Walking track of inspection robot

Abstract

The invention relates to the technical field of tracks, in particular to an inspection robot walking track which comprises a main track section, a main track section, a main track section and a main track section, the main track section comprises two main pipe fittings arranged in parallel, and the distance between the two main pipe fittings is matched with a walking mechanism of an inspection robot; the connecting rail section is arranged between the main rail sections, the connecting rail section comprises a telescopic outer pipe and a telescopic inner pipe, at least one part of the telescopic inner pipe is inserted into the telescopic outer pipe in a sliding mode, and the telescopic outer pipe and the telescopic inner pipe are each provided with a connecting end capable of being connected with a main pipe fitting; the telescopic outer pipe and the telescopic inner pipe are respectively provided with a deformation mechanism at the adjacent position of the connecting end, and the connecting end has the degree of freedom of swinging relative to the axis of the telescopic outer pipe and the axis of the telescopic inner pipe through the deformation mechanisms. According to the scheme, the defect that an inspection robot cannot pass due to track deformation in the prior art is overcome, and the automatic inspection function which is stable and reliable and adapts to complex working conditions is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of tracks, and in particular to a walking track for an inspection robot. Background Art

[0002] In the coal mining industry, due to the harsh working environment underground and many safety hazards, monitoring of key production equipment such as three machines (coal mining machine, scraper conveyor, and transfer machine) is particularly important. Traditional manual inspections are not only inefficient, but also face great personal safety risks. Therefore, in order to improve the safety and efficiency of coal mine production, inspection robots are introduced to perform daily equipment inspections and provide technical support for unmanned coal cutting.

[0003] However, in actual applications, due to the complex geological conditions and harsh environment unique to coal mine working faces, especially the tracks on the fully mechanized mining working faces may be deformed due to operations such as pushing, sliding and pulling, making it difficult for ordinary inspection robots to operate stably, and even completely unable to pass in severe cases. Summary of the invention

[0004] The present invention provides a walking track for an inspection robot, which is used to solve the defect in the prior art that the inspection robot cannot pass due to track deformation, and realizes a stable and reliable automatic inspection function that is adaptable to complex working conditions.

[0005] The present invention provides a walking track for an inspection robot, comprising: a main track section, comprising two main pipes arranged in parallel, wherein the spacing between the two main pipes is adapted to a walking mechanism of the inspection robot; a connecting track section, arranged between the main track sections, wherein the connecting track section comprises a telescopic outer tube and a telescopic inner tube, wherein at least a portion of the telescopic inner tube is slidably inserted into the telescopic outer tube, and the telescopic outer tube and the telescopic inner tube are respectively provided with connecting ends that can be connected to the main pipes; at adjacent positions of the connecting ends, the telescopic outer tube and the telescopic inner tube are respectively provided with deformation mechanisms, through which the connecting ends have the freedom to swing relative to the axes of the telescopic outer tube and the telescopic inner tube.

[0006] According to one embodiment of the present invention, a plurality of the main track segments and a plurality of the connecting track segments are alternately arranged on an extension path of the walking track of the inspection robot.

[0007] According to one embodiment of the present invention, the deformation mechanism includes a universal joint for connecting the connection ends.

[0008] According to one embodiment of the present invention, the deformation mechanism includes a spring sleeve mounted on the universal joint, one end of the spring sleeve is connected to the connecting end, and the other end is connected to the tube body of the telescopic outer tube or the telescopic inner tube; the spring sleeve is used to provide an elastic force to reset the connecting end.

[0009] According to one embodiment of the present invention, the connecting end includes an insertion section and a stop plate, the cross-sectional size of the stop plate is larger than the cross-sectional size of the insertion section; the shape of the insertion section is adapted to the shape of the inner hole of the end of the main pipe component so as to be able to insert the end of the main pipe component; the insertion section is provided with a first mounting hole, and the main pipe component is provided with a second mounting hole, and when the end of the main pipe component contacts the stop plate, the first mounting hole is aligned with the second mounting hole.

[0010] According to one embodiment of the present invention, a main track bracket is included; the main track segment includes a mounting seat, and the main pipe component is arranged on the mounting seat; the mounting seat is detachably mounted on the main track bracket.

[0011] According to one embodiment of the present invention, the mounting seat includes a bottom plate and two supporting vertical plates arranged on the bottom plate; the bottom plate is provided with assembly holes, and the main pipe member is fixed to the top of the supporting vertical plates.

