of the lower guide wheels 212B and 213B can also be greatly reduced or even eliminated.

[0083] Although the track 100 shown in the figure preferably has a generally square cross-section, other configurations and cross-sections suitable for the track 100 of the present invention are also possible. The corners of the track 100 are preferably rounded corners. Generally, generally square tracks are easier to manufacture and supply, and can be less expensive.

[0084] Additionally, the drive chain 110 can be fixedly installed on the track 100, for example, near the center line of the bottom surface of the track 100 or other locations, by means of rivets, screws, bolts, etc. The drive chain 110 is arranged along a part or the entire extension length and extension direction of the track 100, and in this invention, it needs to be fixedly installed on the track 100 so that the sprocket 241 can mesh with it and travel along the drive chain 110.

[0085] The drive chain 110 can be a roller chain. Alternatively, the drive chain 110 can be any other form that meshes with the drive sprocket, such as a toothed chain. Since the drive chain 110 needs to extend generally vertically upwards or horizontally circumferentially along with the track 100, it may require lateral bending and / or torsion. Therefore, at least part or all of the drive chain 110 can be a laterally bending chain drive that can have a degree of freedom in three-dimensional space.

[0086] The construction and configuration of this first embodiment of the drive device 200 are further described below.

[0087] As described above, the drive unit 200 may include a first mounting base 210, a second mounting base 220, and an intermediate connector 230 connecting the first mounting base 210 and the second mounting base 220 in series. An inspection robot or an inspection robot module / monitoring module can be mounted on this intermediate connector 230. The upper part of the main body of the first mounting base 210 may be provided with a pair of booms 212 and 213 that are rotatably suspended on the track 100 by two pairs of guide wheels. Similarly, as... Figure 1 As shown, the upper part of the main body of the second mounting base 220 may also be provided with a pair of booms 222 and 223 that are rotatably suspended on the track 100 by two pairs of guide wheels. A pair of upper guide wheels and a pair of lower guide wheels (shown but not labeled with reference numerals) may be installed on these booms 222 and 223. The structure, configuration and installation position of the pair of upper guide wheels and the pair of lower guide wheels on the second mounting base 220 may be similar to the pair of upper guide wheels 212A, 213A and the pair of lower guide wheels 212B, 213B of the first mounting base 210, so their structure, installation and design will not be described in detail here.

[0088] like Figure 4 As shown, in this first embodiment of the drive device 200, in order to facilitate the drive device 200's overall adaptive and smooth movement along the track 100, a pivotable mechanism is provided at the connection points of the intermediate connector 230 with the first mounting base 210 and the second mounting base 220, so that the intermediate connector 230 is pivotally connected to the first mounting base 210 and the second mounting base 220, and is therefore adjustable and adaptive, especially when going through curves. Specifically, a first pivot hole 211 and a first pivot 260 pivotally mounted in the first pivot hole 211 are provided on the main body of the first mounting base 210 or on the pivot mechanism mounted thereto. One end of the intermediate connector 230 is connected to the first pivot 260, so that this end of the intermediate connector 230 is pivotally connected to the first mounting base 210. Similarly, a second pivot hole 221 and a second pivot 270 pivotally mounted within the second pivot hole 221 are provided on the main body of the second mounting base 220 or on the pivot mechanism mounted thereto. The other end of the intermediate connecting member 230 is connected to the second pivot 270, thereby pivotally connecting the other end of the intermediate connecting member 230 to the second mounting base 220. With this arrangement, the drive device 200 and its first mounting base 210 and second mounting base 220 can be flexibly adjusted, for example, when turning on the track 100, thus smoothly turning the curve. This also helps the drive device 200 to run smoothly along the track 100, preventing deviation from the track or increased wear on the guide wheels, etc.

[0089] One end of the first pivot 260 / second pivot 270 can be secured, for example, with a nut or bolt, while the other end can be fitted against the end face of the corresponding pivot hole via an end flange to ensure reliable installation and pivoting. Additionally, both ends of the first pivot 260 / second pivot 270 can be fitted with ball bearings, such as thrust ball bearings, to ensure both precise and reliable assembly and smooth pivoting.

[0090] The track 100 can be integrally formed from metals such as aluminum or aluminum alloys using an extrusion process. The drive chain 110 can be a roller chain or a toothed chain. The drive chain 110 can also be other forms adapted to mesh with the drive sprocket, such as a toothed chain. In locations requiring uphill / downhill and / or turning, lateral bending and / or torsion may also be required. Therefore, in these locations, the drive chain 110 can be a laterally bending chain drive chain, preferably having three degrees of freedom, thereby allowing for three-dimensional extension freedom.

