Track assembly for inspection robot system and inspection robot system

Abstract

The invention relates to a track assembly for an inspection robot system and the inspection robot system. The track assembly comprises a track which defines an inspection path; and the uninterrupted transmission chain is fixedly arranged on the track along the extending track of the track.

Description

[0001] This application is a divisional application of the Chinese invention patent application "Track components for inspection robot systems" with an application date of September 30, 2022 and application number 202211214063.8 submitted by the same applicant to the Patent Office of the State Intellectual Property Office of China. Technical Field

[0002] The present invention relates to the technical field of track inspection, and in particular to an inspection robot system and a track component thereof. Background Art

[0003] Inspection of long-distance or complex sites such as pipeline corridors and coal mines is the basis and important guarantee for site safety. Due to the large number of monitoring items and long lines, especially the harsh environmental conditions, strong closure, many structures and inconvenient communication of ultra-long pipeline corridors, it is difficult to inspect the site status manually, the feasibility is extremely limited, and it is also difficult to effectively ensure the personal safety of inspectors.

[0004] Because robots have basic characteristics such as perception, decision-making, and execution, they can assist or even replace humans in completing the dangerous, arduous, and complex inspection work, thereby improving work efficiency and quality.

[0005] When the inspection robot is working, it usually moves on the track along a fixed running path with a track platform as the carrier, and monitors the environment that needs to be inspected. With the advancement of technology and the increase in demand, many places have begun to adopt track inspection robots, such as factories, breeding plants, smart farms, municipal pipe corridors, underground coal mines, etc.

[0006] In the transmission design of the existing inspection robot system for fixed track inspection, a driving device such as a motor and related transmission mechanisms such as pulleys are generally set at a fixed position to drive the conveyor belt or conveyor line arranged on the track and the inspection robot installed thereon to move together for inspection.

[0007] In existing inspection robot systems, the inspection robot device generally runs as a whole on a track for inspection. Since the inspection robot device may need to work in certain harsh working conditions, such as in mines, underground, places with a lot of flammable dust, and other places with strict explosion-proof standards. Therefore, in such environments, the design of the inspection robot should meet the explosion-proof requirements, minimize the problem of excessive temperature during operation, and improve heat dissipation. Due to the limited space in some applications, the size of the inspection robot needs to be as small as possible. The limitations of conveyor belts or conveyor lines and tracks also require the inspection robot to be as light as possible and prevent local overloads. The above and other application environments also put forward higher requirements for reliability.

[0008] The industry continues to need improved inspection robot systems to continuously improve the performance of inspection robot systems, and to mitigate or even eliminate the above-mentioned technical defects as much as possible, as well as to achieve other more technical advantages.

[0009] The information included in this background section of the present specification, including any references cited herein and any description or discussion thereof, is included for technical reference purposes only and is not to be construed as subject matter that will limit the scope of the present invention. Summary of the invention

[0010] The present invention is proposed in view of the above and other concepts.

[0011] One of the basic concepts of the present invention is to provide a new type of serial inspection robot system, which has a novel drive design. According to the drive design, a transmission chain is installed and arranged along the track, and the drive motor, the reduction mechanism and the transmission sprocket can be assembled together through, for example, a mounting bracket, and the inspection robot can be connected to or assembled together, and the transmission sprocket can be driven to run on the track by the meshing and rolling of the transmission chain on the transmission chain. The mounting bracket, such as the mounting seat, can be installed with a guide / limiting guide wheel. All or part of the transmission chain of this drive design, such as the transmission chain installed in the curved track segment, preferably adopts a transmission chain that can bend sideways / has three-dimensional extension freedom. This transmission chain-sprocket arrangement has great advantages over the traditional pulley rail design and the gear rack transmission design. The operation process and trajectory of the pulley rail are unstable, and basically cannot run under load; the movement of the gear rack transmission is basically unlikely to achieve two-dimensional and three-dimensional motion freedom, and it is even more impossible to achieve the movement from the upright running track to the curved / torsion track to the horizontal circumferential running track in some cases. The reduction mechanism, which is preferably a worm gear, not only saves installation space, but is also naturally self-locking, which is very important and advantageous for fixing and maintaining the position of the drive device and the inspection robot on the track when needed.

[0012] According to another aspect of the invention, a substantially closed track is used as a whole, and a track with a polygonal cross section, such as a square cross section, is easier to manufacture and supply, has a low cost, and can avoid dust and water accumulation. Another advantage of this closed track with a regular shape is that in some dusty application environments such as mines and underground, dust accumulation in the groove of the track (if the track is an open grooved track) can be avoided to affect the use, and the manufacturing and processing cost of the closed track with a regular shape is also lower, and the strength and rigidity can be higher.

[0013] Another basic concept of the present invention is to provide a new cable traction design. According to the traction design, multiple traction trolleys are installed and arranged along the track, and the cables are fixed on the traction trolleys and driven by the driving device. In this way, the driving device and / or the inspection robot can be powered very conveniently, and the cable can also follow the driving device smoothly, which facilitates the installation and operation of the cable and ensures the reliability of power supply and the life of the cable. This provides advantages compared with the busbar power supply method of the prior art.

[0014] The serial inspection robot can be equipped with multiple serial robot modules, making the small volume design and explosion-proof design of the robot module possible, because each module only needs a relatively small capacity battery to meet the explosion-proof standards, and such a design also provides improved maintenance / replacement convenience and high reliability.

[0015] More specifically, according to one aspect of the present invention, a track assembly for an inspection robot system is disclosed, comprising: a track defining an inspection path; and an uninterrupted transmission chain fixedly mounted on the track along an extended trajectory of the track.

[0016] According to one embodiment, the transmission chain is arranged along the entire extension of the track.

[0017] According to one embodiment, the transmission chain is a whole uninterrupted chain fixedly installed on the track along the length of the track; or, the transmission chain is composed of at least two sections of chain seamlessly spliced ​​along the length of the track and fixed on the track.