[0012] According to one embodiment of the present invention, the main track bracket includes a horizontally arranged track frame, and the track frame is provided with an assembly hole adapted to the mounting seat.

[0013] According to one embodiment of the present invention, the main track bracket includes a vertical mounting plate and a tripod; the tripod includes a vertical member, a horizontal member and a diagonal support rod; the vertical member is arranged on one side of the vertical mounting plate, one end of the horizontal member is connected to the vertical member, and the horizontal member is provided with an assembly hole adapted to the track frame; the diagonal support rod is obliquely supported between the lower surface of the horizontal member and the vertical member.

[0014] According to one embodiment of the present invention, a limit pin is provided on the side of the vertical member facing the vertical mounting plate, and a limit head with a cross-sectional size larger than that of the limit pin is provided at the end of the limit pin; the vertical mounting plate is provided with a limit hole, and the limit hole includes a circular hole portion allowing the limit head to enter and exit, and a vertical hole portion with a width larger than the diameter of the limit pin and smaller than the diameter of the limit head, and the vertical hole portion is located below the circular hole portion.

[0015] The walking track of the inspection robot provided by the present invention improves the adaptability of the track through two mechanisms: telescopic and bending. The track system includes a telescopic connecting track section, which is composed of a telescopic outer tube and a telescopic inner tube, and can be extended or shortened in length to adapt to the stretching or contraction changes of the working surface. In addition, the connecting track section is also equipped with a deformation mechanism, so that the connecting end can swing relative to the axis within a certain range, so that it can be flexibly bent when encountering irregular terrain, avoiding traffic problems caused by fixed tracks. The above scheme ensures the stability and continuity of the track under complex working conditions, allowing the inspection robot to operate smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is one of the partial track structure schematic diagrams of the inspection robot walking track provided by the present invention.

[0018] Figure 2 This is the second schematic diagram of the partial track structure of the inspection robot walking track provided by the present invention.

[0019] Figure 3 This is the third schematic diagram of the partial track structure of the inspection robot walking track provided by the present invention.

[0020] Figure 4 This is one of the assembly structure schematic diagrams of the walking track of the inspection robot provided by the present invention.

[0021] Figure 5 This is the second schematic diagram of the assembly structure of the inspection robot walking track provided by the present invention.

[0022] Reference numerals: 10. Main pipe; 11. Second mounting hole; 12. Bottom plate; 13. Support vertical plate; 21. Telescopic outer pipe; 22. Telescopic inner pipe; 24. Connecting end; 241. Insertion section; 242. Stop plate; 243. First mounting hole; 25. Deformation mechanism; 251. Universal joint; 252. Spring sleeve; 31. Track frame; 32. Vertical mounting plate; 33. Vertical member; 34. Horizontal member; 35. Diagonal support rod; 36. Limit pin; 37. Limit head; 38. Limit hole. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0025] Combine the following Figure 1-Figure 5 The specific implementation of the inspection robot walking track of the present invention is described.

[0026] like Figure 1 and Figure 2 As shown, the present invention provides a walking track for an inspection robot, comprising: a main track section, comprising two parallel main pipe components 10, the spacing between the two main pipe components 10 is adapted to the walking mechanism of the inspection robot; a connecting track section, arranged between the main track sections, the connecting track section comprising a telescopic outer tube 21 and a telescopic inner tube 22, at least a portion of the telescopic inner tube 22 is slidably inserted into the telescopic outer tube 21, the telescopic outer tube 21 and the telescopic inner tube 22 are respectively provided with connecting ends 24 that can be connected to the main pipe component 10; at positions adjacent to the connecting ends 24, the telescopic outer tube 21 and the telescopic inner tube 22 are respectively provided with deformation mechanisms 25, through which the connecting ends 24 have the freedom to swing relative to the axes of the telescopic outer tube 21 and the telescopic inner tube 22.

[0027] Specifically, the main track section is composed of two parallel main pipe parts 10. The distance between the two main pipe parts 10 is precisely designed to match the walking mechanism of the inspection robot, ensuring that the robot can travel smoothly on it. The connecting track section is located between the two main track sections, including a telescopic outer tube 21 and a telescopic inner tube 22, wherein a portion of the telescopic inner tube 22 can slide into the interior of the telescopic outer tube 21. Such a structure allows the track section to be telescopically adjusted according to actual needs. In addition, a deformation mechanism 25 is provided at the connecting end 24 of the telescopic outer tube 21 and the telescopic inner tube 22, which gives the connecting end 24 a certain degree of freedom of swing relative to the axis of the tube body, so that the track can flexibly adapt to changes in the working surface, reducing or eliminating the impact of track deformation on the operation of the inspection robot. The walking track of the inspection robot in this embodiment enhances the overall adaptability and stability of the walking track of the inspection robot by introducing a telescopic connecting track section with a certain deformation ability, ensuring that the robot can still maintain efficient and stable inspection operations in a complex and changeable working environment. For example Figure 2 As shown in , when there is a misalignment between the main track segments of the front and rear sections, a smooth transition track structure can be formed between the two main track segments through the connecting track segment therebetween.