[0091] The inspection robot or inspection robot module / monitoring module can be selected from at least one of the following functional modules: lighting module, video-thermal imaging-audio module, gas sensor module, battery module, intercom module, wireless communication module, fire protection module, and camera cleaning module. The lighting module can, for example, serve as ambient lighting and visual monitoring, which is fundamental and necessary for remote monitoring. The video-thermal imaging-audio module can, for example, be used to acquire image, thermal imaging, and audio information, including video recording, thermal imaging, temperature sensing, and recording, and can selectively transmit it, for example, in real time, to a ground base station. The fire protection module may include relevant sensors, such as temperature sensors, smoke sensors, etc., and can send corresponding warning signals, and can selectively send corresponding instructions to activate consumer facilities, such as fire hydrants, fire extinguishers, etc. The camera cleaning module can be used to clean the inspection robot's camera, for example, by installing a water spray nozzle and water tank to spray and clean the camera, etc. Of course, those skilled in the art will fully understand that other functional modules can be added additionally or alternatively depending on different applications and functions, and these are also within the scope of this concept.

[0092] According to one example, the drive unit 200 and the functional module can be powered by a power cable. Alternatively, the functional module can have a built-in power source, such as a rechargeable battery.

[0093] Second embodiment of the drive device

[0094] Figure 5 This is a schematic diagram of the general structure of a drive device 1200 for an inspection robot equipped with a fork arm anti-sway mechanism according to a second embodiment of the present invention, which is consistent with... Figure 1The main difference of the drive device in the first embodiment shown lies in the construction and design of the first mounting base 1210, the second mounting base 1220, and the intermediate connector 1230. Figure 1 The difference is shown in the first embodiment.

[0095] Specifically, Figure 1 The drive device 200 of the first embodiment shown adopts a lightweight structural design, while Figure 5 The drive unit 1200 shown does not intentionally adopt a lightweight design, but rather focuses on the structural strength and overall integrity of the drive unit 1200 itself. Specifically, the first mounting base 1210 and the second mounting base 1220 can both adopt a thicker, one-piece structure or be formed from a plate without perforations. Furthermore, the intermediate connector 1230 connecting the first mounting base 1210 and the second mounting base 1220 can also be in the form of a wider plate 1230, so that heavier or more inspection robots or inspection modules can be suspended on it.

[0096] The upper part of the main body of the first mounting base 1210 may be provided with a pair of booms 1212 and 1213 located on both sides of the track 1100 after installation. These booms 1212 and 1213 may be integrally formed with the main body or may be separate components subsequently assembled with the main body. The booms 1212 and 1213 are preferably arranged symmetrically, for example, in plate or strip form. Two (a pair) upper and lower guide wheels, spaced apart from each other, are rotatably mounted on the boom 1212 along a generally vertical direction. These guide wheels are constructed and configured to engage with the top and bottom corners of the track 1100 respectively after installation, serving to guide, limit, and roll along the top and bottom corners of the track. Similarly, two upper and lower guide wheels are rotatably mounted on the boom 1213. These guide wheels are constructed and configured to engage with the top and bottom corners of the track 1100 respectively after installation, serving to guide, limit, and roll along the top and bottom corners of the track. Therefore, the first mounting base 1210 includes a pair of upper guide wheels (shown but not indicated by reference numerals) that are configured to roll and guide along the left and right sides of the top surface of the track 1100 and mainly bear loads, and a pair of lower guide wheels (not shown) that are configured to roll and guide along the left and right sides of the bottom corner of the track 1100 and bear loads.

[0097] Similarly, such as Figure 5As shown, the upper part of the main body of the second mounting base 1220 may also be provided with a pair of booms 1222 and 1223 that can be rotatably suspended on the track 1100 by two pairs of guide wheels. A pair of upper guide wheels and a pair of lower guide wheels (not shown) can be installed on these booms 1222 and 1223. The structure, configuration, and installation position of the pair of upper guide wheels and the pair of lower guide wheels on the second mounting base 1220, as well as the arrangement of the fork arm anti-sway mechanism 1250, are similar to the pair of upper guide wheels and the pair of lower guide wheels on the first mounting base 1210. Therefore, their structure, installation, and arrangement will not be described in detail here.