[0018] According to an embodiment, the transmission chain is a side-bendable transmission chain.

[0019] According to one embodiment, the inspection robot system includes an integral inspection robot or a serial inspection robot.

[0020] According to an embodiment, the track has a generally polygonal cross section, and the polygonal shape is configured such that the track has a flat bottom surface and a top surface, and has two vertical side surfaces or two inclined upper side surfaces or two arc-shaped upper curved surfaces.

[0021] According to an embodiment, the cross section of the track is selected from one of the following: square, trapezoid, truncated isosceles triangle, pentagon, hexagon and drum.

[0022] According to one embodiment, the track is a square track with a square cross-section as a whole, and two pairs of upper guide wheels and two pairs of lower guide wheels on the mounting base of the inspection robot system roll along the left and right sides of the track on the top and bottom surfaces of the square track respectively.

[0023] According to one embodiment, the track has a flat bottom surface, a top surface, and two inclined upper side surfaces or arc-shaped upper curved surfaces, wherein two pairs of upper guide wheels and two pairs of lower guide wheels on the mounting base of the inspection robot system roll on the two inclined upper side surfaces or arc-shaped upper curved surfaces and the bottom surface of the track respectively.

[0024] According to one embodiment, the track assembly further includes a mounting base configured to roll along the track, and at least two pairs of upper guide wheels, two pairs of lower guide wheels and a driving device are installed on the mounting base, and the driving device includes a motor, a reduction mechanism and a transmission sprocket, wherein the transmission sprocket is rotatably mounted on the mounting base and arranged to engage with the transmission chain.

[0025] According to one embodiment, the transmission chain is fixedly mounted on the bottom surface of the track and extends along the track.

[0026] According to an embodiment, the transmission chain is fixedly mounted on the bottom surface of the track at a position near the center line by rivets or screws.

[0027] According to one embodiment, the transmission chain is a whole uninterrupted chain fixedly installed on the track along the length of the track. The advantage of such a whole chain is that the inspection robot will not slip during operation, has strong climbing ability, and has more accurate positioning.

[0028] According to an embodiment, the rail is made of an integrally formed aluminum, stainless steel or carbon steel profile.

[0029] Also disclosed is an inspection robot system, comprising: a track assembly as described above; and an integral inspection robot or a serial inspection robot configured to run along the track for inspection.

[0030] Also disclosed is a serial inspection robot system, comprising: a track, which defines an inspection path; a driving device, which comprises a motor, a reduction mechanism and a transmission sprocket, the rotational motion of the motor is transmitted to the transmission sprocket via the reduction mechanism, thereby driving the transmission sprocket to rotate; a plurality of mounting seats, each of which is equipped with a guide wheel that rolls on the track, and the driving device is rotatably mounted on the corresponding mounting seat; a transmission chain, which is fixedly mounted on the track along the extension direction of the track, and the transmission sprocket meshes with the transmission chain, so that when rotating, it can move along the track together with the driving device and the mounting seat; a serial inspection robot, which comprises a group of robot modules connected in series with each other, each of which is mounted on a corresponding mounting seat, so that it is driven by the driving device and can move along the track.

[0031] According to one embodiment, the robot modules are mounted on the corresponding mounting seats and are connected in series via rigid rods with universal joints.

[0032] According to an embodiment, the number of the driving device is one; or, the number of the driving device is at least two, and the at least two driving devices have the same configuration.

[0033] According to one embodiment, the serial inspection robot is a wirelessly powered serial inspection robot, wherein the driving device has its own battery or is powered by a separate battery module; the group of robot modules also includes at least one of the following battery-powered 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-fighting module, and a video-thermal imaging lens cleaning module.

[0034] According to one embodiment, the serial inspection robot is a cable-powered serial inspection robot, wherein the group of robot modules 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 fighting module, and a video-thermal imaging lens cleaning module.

[0035] According to one embodiment, the inspection robot system further includes a cable traction assembly, which includes: a plurality of traction trolleys, each of which is installed in the track and runs along the longitudinal extension trajectory of the track; a cable, one end of which is connected to the drive device and / or the serial inspection robot, and the other end is connected to a power supply and a communication gateway; wherein the cable is fixed or clamped on the plurality of traction trolleys, so that the cable can move with the movement of the traction trolleys.

[0036] According to one embodiment, the traction trolley includes a bracket, and two pairs of upper guide wheels and two pairs of lower guide wheels mounted on the bracket and configured to run on the upper side and the lower side of the track respectively.

[0037] According to one embodiment, the bracket is a U-shaped bracket having a bottom plate and two side plates, and a pair of upper guide wheels and a pair of lower guide wheels are respectively installed side by side on each of the side plates so that they can roll along the upper and lower sides of the track respectively.

[0038] According to one embodiment, the bracket is made of stainless steel, carbon steel or aluminum profile.

[0039] According to one embodiment, the U-shaped bracket also includes a side guide wheel installed between the pair of upper guide wheels and the pair of lower guide wheels on each of the side plates, and the side guide wheels are configured to roll on corresponding side surfaces of the track respectively.

[0040] According to one embodiment, the traction trolley and the mounting seat share the track for rolling operation.

[0041] According to an embodiment, the transmission chain is a toothed chain or a roller chain.

[0042] According to an embodiment, at least a portion of the transmission chain is a bendable chain, for example a chain that provides three-dimensional extension freedom.

[0043] According to an embodiment, the mounting seat comprises a lower bracket and two upper bracket parts, wherein each of the upper bracket parts is independently pivotable relative to the lower bracket.

[0044] According to an embodiment, each of the upper bracket parts includes a bottom plate and two side plates extending upward from the bottom plate.

[0045] According to one embodiment, the upper bracket portion is an upper U-shaped portion, and an upper guide wheel and a lower guide wheel are installed on each side plate of each upper U-shaped portion, and the upper guide wheel and the lower guide wheel roll on the upper and lower sides of the track respectively.

