Flexible track robot

Abstract

The invention relates to the technical field of inspection robots, and provides a flexible track robot which comprises a flexible track and a box body, a driving assembly is arranged at the top end of the box body and comprises a base, and a driving wheel making contact with the bottom of the flexible track and supporting wheels clamped on the two sides of the flexible track respectively are arranged on the base. A first motor in transmission connection with the driving wheel is arranged on the box body, the supporting wheel provides pressing force for the flexible track through a compression spring limited in the base, and the interior of the box body is divided into an upper layer cavity used for installing a power source and a processor and a lower layer cavity used for containing an operation module through a partition plate. The deployment efficiency of the robot is improved through the flexible track, three-point type contact is formed through the driving wheels, the supporting wheels and the flexible track, the running stability of the robot is ensured, the robot is adaptive to curvature changes of the flexible track, dynamic attachment of a driving assembly and the track is ensured, the robot is adaptive to application in a narrow space, and overall miniaturization of the robot can be achieved; and the function expansibility and universality of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a flexible track robot. Background Art

[0002] In recent years, with the rapid growth in the installed capacity of nuclear power plants, the demand for nuclear power plant operation, maintenance, and inspection has increased significantly. However, nuclear power plants contain numerous narrow areas, making traditional manual inspection methods inefficient and posing safety risks. Robotic technology, with its advantages of high-precision motion, accurate data collection, and compact size, is gradually becoming an important alternative to manual inspection. While existing track robots can adapt to complex ground environments, their application in confined spaces still faces numerous challenges, such as long track installation cycles, insufficient flexibility, and low deployment efficiency. A more flexible and adaptable solution is urgently needed.

[0003] Although current flexible track robot technology has made certain progress, it still has obvious shortcomings. For example, the flexible track system proposed by Chinese invention patent 201810315208.0 can adapt to the dislocation and movement of hydraulic supports, but its track design is still mainly rigid structure, with limited flexible adjustment capabilities, making it difficult to adapt to changing small space scenarios; and the modular track inspection robot disclosed in 202210506080.2 supports module replacement, but its track deployment needs to be customized according to the site, with a long installation cycle and insufficient flexibility. In addition, the track flexibility and modular coordination capabilities of the existing technology are weak, and it is impossible to quickly complete the deployment of multi-task combinations, resulting in limited improvement in operation and maintenance efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a flexible track robot that solves the problem that traditional track machines have low space utilization and lack of functional flexibility, making it difficult to operate stably and complete diversified operations in the narrow environment inside a nuclear power plant.

[0005] The present invention is achieved through the following technical solutions: A flexible track robot includes a flexible track and a box body, a driving assembly is provided on the top of the box body, the driving assembly includes a base, the base is provided with a driving wheel in contact with the bottom of the flexible track and supporting wheels respectively clamped on both sides of the flexible track, a first motor is provided on the box body that is transmission-connected to the driving wheel, the supporting wheel provides a clamping force on the flexible track through a compression spring limited in the base, and the box body is divided into an upper cavity for installing a power supply and a processor and a lower cavity for accommodating an operation module by a partition.

[0006] Furthermore, the flexible track includes a cylindrical steel cable at the bottom and a T-shaped connecting plate at the top, wherein a connecting hole is provided on the connecting plate.

[0007] Furthermore, adjacent flexible tracks are butted through connecting joints. The connecting joints are provided with ear plates bolted to the flexible tracks. The connecting joints squeeze and wrap the adjacent flexible tracks so that the outer contour of the connecting joints is flush with the outer contour of the flexible tracks.

[0008] Furthermore, barcodes for calibrating the position of the box body are arranged on the flexible track, and a barcode reading camera for reading the barcodes is arranged on the top of the box body.

[0009] Furthermore, the operation module includes second motors respectively installed on both sides of the lower cavity through brackets. The second motors are coaxially connected with vertically arranged lead screws. A regulating plate is in threaded transmission connection with the lead screws. A pan-tilt camera or a robotic arm is foldably and retractably connected below the regulating plate.

[0010] Furthermore, the operation module includes an extended power battery installed in the lower cavity. Furthermore, a plurality of box bodies are arranged along the flexible track, and adjacent box bodies are connected through flexible belts.

[0011] Furthermore, the flexible track is coated with a wear-resistant insulating coating, and tensile reinforcing fibers are embedded in the flexible track.

[0012] Furthermore, laser ranging modules are respectively installed at both ends of the box body along the moving direction of the flexible track.

[0013] Furthermore, the surface of the driving wheel is coated with a rubber layer for increasing friction.

[0014] The present invention has at least the following advantages and beneficial effects:

[0015] (1) By forming a three-point contact with the flexible track through the driving wheel and the supporting wheel, the running stability of the robot is ensured, and a pressing force is provided for the supporting wheel by the compression spring in the base, adapting to the curvature change of the flexible track, and ensuring the dynamic fit of the driving assembly and the track.

[0016] (2) By means of the flexible connection of multiple box bodies and the collaborative working mode of module combination, the task execution ability and environmental adaptability of the robot are improved, and the use cost is reduced.

[0017] (3) By arranging the flexible track and the connecting joints, convenient splicing of the track is realized, the local curvature radius of the flexible track can be adjusted to adapt to different space environments. At the same time, the flexible track can be installed in a hanging manner through the connecting holes opened on the connecting plate, improving the deployment efficiency and ensuring smooth track connection and smooth robot operation. Description of the Drawings

[0018] Figure 1 It is a layout schematic diagram of a flexible track robot provided by the present invention.