[0028] The design of the connecting track segment above enhances the adaptability of the track system through two dimensions: telescopic and bending. Among them, the combined design of the telescopic outer tube 21 and the telescopic inner tube 22 allows the track to be extended or shortened in the length direction. When the working surface undergoes local changes, for example, when the track stretches or contracts due to mechanical actions (such as pushing or pulling), the connecting track segment can compensate for these changes through its own telescopic function. This not only maintains the overall straightness of the track, but also avoids breakage or derailment caused by fixed-length tracks. A deformation mechanism 25 is provided near the connecting end 24 of the connecting track segment, so that the connecting end 24 has a certain degree of swing freedom relative to the axis of the telescopic outer tube 21 and the telescopic inner tube 22, so that the connecting track segment can be bent within a certain range, allowing the track to bypass obstacles by slight bending when encountering obstacles or ground undulations, which not only improves the flexibility of the track, but also reduces the impact on the robot's movement.

[0029] Preferably, according to one embodiment of the present invention, a plurality of main track segments and a plurality of connecting track segments are alternately arranged on the extension path of the inspection robot's walking track. The plurality of main track segments and a plurality of connecting track segments are alternately arranged on the extension path of the inspection robot's walking track, combining the stability of the fixed main track segments and the flexibility of the deformable connecting track segments, so that the entire track system can not only provide a stable travel basis for the inspection robot, but also adjust itself through the extension and bending of the connecting track segments when facing dynamic changes in the working surface, ensuring that the robot can travel smoothly under various conditions.

[0030] In the above solution, the deformation mechanism 25 can be selected according to specific needs, such as a hinge structure, a ball joint structure, etc. Figure 3 As shown, according to one embodiment of the present invention, the deformation mechanism 25 preferably includes a universal joint 251 for connecting the connection end 24. The universal joint 251 structure can allow the connecting track segment to rotate freely in multiple directions, thereby adapting to irregular changes in the working surface. Through the multi-directional rotation capability of the universal joint 251, the connecting track segment can maintain the continuity and stability of the track through its own adjustment when encountering track deformation, ensuring that the inspection robot can pass smoothly even in complex working conditions.

[0031] Further, according to one embodiment of the present invention, the deformation mechanism 25 includes a spring sheath 252 sleeved on the universal joint 251, one end of the spring sheath 252 is connected to the connecting end 24, and the other end is connected to the tube body of the telescopic outer tube 21 or the telescopic inner tube 22; the spring sheath 252 is used to provide an elastic force to reset the connecting end 24. The spring sheath 252 can provide an elastic force to reset the connecting end 24. When the connecting track segment deflects due to changes in external conditions, the spring sheath 252 can generate a reverse elastic force to help the connecting end 24 return to its original position or a state close to its original position. Through the elastic force support of the spring sheath 252, not only the adaptive ability of the track system is enhanced, but also the straightness of the track can be quickly restored after the external interference is eliminated, so as to ensure that the inspection robot is always in a stable state during the travel process, thereby improving the reliability and inspection efficiency of the system. It is understandable that the spring sheath 252 can also be replaced by other similar elastic structures, such as an elastic sheet or elastic pull rod structure arranged around the universal joint 251.

[0032] like Figure 3 and Figure 5As shown, according to one embodiment of the present invention, the connection end 24 includes an insertion section 241 and a stopper plate 242, the cross-sectional size of the stopper plate 242 is larger than the cross-sectional size of the insertion section 241; the shape of the insertion section 241 is adapted to the shape of the inner hole at the end of the main pipe component 10, so as to be able to be inserted into the end of the main pipe component 10; the insertion section 241 is provided with a first mounting hole 243, and the main pipe component 10 is provided with a second mounting hole 11, and when the end of the main pipe component 10 contacts the stopper plate 242, the first mounting hole 243 is aligned with the second mounting hole 11. The shape design of the insertion section 241 matches the shape of the inner hole at the end of the main pipe component 10, so as to ensure that it can be accurately inserted into the end of the main pipe component 10. The insertion section 241 is provided with a first mounting hole 243, and the main pipe component 10 is provided with a second mounting hole 11 at a corresponding position. When the end of the main pipe member 10 contacts and aligns with the stop plate 242, the first mounting hole 243 is also aligned with the second mounting hole 11. At this time, bolts or other suitable fasteners can be passed through these holes to tightly fix the connecting end 24 and the main pipe member 10 together, ensuring a stable connection between the connecting track segment and the main track segment. At the same time, it provides the advantage of easy installation and disassembly, which is convenient for on-site operation and maintenance.