[0046] According to an embodiment, a side guide wheel is further installed on each of the side plates of each of the upper U-shaped portions between the upper guide wheel and the lower guide wheel thereof, and the side guide wheel is configured to roll on the side surface of the track.

[0047] According to an embodiment, two pivot holes are provided on the lower bracket, and the two upper bracket parts are pivotably mounted on the lower bracket via respective pivots passing through the corresponding pivot holes.

[0048] According to one embodiment, a thrust ball bearing sleeved on the pivot is further provided at the lower end of the pivot hole of the lower bracket.

[0049] According to one embodiment, the transmission chain is fixedly mounted on the bottom surface of the track and extends along the track.

[0050] According to an embodiment, the transmission chain is fixedly mounted on the bottom surface of the track at a position near the center line by rivets or screws.

[0051] According to one embodiment, the guide wheel is a guide wheel with a flange, and the side of the flange close to the track is an inclined surface, and the inclined surface forms an inclined angle A relative to a plane perpendicular to the rotation axis of the guide wheel, wherein 0<A≤30°.

[0052] According to an embodiment, 5°≤A≤20°.

[0053] According to one embodiment, the guide wheel is a guide wheel with a flange, and a surface of the flange close to the track is an arc surface, and an arc radius of the arc surface is smaller than a bending radius of the track.

[0054] According to one embodiment, the reduction mechanism is a meshing worm wheel and a worm, wherein the worm is in driving cooperation with the rotating shaft of the motor, and the worm wheel is in driving cooperation with the transmission sprocket.

[0055] According to one embodiment, the worm wheel is fixed to one side of the lower bracket of the mounting seat, and the transmission sprocket is rotatably mounted coaxially with the worm wheel on the other side of the lower bracket opposite thereto.

[0056] According to an embodiment, the rail has a generally polygonal cross-section, wherein the polygonal shape is configured such that the rail has a flat bottom surface and a top surface after installation, and has two vertical side surfaces or two inclined upper side surfaces or two arc-shaped upper curved surfaces.

[0057] According to an embodiment, the cross section of the track is selected from one of the following: square, trapezoid, truncated isosceles triangle, pentagon, hexagon and drum.

[0058] According to one embodiment, the track is a square track with a square cross section as a whole, and the upper guide wheel and the lower guide wheel of the mounting seat roll on the top surface and the bottom surface of the square track respectively. The square track is easier to manufacture and supply, and has lower cost.

[0059] According to one embodiment, the transmission chain is an uninterrupted chain fixedly mounted on the track along the length of the track.

[0060] According to one embodiment, the transmission chain is composed of at least two chain sections that are seamlessly spliced ​​along the length of the track and fixed on the track.

[0061] According to an embodiment, each of the set of robot modules is independently repairable and / or independently replaceable.

[0062] According to one embodiment, at least one robot module in the serial inspection robot is fixedly assembled with the driving device.

[0063] According to an embodiment, the track is a circular track, which defines a circular fixed inspection path of the inspection robot.

[0064] According to one embodiment, at least one robot module in the tandem inspection robot is fixedly mounted on the mounting base.

[0065] According to one embodiment, the transmission sprocket is located below the track and can engage with a transmission chain fixedly mounted on the bottom surface of the track.

[0066] According to an embodiment, a splicing groove for mounting a splicing pin is provided on at least part of the track segments of the track.

[0067] According to an embodiment, the track is an integrally formed metal part.

[0068] According to an embodiment, the robot modules are independently repairable and / or independently replaceable.

[0069] According to an embodiment, the functional module has a built-in battery.

[0070] According to one embodiment, the functional module draws power from a cable.

[0071] According to an embodiment, the rail may be made of a metal material such as stainless steel, carbon steel or aluminum profile, which may provide advantages in terms of cost, weather resistance, ease of processing, easy replacement and maintainability.

[0072] According to one embodiment, different robot modules may communicate and be powered by cables, or may be battery powered and communicate wirelessly.

[0073] According to one embodiment, since the inspection robot adopts a design of robot modules distributed in series on the track, this design can avoid concentrated attachment on the track, thus providing a distributed light-load configuration. Since the functions and power consumption of the modules are also dispersed, the battery capacity on each module can be smaller, the pressure is small, and it is easy to pass the explosion-proof certification. Each module can be independently maintained, repaired and replaced, so it has better maintainability than an integral inspection robot.

[0074] According to one embodiment of the present invention, transmission is achieved by adopting the meshing between a sprocket and a chain fixedly mounted on a track, and in combination with a reduction mechanism in the form of a worm gear, many advantages can be provided, such as no slipping, strong climbing ability, self-locking when stopped, the drive device can still maintain a stable position even when subjected to external forces, simple structure, etc.

[0075] The present invention also discloses the use of the inspection robot system for inspection in outdoor environments, underground mines, dock transportation sites, industrial production lines, long-distance rail transportation occasions, long-distance belt transportation occasions, explosion-proof occasions, anti-freeze occasions, rainproof occasions or dustproof occasions.

[0076] More embodiments of the present invention can also achieve other advantageous technical effects that are not listed one by one. These other technical effects may be partially described below and are predictable and understandable to those skilled in the art after reading the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The above-mentioned features and advantages and other features and advantages of these embodiments and the manner in which they are achieved will become more apparent and embodiments of the present invention may be better understood by referring to the following description taken in conjunction with the accompanying drawings.

[0078] Figure 1A It is a schematic diagram of the main configuration of a wireless (battery) powered serial inspection robot system according to an embodiment of the present invention, showing the overall layout of an exemplary inspection robot system arranged on a circular track, for example.

[0079] Figure 1B It is a schematic diagram of the main configuration of a wired (cable) powered serial inspection robot system according to an embodiment of the present invention, showing the overall layout of the inspection robot system.

[0080] Figure 2A yes Figure 1A An enlarged schematic diagram of a portion of a wireless (battery) powered inspection robot system is shown, showing an enlarged view of the arrangement of the serial inspection robots (modules) and drive devices on the track.