[0098] besides, Figure 5 Other constructions and configurations of the drive device 1200 in the second embodiment shown are similar to those of the drive device 1200 in the second embodiment. Figure 1 The corresponding structure and configuration of the drive device 200 in the first embodiment shown, including the fork arm anti-sway mechanism 1250, are basically the same, so they will not be described in detail here.

[0099] The drive unit 1200 is particularly suitable for certain relatively heavy-duty inspection robot applications, but is not limited thereto.

[0100] Other alternative ideas

[0101] Although the drive devices of the first and second embodiments of the present invention are each equipped with only a single motor 240, those skilled in the art will understand that the drive device of the present invention can be equipped with two drive motors 240 and corresponding matching components and mounting structures. In this regard, the first mounting base 210 (1210) and the second mounting base 220 (1220) can have substantially identical construction, configuration, and mounting, including a drive sprocket designed on the second mounting base 220 (1220) to accommodate the second drive motor 240, an optional reduction mechanism (not shown), etc. The advantage of providing two drive motors 240 is that, on the one hand, it can provide stronger power to meet the requirements of some applications such as heavy-duty applications, and on the other hand, it may meet the requirements of intrinsically safe design in explosion-proof environments.

[0102] Although the fork arm anti-sway mechanism was disclosed in the drive unit of the above embodiments, those skilled in the art will fully understand that in applications where the drive unit only needs to bear light loads, or where the service conditions are not too harsh or the service requirements are not particularly high, the drive unit for inspection robots of the present invention may not require any anti-sway mechanism, including the fork arm anti-sway mechanism, and can still operate as required to perform the normal inspection work of the inspection robot. Such a drive unit may, for example, incorporate a novel pivoting mechanism and a lightweight design, making it easy to configure one or two motors and corresponding sprockets, and can meet and be applied to more application scenarios with a simpler and more reliable structural design and lower cost.

[0103] The basic concept of the present invention has been described above with reference to 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 without departing from the scope of protection of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A drive device for an inspection robot, characterized in that, The driving device includes: A first mounting base is provided, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted. The pair of upper guide wheels are arranged on the top surface of the track of the inspection robot and are located on the left and right sides respectively, and the pair of lower guide wheels are respectively engaged at the two bottom corners of the track. The second mounting base has a pair of upper guide wheels and a pair of lower guide wheels mounted on it. The pair of upper guide wheels are arranged on the top surface of the inspection robot's track and located on the left and right sides, and the pair of lower guide wheels are respectively engaged at the two bottom corners of the track. An intermediate connector connecting the first mounting base and the second mounting base; Two fork-arm anti-sway mechanisms are mounted on the first mounting base and located on the left and right sides of the track. Each fork-arm anti-sway mechanism has a fork-shaped structure consisting of a horizontal sleeve, a horizontal arm, and a diagonal arm. Each fork-arm anti-sway mechanism is configured such that the horizontal sleeve, fixedly mounted on the first mounting base, applies a spring force to the corresponding horizontal arm and the diagonal arm, and applies a lever force towards the track to the lower guide wheel on the diagonal arm through a lever action, so that the lower guide wheel keeps running against or against the corresponding bottom corner of the track; and Two fork-arm anti-sway mechanisms are installed on the second mounting base and located on the left and right sides of the track. Each fork-arm anti-sway mechanism has a fork-shaped structure consisting of a horizontal sleeve, a horizontal arm, and a diagonal arm. Each fork-arm anti-sway mechanism is configured such that the horizontal sleeve, which is fixedly installed on the second mounting base, applies a spring force to the corresponding horizontal arm and the diagonal arm, and applies a lever force towards the track to the lower guide wheel on the diagonal arm through a lever action, so that the lower guide wheel keeps running against or against the corresponding bottom corner of the track.

2. The driving device according to claim 1, characterized in that, The upper part of the first mounting base is provided with a pair of booms located on the left and right sides of the track. Each boom of the pair is equipped with an upper guide wheel and a lower guide wheel arranged vertically and configured to respectively engage with the top surface and bottom corner of the track; and The upper part of the second mounting base is provided with a pair of booms located on the left and right sides of the track. Each of the booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and configured to fit on the top and bottom corners of the track, respectively.