[0033] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, according to one embodiment of the present invention, a main track bracket is included; the main track segment includes a mounting seat, and the main pipe member 10 is arranged on the mounting seat; the mounting seat is detachably mounted on the main track bracket. Through the detachable installation method of the mounting seat, the staff can easily remove or replace the track segment when necessary, which improves the flexibility and maintainability of the overall system, and also facilitates rapid adjustment according to the specific conditions of different working surfaces.

[0034] Further, according to one embodiment of the present invention, the mounting seat includes a base plate 12 and two supporting vertical plates 13 arranged on the base plate 12; the base plate 12 is provided with an assembly hole, and the main pipe component 10 is fixed to the top of the supporting vertical plate 13. Among them, the main pipe component 10 is fixed to the supporting vertical plate 13 by means such as welding, and the base plate 12 is detachably connected to the main track bracket through the assembly hole. Specifically, the assembly holes on the base plate 12 can be aligned with the corresponding holes on the main track bracket, and fixed by fasteners such as bolts, so as to ensure a stable connection between the mounting seat and the bracket. This modular design is not only convenient for installation and disassembly, but also conducive to daily maintenance and overhaul, and improves the overall flexibility and reliability of the track system. Preferably, the assembly holes on the base plate 12 can be set as elongated holes, so as to reduce the requirements for manufacturing accuracy and reduce the difficulty of assembly.

[0035] like Figure 4 and Figure 5As shown, according to one embodiment of the present invention, the main track bracket includes a horizontally arranged track frame 31, and the track frame 31 is provided with a mounting hole adapted to the mounting seat. The horizontally arranged track frame 31 provides a solid support foundation, and the mounting seat can be aligned with the mounting hole on the track frame 31 through the mounting hole on the bottom plate 12 thereof, and fixed by bolts or other fasteners.

[0036] According to one embodiment of the present invention, the main track bracket includes a vertical mounting plate 32 and a tripod; the tripod includes a vertical member 33, a horizontal member 34 and an oblique support rod 35; the vertical member 33 is arranged on one side of the vertical mounting plate 32, one end of the horizontal member 34 is connected to the vertical member 33, and the horizontal member 34 is provided with an assembly hole adapted to the track frame 31; the oblique support rod 35 is obliquely supported between the lower surface of the horizontal member 34 and the vertical member 33. Among them, the vertical member 33 of the tripod is arranged on one side of the vertical mounting plate 32, one end of the horizontal member 34 is connected to the vertical member 33, and the horizontal member 34 is provided with an assembly hole adapted to the track frame 31; the oblique support rod 35 is obliquely supported between the lower surface of the horizontal member 34 and the vertical member 33 to increase the stability of the entire bracket. This structure enables the main track bracket to have good supporting strength. The vertical member 33 and the oblique support rod 35 work together to enhance the overall rigidity and anti-overturning ability of the bracket, and ensure the stability of the main track section under various working conditions. Additionally, the vertical mounting plate 32 may be secured to other base structures or to a mine wall or other fixed structure.