[0081] Figure 2B yes Figure 1B An enlarged schematic diagram of a portion of a wired (cable) powered inspection robot system is shown, showing an enlarged view of the arrangement of the serial inspection robots (modules) and drive devices on the track.

[0082] Figure 3 yes Figure 2B A further enlarged view of the wire-powered inspection robot module, drive unit and traction trolley is shown.

[0083] Figure 4 yes Figure 2A A further enlarged perspective schematic diagram of a drive device and a portion of a (curved) track of a wireless (battery) powered inspection robot system is shown.

[0084] Figure 5 It's from another perspective Figure 2B A further enlarged fragmentary view of the illustrated construction showing the square cross-section track in partial section.

[0085] Figure 6 It is an enlarged schematic diagram of a driving device and an inspection robot (module) of a serial inspection robot system according to an embodiment of the present invention.

[0086] Figure 7 Partially cut away, showing Figure 6An enlarged schematic diagram of the drive device and the inspection robot module assembled together by a mounting base is shown.

[0087] Figure 8 Another view shows Figure 6 The shown structures include a drive device, an inspection robot (module), and a mounting base.

[0088] Fig. 9 It is shown Figure 8 The structure of the driving device is shown, in which the inspection robot module is removed, and a schematic diagram showing that the two upper U-shaped parts of the mounting base can each independently pivot relative to the lower part.

[0089] Fig.10 yes Figure 8-9 A schematic perspective view of a portion of the drive assembly shown, particularly illustrating the guide wheel and pivot design of the mount.

[0090] Fig.11 is a partial perspective schematic diagram of a driving device of another embodiment, which is Fig.10 The structure shown is basically the same, except that a side guide wheel is added to the mounting base.

[0091] Fig.12 A rail with a square cross-section is shown according to an embodiment, in which an electric heating device may be provided.

[0092] Fig.13 The arrangement and design of the guide wheel of the mounting seat according to one embodiment are shown, especially the flange on the guide wheel and the inclined design of the flange for facilitating the guide wheel to negotiate corners.

[0093] Fig.14 The structure of the guide wheel according to one embodiment is shown in an enlarged view, especially the flange on the roller body and the inclined design of the flange.

[0094] Fig.15 An enlarged schematic perspective view of an embodiment of a towing trolley according to an embodiment is shown, showing the construction and details of the towing trolley of the embodiment. DETAILED DESCRIPTION

[0095] In the following description of the drawings and specific embodiments, the details of one or more embodiments of the present invention will be described. Other features, objects and advantages of the present invention can be clearly seen from these descriptions, drawings and claims.

[0096] 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 may be implemented or executed in various ways. Each example is provided by explaining the disclosed embodiments rather than limiting them. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made to the embodiments of the present invention without departing from the scope or essence of the present invention. For example, a feature illustrated or described as part of one embodiment may be used together with another embodiment to still produce another embodiment. Therefore, the present invention discloses such modifications and variations that fall within the scope of the appended claims and their equivalent elements.

[0097] Likewise, it is understood that the phrases and terms used herein are for descriptive purposes and should not be considered restrictive. The use of "include," "comprise," or "have" and variations thereof herein is intended to be open-ended to include the items listed thereafter and their equivalents and additional items.

[0098] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0099] In the inspection robot solutions of the prior art, in applications where the running channel of the inspection robot's conveyor chain is relatively narrow, the inspection robot with an integrated carrier belt design may be unable to pass through the narrow running channel due to the excessively large volume of the overall structure, resulting in limited or obstructed application of the inspection robot system.

[0100] In addition, the inspection robot needs to work continuously for a long time, and its working environment may be relatively harsh, such as high temperature, high humidity, high dust environment, etc. In this case, the inspection robot with an integrated design may cause a series of problems due to its integrated structure. For example, the working modules of the integrated structure work together and generate heat, resulting in heat dissipation problems. For some occasions, such as explosion-proof requirements and reliability, these may not meet the requirements. Moreover, if a component of the working parts of the above-mentioned integrated overall structure fails, the operation of the inspection robot conveyor chain has to be stopped, and the entire inspection robot has to be disassembled for replacement or diagnosis and maintenance, which may cause the conveyor chain to be interrupted for too long. These will cause unacceptable losses in the application occasions of the inspection robot conveyor chain that require long-term and low-fault operation.

[0101] The present invention is further described and illustrated in detail below in conjunction with the accompanying drawings and specific embodiments.

[0102] Figure 1A 1 is a schematic diagram of the main configuration of a wireless (battery) powered serial inspection robot system 100 according to an embodiment of the present invention, showing the overall layout of an exemplary inspection robot system 100 arranged on a circular track 200, for example. Figure 2A yes Figure 1A The enlarged schematic diagram of a portion of the wireless (battery) powered inspection robot system 100 is shown, showing an enlarged view of the arrangement of the tandem inspection robot (module) 300 and the drive device 400 on the track 200. Figure 4 yes Figure 2A The schematic diagram is a further enlarged perspective view of a driving device 400 and a portion of a curved track of the wireless (battery) powered inspection robot system 100 .

[0103] like Figure 1A , 2A and Figure 4 , the basic components and overall layout of the wireless (battery) powered serial inspection robot system 100 are shown. The serial inspection robot 300 of the inspection robot system 100 can be driven by the driving device 400 and can be engaged with the transmission chain 240 fixed on the track 200 through the transmission sprocket 440 to run along the track to inspect the target in the surrounding environment.