3. The driving device according to claim 1 or 2, characterized in that: The horizontal sleeve is a hollow structure with an inner cavity. The horizontal sleeve is fixedly installed on the first mounting base or the second mounting base, and a thrust column is installed at one end of the inner cavity of the horizontal sleeve. The cross arm is arranged coaxially adjacent to or abutting the cross sleeve, and is also a hollow structure with an inner cavity. A threaded core is installed at the opposite end of the cross arm's inner cavity. A compression spring, the two ends of which are pre-compressed and respectively installed and abut against the inner cavities of the cross arm and the cross sleeve, and respectively sleeved on the threaded core and the thrust core, thereby providing the compression spring force between the cross arm and the cross sleeve.

4. The driving device according to claim 3, characterized in that, The end of the thrust core that is inside the cavity of the horizontal sleeve is threadedly connected to the cavity of the horizontal sleeve, and the other end of the thrust core that extends out of the horizontal sleeve is rotatably mounted with the upper guide wheel.

5. The driving device according to claim 3, characterized in that, The compression spring is a compression helical spring, wherein one end of the compression helical spring abuts against the inner cavity of the transverse sleeve and / or the stepped structure of the thrust core, and the other end of the compression helical spring abuts against the inner cavity of the transverse arm and / or the stepped structure of the threaded core.

6. The driving device according to claim 3, characterized in that, The threaded core is threadedly connected to the inner cavity of the cross arm. An adjustment hole is provided at the end of the threaded core that extends out of the cross arm. The threaded connection is adjusted through the adjustment hole, thereby changing the compression spring force of the compression spring.

7. The driving device according to any one of claims 1-2, characterized in that, The fork arm anti-sway mechanism has its slant arm angled relative to its cross arm and obliquely passes through the boom of the corresponding first and / or second mounting base.

8. The driving device according to claim 7, characterized in that, The lower guide wheel is rotatably mounted on the end of the inclined arm that passes through the boom, or is connected to the mounting shaft of the lower guide wheel.

9. The driving device according to any one of claims 1-2, characterized in that, The inclined arm is provided with a pivot pin that pivotally engages the inclined arm with the corresponding first or second mounting base.

10. The driving device according to claim 9, characterized in that, The pivot pin, located at the midpoint of the slant arm, pivotally connects the slant arm to the boom of the corresponding first or second mounting base.

11. The driving device according to claim 1, characterized in that, The horizontal arm and the diagonal arm of each of the aforementioned fork arm anti-sway mechanisms are integrally formed or fixedly connected together.

12. The driving device according to any one of claims 1-2, characterized in that, The driving device further includes: A motor and a drive sprocket rotatably connected to the motor, wherein the rotational motion of the motor drives the drive sprocket to rotate; and A drive chain is fixedly mounted on the track, wherein the drive sprocket meshes with the drive chain, so that when driven to rotate, it runs along the track together with the drive device.

13. The driving device according to claim 12, characterized in that, The configuration of the motor is selected from one of the following options: A single motor, wherein the single motor is mounted on the first mounting base or the second mounting base, and the drive sprocket is mounted on the corresponding first mounting base or the second mounting base; and A first motor and a second motor are mounted on the first mounting base. The first motor is mounted on the first mounting base and a first transmission sprocket driven to rotate by the first motor is also mounted on the first mounting base. The second motor is mounted on the second mounting base and a second transmission sprocket driven to rotate by the second motor is also mounted on the second mounting base.

14. The driving device according to any one of claims 1-2, characterized in that, A first pivoting mechanism and a second pivoting mechanism are respectively provided on the first mounting base and the second mounting base. The two ends of the intermediate connecting member are pivotally directly or indirectly connected to the first pivoting mechanism and the second pivoting mechanism, respectively, so that the intermediate connecting member is pivotable relative to the first mounting base and the second mounting base.

15. The driving device according to claim 14, characterized in that, The first pivoting mechanism includes a first pivot hole located on the main body of the first mounting base or on a structural member fixedly connected thereto, and a first pivot pivotally mounted in the first pivot hole; and The second pivoting mechanism includes a second pivot hole located on the body of the second mounting base or on a structural member fixedly connected thereto, and a second pivot pivotally mounted within the second pivot hole.

16. The driving device according to any one of claims 1-2, characterized in that, Both the first mounting base and the second mounting base are integrally formed; or The main bodies of both the first mounting base and the second mounting base are assembled from multiple plates, and the pair of booms of both the first mounting base and the second mounting base are plate-shaped or strip-shaped booms fixedly connected to their respective main bodies.

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