[0037] like Figure 4 As shown, according to one embodiment of the present invention, a limit pin 36 is provided on one side of the vertical member 33 facing the vertical mounting plate 32, and a limit head 37 having a cross-sectional size larger than that of the limit pin 36 is provided at the end of the limit pin 36; a limit hole 38 is provided on the vertical mounting plate 32, and the limit hole 38 includes a circular hole portion that allows the limit head 37 to enter and exit, and a vertical hole portion having a width larger than the diameter of the limit pin 36 and smaller than the diameter of the limit head 37, and the vertical hole portion is located below the circular hole portion. The vertical member 33 can cooperate with the limit hole 38 on the vertical mounting plate 32 through the limit pin 36 to achieve stable positioning. Specifically, when the limit pin 36 is inserted into the limit hole 38, the limit head 37 will enter through the circular hole portion, and then the limit pin 36 will move downward along the vertical hole portion until the limit head 37 is stuck in the vertical hole portion. Since the diameter of the stopper 37 is larger than the width of the vertical hole, it ensures that the stopper pin 36 will not be separated from the vertical hole, thereby achieving a firm connection between the vertical member 33 and the vertical mounting plate 32. This clamping installation method reduces the difficulty of assembling the tripod and the vertical mounting plate 32 while ensuring reliability.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking track for an inspection robot, characterized in that: include: The main track section comprises two parallel main pipe members (10), wherein the distance between the two main pipe members (10) is adapted to the walking mechanism of the inspection robot; a connecting track section, arranged between the main track sections, the connecting track section comprising a telescopic outer tube (21) and a telescopic inner tube (22), at least a portion of the telescopic inner tube (22) being slidably inserted into the telescopic outer tube (21), the telescopic outer tube (21) and the telescopic inner tube (22) being respectively provided with a connecting end (24) capable of being connected to the main pipe component (10); The telescopic outer tube (21) and the telescopic inner tube (22) are respectively provided with deformation mechanisms (25) at positions adjacent to the connecting end (24); through the deformation mechanisms (25), the connecting end (24) has the freedom to swing relative to the axes of the telescopic outer tube (21) and the telescopic inner tube (22).

2. The inspection robot walking track according to claim 1, characterized in that: The plurality of main track segments and the plurality of connecting track segments are alternately arranged on an extension path of the walking track of the inspection robot.

3. The inspection robot walking track according to claim 1, characterized in that: The deformation mechanism (25) comprises a universal joint (251) for connecting the connection end (24).

4. The inspection robot walking track according to claim 3, characterized in that: The deformation mechanism (25) comprises a spring sheath (252) sleeved on the universal joint (251), one end of the spring sheath (252) being connected to the connecting end (24), and the other end being connected to the tube body of the telescopic outer tube (21) or the telescopic inner tube (22); The spring sheath (252) is used to provide an elastic force for resetting the connecting end (24).

5. The inspection robot walking track according to claim 1, characterized in that: The connecting end (24) comprises an insertion section (241) and a stop plate (242), wherein the cross-sectional dimension of the stop plate (242) is greater than the cross-sectional dimension of the insertion section (241); The shape of the insertion section (241) is adapted to the shape of the inner hole at the end of the main pipe component (10) so as to be able to be inserted into the end of the main pipe component (10); The insertion section (241) is provided with a first mounting hole (243), and the main pipe component (10) is provided with a second mounting hole (11); when the end of the main pipe component (10) contacts the stop plate (242), the first mounting hole (243) is aligned with the second mounting hole (11).

6. The inspection robot walking track according to any one of claims 1 to 5, characterized in that: Includes main track bracket; The main track section comprises a mounting seat, and the main pipe component (10) is arranged on the mounting seat; The mounting seat is detachably mounted on the main track bracket.

7. The inspection robot walking track according to claim 6, characterized in that: The mounting seat comprises a bottom plate (12) and two supporting vertical plates (13) arranged on the bottom plate (12); The bottom plate (12) is provided with an assembly hole, and the main pipe component (10) is fixed to the top of the supporting vertical plate (13).

8. The inspection robot walking track according to claim 6, characterized in that: The main track bracket comprises a track frame (31) arranged horizontally, and the track frame (31) is provided with an assembly hole adapted to the mounting seat.

9. The inspection robot walking track according to claim 8, characterized in that: The main track bracket comprises a vertical mounting plate (32) and a tripod; The tripod comprises a vertical member (33), a horizontal member (34) and an oblique support rod (35); The vertical member (33) is arranged on one side of the vertical mounting plate (32), one end of the horizontal member (34) is connected to the vertical member (33), and the horizontal member (34) is provided with an assembly hole adapted to the track frame (31); The diagonal support rod (35) is obliquely supported between the lower surface of the horizontal member (34) and the vertical member (33).

10. The inspection robot walking track according to claim 9, characterized in that: A limit pin (36) is provided on one side of the vertical member (33) facing the vertical mounting plate (32), and a limit head (37) having a cross-sectional size larger than that of the limit pin (36) is provided at the end of the limit pin (36); The vertical mounting plate (32) is provided with a limiting hole (38), the limiting hole (38) comprising a circular hole portion allowing the limiting head (37) to enter and exit, and a vertical hole portion having a width greater than the diameter of the limiting pin (36) and less than the diameter of the limiting head (37), the vertical hole portion being located below the circular hole portion.

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