[0104] like Figure 2A As shown, an exemplary serial inspection robot 300 is shown, which includes a group of four serially arranged inspection robot modules 300A-300D. As shown in the figure, this group of robot modules 300A-300D are arranged in series and spaced apart from each other on the track 200. The robot module 300D at one end is installed together with a drive motor 410 and driven by it, and the robot module 300A at the other end is installed together with another drive motor 410 and driven by it. These robot modules can be connected to each other by rigid connecting rods such as steel rods 302 or steel wires 302, so that they can be driven together and run on the track 200. In the case of using a rigid connecting rod such as a steel rod 302, universal joints can be added at both ends to provide universal joints, which provide flexibility and passability when crossing a curve. In addition, in the case of battery power supply, at least one of the robot modules, such as the robot module 300B, can be a battery module, which can power the inspection robot module 300A and the drive device 400 where it is located through a wire or cable 301. exist Figure 2AIn the embodiment, at both ends, i.e., the inspection robot modules 300A and 300D, a drive device 400 with a motor and a transmission and reduction mechanism is provided. Of course, it is also possible to equip a serial inspection robot with one or more drive devices 400. The inspection robot modules 300A-300D can be connected to each other by wireless communication. The drive motor 410 can be in the form of a servo motor, for example.

[0105] Figure 1B is a schematic diagram of the main configuration of a wired (cable) powered serial inspection robot system 100 according to an embodiment of the present invention, showing the overall layout of the inspection robot system 100 . Figure 2B yes Figure 1B The enlarged schematic diagram of a portion of the wired (cable) powered inspection robot system 100 is shown, showing an enlarged view of the arrangement of the serial inspection robot (module) 300 and the drive device 400 on the track 200. Figure 3 yes Figure 2B A further enlarged view of the wire-powered inspection robot module 300D, the drive device 400 and the traction vehicle is shown. Figure 5 It's from another perspective Figure 2B A further enlarged partial view of the structure shown, and a square cross-section track 200 is shown in a partially cutaway manner. Figure 1A , 2A The configuration and construction of various aspects of the wirelessly powered serial inspection robot system shown are similar, with the main difference being that a group of four serially arranged inspection robot modules 300A-300D of the wired-powered serial inspection robot system 100 are powered by an external cable 450, so a separate battery module can be omitted according to the circumstances. In addition, the communication (if any) between the inspection robot modules 300A-300D can also be in a limited form, of course, this is not necessary. The cable 450 is connected to the drive device and / or the inspection robot (module), and can follow the inspection robot (module) 300 to run on the track 200 through the traction of the traction trolley 470, as described in detail below. The wired power supply and communication method is advantageous in the case of short-distance inspection, and can provide a more reliable power supply and communication method.

[0106] like Figure 3As shown, the robot module 300D at one end is connected to a traction trolley 470 carrying (e.g., snap-fitting or other installation methods) the cable 450 via a cable 450. Those skilled in the art will appreciate that, since the inspection robot does not weigh much and the track 200 extends horizontally in most cases, the traction trolley does not need to be equipped with a separate traction rope, and the traction rope can be omitted in the case of an inspection robot. In other words, the traction trolley 470 can be connected (and electrically connected) to the drive device 400 only via the power supply and / or communication cable 450, and / or connected (and electrically connected) to the inspection robot (e.g., Figure 3 The module 300D shown in the figure can make the power supply cable 450 run along the track 200 along with the drive device 400. In contrast, some inspection robots in the prior art also use cables for power supply, but generally use the arrangement of busbars. One of the technical defects of busbars is that they are prone to poor contact or short circuit in humid environments, and the reliability of busbar power supply is relatively low. The cable traction method of the present invention can alleviate or avoid the above defects.

[0107] Figure 5 It's from another perspective Figure 2B A further enlarged fragmentary view of the illustrated construction showing the square cross-section track in partial section. Figure 6 1 is a schematic diagram of a driving device 400 and an inspection robot (one of the robot modules) 300 of a serial inspection robot system according to an embodiment of the present invention being installed and running on a track 200 .

[0108] Figure 7 The assembly of the drive device 400 on the square track 200 and an exemplary assembly structure of the transmission chain 240 are shown in a partial cross-sectional view. Obviously, as shown in the figure, the track 200 has a substantially square cross-section, but other forms of structures and cross-sections of the track 200 are also possible. For example, the track 200 may have a cross-section that is polygonal in shape as a whole, and the polygonal shape is configured so that the track 200 has a flat bottom surface and a top surface after installation, and has two vertical side surfaces, or two inclined upper side surfaces, or two arc-shaped upper curved surfaces. The cross-section of the track 200 can be square, trapezoidal, truncated isosceles triangle, pentagon, hexagon and drum, etc. The track 200 can be integrally formed of metal such as aluminum, aluminum alloy, steel, etc. In general, square tracks are easier to manufacture and supply, and the cost can be lower.

[0109] In addition, it is important that Figure 5 and Figure 7-Figure 10 As shown, according to Figure 7As shown in the orientation, on the track 200, for example, near the center line of the bottom surface of the track 200 or other parts, the transmission chain 240 can be fixedly installed by means of rivets, screws, bolt connections, etc. The transmission chain 240 is arranged along a part or the entire extension length and extension direction of the track 200, and in the present invention, it needs to be fixedly installed on the track 200 so that the sprocket 440 can engage with it and move along the transmission chain 240. Figure 5 and Figure 7 Also shown are the motor 410 and the reduction mechanism 430 mounted on the mounting base 420 of the driving device 400, and the inspection robot 300 which can be mounted on the other side opposite to the motor 410. The reduction mechanism 430 is preferably, but not limited to, a worm gear reduction mechanism, as described in further detail below.

[0110] In some outdoor or cold and icy application environments, the track 200 of the serial inspection robot system of the present invention may freeze due to exposure to rain and cold, thereby affecting the normal use of the track 200. Fig.12 As shown, a heating wire installation groove 260 can also be provided in the track 200, in which an electric heating element 250, such as an electric heating belt, a heating wire or a thermistor PTC, can be accommodated for heating the track, deicing and / or dewatering. Fig.12 As shown, electric heating elements 250 are arranged on both sides, but the number and arrangement positions of the electric heating elements 250 can be changed as needed, such as more or less, and can be arranged on the track 200 of any structure, not limited to the square track.

[0111] Another advantage of a regularly shaped closed track, such as the square track 200, is that in some dusty application environments such as mines and underground, dust accumulation in the track grooves (if the track is an open grooved track) can be avoided to affect use, and the manufacturing and processing costs of the regularly shaped closed track are also lower, while the strength and rigidity can be higher.

[0112] Figure 6 4 is an enlarged schematic diagram of a driving device 400 and an inspection robot 300 of a tandem inspection robot system according to an embodiment of the present invention. Figure 7 Partially cut away, showing Figure 6 Schematic end view of the illustrated construction. Figure 8-Figure 10 The structure of a driving device, an inspection robot (module), and a mounting base of an embodiment is shown. Figure 6-10As shown, this embodiment of the drive device 400 may include a motor 410, a reduction mechanism 430 and a drive sprocket 440. As an illustrative example, the reduction mechanism 430 is mainly composed of a worm wheel and a worm that mesh with each other. This worm-wheel-type reduction mechanism 430 can not only play a good role in speed reduction, but also is self-locking, so that it is convenient to fix the inspection robot (module) on the track, which is not available in other forms of reduction mechanisms. The motor shaft of the motor 410 and the worm can be coaxially connected to transmit the rotational motion from the motor, and the rotational motion after speed reduction by the worm wheel meshing therewith is transmitted to the drive sprocket 440. As shown Figure 7 As shown in FIG. 1 , the worm gear reduction mechanism 430 is mounted on the right side of the mounting base 420 in the figure, and the transmission sprocket 440 can be mounted on the left side of the mounting base 420 in the figure, for example, in a coaxial or coaxial manner. In this way, the inspection robot (module) 300 and the drive device 400 are assembled into one body through the mounting base 420. The transmission sprocket 440 meshes with the transmission chain 240 fixed on the track, as shown in FIG. Figure 7 Thus, when the drive sprocket 440 of the drive device 400 is driven to rotate by the motor 410, it can mesh with the drive chain 240 fixed on the track 200 and roll along the track 200, such as rolling forward or backward, thereby driving the entire drive device 400, the mounting base 420 and the inspection robot 300 to move along the track 200.

[0113] The transmission chain 240 may be a roller chain. Of course, the transmission chain 240 may also be any other form that is adapted to mesh with the transmission sprocket, such as a toothed chain. Since the transmission chain 240 needs to extend upwards together with the track 200, for example, generally vertically, horizontally, and circumferentially, it may need to bend sideways and / or twisted. Therefore, it is preferred that at least a portion or all of the transmission chain 240 is a chain transmission chain that can bend sideways, which can have the freedom of three-dimensional spatial extension.

[0114] In order to facilitate the entire driving device 400 and the inspection robot 300 to move smoothly along the track 200, as shown in FIG. Figure 8-10 As shown, according to one embodiment, the mounting base 420 may include a lower bracket 423 and two upper bracket portions 421 and 422, which may be substantially U-shaped, each upper U-shaped portion 421 or 422 being capable of independently pivoting relative to the lower bracket 423, for example, the upper U-shaped portion 421 or 422 being capable of pivoting from Figure 8 The positions shown are independently pivoted relative to the lower bracket 423. Fig. 9 The orientation shown allows the mounting base 420 to be flexibly adjusted when cornering on the track, allowing the device to corner smoothly.

[0115] Each upper U-shaped portion 421 and 422 includes a bottom plate and two side plates extending upward from the bottom plate. Fig.10 As shown, an upper guide wheel 421A and a lower guide wheel 421C are installed on one side plate of the upper U-shaped portion 421, an upper guide wheel 421B and a lower guide wheel 421D are installed on the other side plate opposite thereto, and a pivot 480 is installed on the bottom plate of the upper U-shaped portion 421, as described in detail below. Similarly, an upper guide wheel 422A and a lower guide wheel 422C are installed on one side plate of the upper U-shaped portion 422, an upper guide wheel 422B and a lower guide wheel 422D are installed on the other side plate opposite thereto, and another pivot 480 is installed on the bottom plate of the upper U-shaped portion 422, as described in detail below. These upper guide wheels and lower guide wheels are configured to roll on the upper and lower sides of the track 200, play the role of motion guidance, limit and straightening, and prevent jumping during operation. The setting of these guide wheels helps the drive device 400 and the inspection robot 300 to run smoothly and smoothly along the track 200, and can prevent jumping, derailment and deviation from the track during operation, etc.

[0116] like Figure 5-10 As shown, the lower bracket 423 may be designed with a straight plate 423A, on which the inspection robot (module) 300, such as a camera module, a battery module, a drive module, a video-audio module, a sensor module, etc., or other inspection equipment may be installed. The lower bracket 423 may also be designed with two pivot holes 423D and 423E at positions corresponding to the bottom plates of the two upper U-shaped portions 421 and 422. The two pivot holes 423D and 423E may be intentionally thickened as shown in the figure so that two pivots 480 of a certain length may pass through them, such as Fig.10 As shown. One end of the two pivots 480 can be fixed on the bottom plate of the corresponding upper U-shaped part, for example, by being fixed in the two pivot holes 423D and 423E through threads, or / and also by nuts. The other ends of the two pivots 480 can be pivotally mounted on the lower bracket 423. For example, the end flange of the other end can be abutted against the end surface of the corresponding pivot hole, so that the upper U-shaped part can be pivoted relative to the lower bracket. As a preferred example, thrust ball bearings 423B and 423C can be sleeved between the end flange of the other end and the corresponding pivot holes 423D and 423E, so as to ensure that the two upper U-shaped parts 421 and 422 are accurately and reliably assembled relative to the lower bracket 423, and to ensure that the two upper U-shaped parts 421 and 422 can be independently and smoothly pivoted relative to the lower bracket 423.

[0117] Fig.11 is a partial perspective schematic diagram of a driving device 400 of another embodiment. Fig.10The structures shown are basically the same, except that a side guide wheel is added to the mounting seat. A side guide wheel is added to each side plate of the upper U-shaped portion 421 and 422, namely 421E, 421F, 422E and 422F. After the drive device 400 is installed on the track 200, these side guide wheels 421E, 421F, 422E and 422F roll on the left and right sides of the track, further playing the role of motion guidance, (left and right) limit, straightening and preventing derailment, and of course, can also further help smooth cornering.

[0118] Figure 13-Figure 14 A design of guide wheels to assist in cornering on a track curve is shown. Figure 13-Figure 14 As shown, the upper guide wheel 421A of the mounting seat 420 is used as an example for illustration. The upper guide wheel 421A may have a roller body 421A1 that rolls on the track 200, and a flange 421A2 that is integral with it. A chamfered arc, such as a concave arc C, may be used to transition between the flange 421A2 and the roller body 421A1 to avoid stress concentration, and it may be more or less helpful for cornering. Preferably, the end face of the flange 421A2 on the side close to the track after installation is designed as an inclined surface S, and the inclined surface S forms an inclined angle A with a plane perpendicular to the rotation axis R of the guide wheel, wherein 0<A≤30°, for example, more preferably 2°≤A≤20°, 5°≤A≤15°, and so on. When the end face of the flange 421A2 on the side close to the track 200 after installation is designed as an arc surface, especially an arc surface that is arched outward, the arc radius of the arc surface is preferably smaller than the bending radius of the track, so as to help cornering. Fig.13 The upper guide wheel with the inclined surface S design is shown when turning. It can be seen that the design of the inclined surface S greatly reduces or even avoids the interference / obstruction of the rolling of the guide wheel by the side of the track 200, especially on the inner side of the curve of the track. Figure 13-14 Only the design of the upper guide wheel of the mounting seat is shown, but the lower guide wheel of the mounting seat can also adopt this inclined surface or cambered surface design. Similarly, the upper guide wheel and lower guide wheel blade of the traction trolley 470 can adopt this inclined surface or cambered surface design for crossing the curve, which is easily understood by those skilled in the art.

[0119] Fig.15 An embodiment of one of the traction trolleys 470 that can roll on the inspection track 200 is shown. The cable 450 can be fixed on the traction trolley 470, and the cable 450 can be directly used as a traction rope without using an additional traction rope. This is because the track 200 is a horizontal track in most cases, and even if the cable 450 is affected by traction during the traction process, the traction / tension is small enough not to be detrimental to the life of the cable 450 and the reliability of power supply.

[0120] Fig.154 is an enlarged schematic perspective view of an embodiment of the traction trolley 470, showing the structure and details of the traction trolley 470 of this embodiment. Similar to the arrangement of guide wheels on the mounting seat 420, in this embodiment, the traction trolley 470 has a U-shaped bracket, which is composed of a bottom plate and two side plates extending upward from the bottom plate, for example, which can be processed by channel steel (or aluminum alloy) or I-beam (or aluminum alloy profile). A total of 8 guide wheels are installed on the U-shaped bracket. Among them, a pair of upper guide wheels 471A and 471B and a pair of lower guide wheels 471C and 471D are installed on one of the side plates 471 of the traction trolley 470, which can all play the role of motion guidance, position limiting and straightening. A pair of upper guide wheels 472A and 472B and a pair of lower guide wheels 472C and 472D can be installed on the other side plate 472 of the traction trolley 470, which can all play the role of motion guidance, position limiting and straightening, and preventing jumping during operation. These guide wheels can help the traction trolley 470 to roll smoothly along the track 200, so that when the inspection robot 300 and the drive device 400 run along the track 200, their (power supply and / or communication) cables 450 can be used as traction cables and can therefore also be carried by the traction trolley 470 and travel along the track 200 together, providing safe and reliable power supply and / or communication. The upper guide wheels and lower guide wheels of the traction trolley 470 can have the same structure and design as the upper guide wheels and lower guide wheels of the mounting seat 420, because they can run on the same track 200.

[0121] A cable mounting member 475 may also be provided on the traction trolley 470, for example, on its bottom plate 473, which may include, for example, a main body with a slot 475A for accommodating and installing the cable 450, and two fastening screws 476, for example, for fastening the cable 450 in the slot 475A. Of course, those skilled in the art will appreciate that the traction trolley may adopt other forms different from those shown in the figure, as long as the traction rope and the cable can be installed and fixed, and these are within the scope of the present invention.

[0122] The rail 200 can be integrally formed from metal such as aluminum or aluminum alloy by extrusion process.

[0123] The transmission chain 240 can be a roller chain or a toothed chain, and they can be load-bearing or non-load-bearing. Of course, the transmission chain 240 can also be other forms that are adapted to mesh with the transmission sprocket, such as a toothed chain. At positions where uphill and downhill and / or cornering are required, side bending and / or twisting may also be required. Therefore, at these positions, the transmission chain 240 can adopt a chain transmission chain that can be side-bent, which preferably has a three-dimensional degree of freedom, so that it can have a three-dimensional degree of freedom of extension.

[0124] One or more serial inspection robots 300 may be arranged on each track 200. Each serial inspection robot 300 may include a group of multiple serial inspection robot modules that are separated from each other and arranged in series, such as modules 300A-300D. Although a group of four inspection robot modules are provided as shown in the figure, the number of these modules may be less or more, such as 2, 3, 5, 6, etc., depending on the needs.

[0125] Although these serial inspection robot modules are spaced apart from each other by a certain gap as shown in the figure, they can also be arranged in series on the track 200 close to each other without gaps. Figure 2A-2B The figure shows two motors 410 at the front and rear, but the number of motors can be one or more, and their positions can also be arranged in other ways.

[0126] By distributing the inspection robot modules connected in series on the track 200, the weight and force of each installation position are reduced, and the weight is distributed at multiple locations instead of a single location as before. With such a configuration, potential problems caused by uneven weight distribution and unbalanced center of gravity of the inspection robot can be alleviated or even solved, for example, impact can be reduced, noise during operation and other such failures can be reduced, and relatively lower frequency of repair and maintenance can be achieved.

[0127] Moreover, the size and space occupied by each inspection robot module can be smaller, so it is possible to apply it in occasions where the running channel of the inspection robot conveyor chain is relatively narrow. In addition, by dispersing multiple inspection robot modules that may generate heat during operation in a serial manner, the battery-powered inspection robot module can use a relatively small capacity battery with better explosion-proof performance when it is powered by its own battery, and it can also solve the problem of poor heat dissipation and improve the operational reliability and robustness of the system. Since the modules are distributed in series and are independent of each other, the difficulty of fault diagnosis, maintenance, and replacement is further reduced. These advantages are even more important and prominent in application environments with harsh working conditions such as high temperature, high explosion, and high dust.

[0128] The robot module of the serial inspection robot 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, camera cleaning module. The lighting module can, for example, serve as the functions of environmental lighting and visual monitoring, which is basic and necessary for remote monitoring. The video-thermal imaging-audio module can, for example, be used to capture images, thermal imaging and audio information, including video, thermal imaging, temperature sensing and recording, etc., and can selectively transmit it to a ground base station, for example, in real time. The fire protection module can include relevant sensors, such as temperature sensors, smoke sensors, etc., and can send corresponding warning signals, and can selectively send corresponding instructions to start consumer facilities, such as fire hydrants, fire extinguishers, etc. The camera cleaning module can be used to clean the camera of the inspection robot, for example, a water spray nozzle and a water tank are installed to spray and clean the camera, etc. Of course, it is fully understood by those skilled in the art that according to different application scenarios and functions, the serial inspection robot assembly of the present concept can also be additionally or alternatively provided with other functional modules, which are also within the scope of the present concept.

[0129] According to one example, a group of robot modules may include a master module and at least one slave module, and the master module may be in wireless or wired communication connection with the at least one slave module.

[0130] According to one example, the functional module may be built with a rechargeable battery as a working power source, so that the module can work independently and have better explosion-proof performance.

[0131] In one example, the wireless communication module can act as the main module. The wireless communication module can be selected from at least one of the following items: Zigbee module, WiFi module, Bluetooth module, LoRa transmission module, NB transmission module, Proprietary transmission module, Thread transmission module, Wi-SUN transmission module, Z-Wave transmission module and infrared communication module.

[0132] In one example, to facilitate inspection, maintenance and replacement, these functional modules can be independently repaired and / or replaced.

[0133] The above-mentioned serial rail inspection robot system and its various components can be used for inspection in, for example, underground mines, dock transportation sites, industrial production lines, long-distance rail transportation sites, long-distance belt conveyor sites or explosion-proof sites, as well as in other harsh or dangerous environments.

[0134] In one example, the serial inspection robot system may include an online monitoring wireless sensor, which is fixed in the environment where the inspection path is located and is used to collect status data of equipment in the environment.

[0135] The inspection robot in the serial inspection robot system includes a wireless sensor data communication module, which is configured to wirelessly communicate with the online monitoring wireless sensor during the inspection so as to collect data collected by the online monitoring wireless sensor and issue instructions to the online monitoring wireless sensor.

[0136] Although in the above-mentioned embodiment of the serial inspection robot system, the inspection robot adopts a serial inspection robot, which can achieve many related technical advantages, it can be understood and easily thought by those skilled in the art that when necessary, the serial inspection robot system of the present invention can also be replaced by an integrated inspection robot.

[0137] According to an example, the functional module may be powered by a power supply cable, or the functional module may have a built-in battery as a power supply.

[0138] The above describes the basic concept of the present invention in combination with the embodiments. Note that the above are only preferred embodiments of the present invention and the technical principles used. It will be understood by those skilled in the art that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A track assembly for an inspection robot system, characterized in that: The track assembly comprises: a track defining an inspection path; and An uninterrupted transmission chain is fixedly mounted on the track along the extension track of the track.

2. The track assembly according to claim 1, characterized in that: The track has a generally polygonal cross section, and the polygonal shape is configured such that the track has a straight bottom surface and a straight top surface, and has two vertical side surfaces or two inclined upper side surfaces or two arc-shaped upper curved surfaces.

3. The track assembly according to claim 1, characterized in that: The drive chain is arranged along the entire extended length of the track.

4. The track assembly according to claim 3, characterized in that: The transmission chain is a whole uninterrupted chain fixedly installed on the track along the length of the track; or, the transmission chain is composed of at least two sections of chain seamlessly spliced ​​along the length of the track and fixed on the track.

5. The track assembly according to claim 1, characterized in that: The track is a square track with a square cross-section as a whole. Two pairs of upper guide wheels and two pairs of lower guide wheels on the mounting seat of the inspection robot system roll along the left and right sides of the track on the top and bottom surfaces of the square track respectively.

6. The track assembly according to claim 2, characterized in that: The track has a flat bottom surface, a top surface, and two inclined upper side surfaces or arc-shaped upper curved surfaces, wherein two pairs of upper guide wheels and two pairs of lower guide wheels on the mounting seat of the inspection robot system roll on the two inclined upper side surfaces or arc-shaped upper curved surfaces and the bottom surface of the track respectively.

7. The track assembly according to any one of claims 1 to 6, characterized in that: The track assembly further includes a mounting base configured to roll along the track, and at least two pairs of upper guide wheels, two pairs of lower guide wheels and a driving device are installed on the mounting base. The driving device includes a motor, a reduction mechanism and a transmission sprocket, wherein the transmission sprocket is rotatably mounted on the mounting base and arranged to engage with the transmission chain.

8. The track assembly according to any one of claims 1 to 6, characterized in that: The transmission chain is fixedly mounted on the bottom surface of the track and extends along the track.

9. The track assembly according to any one of claims 1 to 6, characterized in that: The transmission chain is a transmission chain that can bend laterally.

10. A patrol robot system, comprising: The track assembly according to any one of claims 1 to 9; and An integral inspection robot or a serial inspection robot is configured to run along the track for inspection.

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