[0019] Figure 2Schematic enlarged layout diagram of a flexible rail robot provided by the present invention

[0020] Figure 3 Schematic structural diagram of a flexible rail robot provided by the present invention.

[0021] Figure 4 Schematic connection diagram of the top of a flexible rail robot provided by the present invention.

[0022] Figure 5 Schematic structural diagram of a first type of flexible rail robot provided by the present invention.

[0023] Figure 6 Schematic structural diagram of a second type of flexible rail robot provided by the present invention.

[0024] Figure 7 Schematic structural diagram of a third type of flexible rail robot provided by the present invention.

[0025] Figure 8 Schematic connection diagram of the flexible rail in a flexible rail robot provided by the present invention.

[0026] Figure 9 Schematic structural diagram of a connecting joint in a flexible rail robot provided by the present invention.

[0027] Reference numerals: 1 - flexible rail, 11 - steel cable, 12 - connecting plate, 13 - bar code, 2 - box body, 20 - partition board, 200 - binocular camera, 201 - upper cavity, 202 - lower cavity, 21 - first motor, 22 - code reading camera, 23 - bracket, 24 - second motor, 25 - lead screw, 26 - adjusting plate, 27 - pan-tilt camera, 28 - robotic arm, 29 - extended power battery, 3 - drive assembly, 31 - base, 32 - drive wheel, 33 - supporting wheel, 4 - connecting joint, 41 - ear plate, 5 - laser ranging module, 6 - flexible belt. Detailed implementation manners

[0028] The following are the detailed implementation manners in conjunction with the drawings.

[0029] Embodiment

[0030] As Figures 1 to 9As shown, in this embodiment, a flexible track robot is mainly disclosed, including a flexible track 1 and a box body 2, a drive assembly 3 is provided at the top of the box body 2, the drive assembly 3 includes a base 31, a drive wheel 32 in contact with the bottom of the flexible track 1 and support wheels 33 respectively clamped on both sides of the flexible track 1, a first motor 21 is provided on the box body 2 in transmission connection with the drive wheel 32, the support wheel 33 provides a pressing force on the flexible track 1 through a compression spring limited in the base 31, and the box body 2 is divided into an upper cavity 201 for installing a power supply and a processor and a lower cavity 202 for accommodating an operation module by a partition 20. Specifically, the box body 2 has an internal hollow rectangular shape, and its bottom can be set to be open or closed according to the working requirements of the operation module. The drive wheel 32 in the drive assembly 3 is in contact with the bottom of the flexible track 1, and the support wheel 33 is clamped on both sides of the flexible track 1 to form a three-point contact, which ensures the stability of the robot when moving along the track and avoids the risk of derailment. The supporting wheels 33 on both sides provide a pressing force through the compression springs in the base 31, so that the drive assembly 3 maintains stable contact with the flexible track 1 when it is deformed, and adapts to the curvature change of the flexible track 1 to ensure the dynamic fit of the drive assembly 3 and the track. The interior of the box body 2 is divided into an upper cavity 201 and a lower cavity 202 by a partition 20 to achieve functional zoning. Among them, the processor in the upper cavity 201 is electrically connected to the power supply to control the first motor 21. The first motor 21 drives the driving gear to rotate, thereby driving the driven gear meshing with the driving gear to rotate. The driven gear and the driving wheel 32 are fixed by the same connecting shaft, that is, starting the first motor 21 causes the driving wheel 32 to rotate through the gear pair, thereby realizing the movement of the box body 2 along the flexible track 1; the lower cavity 202 is a functional cavity for accommodating the operation module. The flexible track robot's modular, layered design (from top to bottom, consisting of the drive assembly 3, upper cavity 201, and lower cavity 202) effectively improves space utilization, enabling the robot to operate stably within the complex and ever-changing internal environment of a nuclear power plant. Furthermore, the rational division of drive, control, and operation functions not only facilitates equipment installation and maintenance, but also allows for flexible adjustment of module combinations based on varying operational requirements, achieving multi-purpose use of the single machine.

[0031] Furthermore, in specific implementation, Figure 2 、 Figure 4As shown in the figure, the flexible track 1 provided in the embodiment of the present invention includes a lower cylindrical steel cable 11 and an upper connecting plate 12 with a T-shaped cross-section. Connecting holes are provided on the connecting plate 12. Specifically, the flexible track 1 is made of a soft-rigid material, and its main part is the steel cable 11. Both the driving wheel 32 and the supporting wheel 33 are in contact with the outer circumference of the steel cable 11, and the included angle between the connecting line of the contact point of the driving wheel 32 and the axis of the steel cable 11 and the connecting line of the contact point of the supporting wheel 33 and the axis of the steel cable 11 is 120°, ensuring the stability of the force, thereby improving the smoothness of the robot's operation. The setting of the T-shaped connecting plate 12 and the connecting holes facilitates the installation and fixation of the track, enabling the track to be quickly and firmly connected to the support structure, ensuring the stability of the overall system.

[0032] Furthermore, in specific implementation, as Figure 8 , Figure 9 shown, the adjacent flexible tracks 1 provided in the embodiment of the present invention are butted through a connecting joint 4. The connecting joint 4 is provided with ear plates 41 bolted to the flexible track 1. The connecting joint 4 squeezes and wraps the adjacent flexible tracks 1 so that the outer contour of the connecting joint 4 is flush with the outer contour of the flexible track 1. Specifically, a shrinkage seam is provided at the top of the connecting joint 4. The adjacent flexible tracks 1 are respectively inserted from both ends of the connecting joint 4, and the connecting joint 4 is fastened to the adjacent flexible tracks 1 by bolts. Through simple insertion and bolt fastening operations, the extension or adjustment of the flexible track 1 can be quickly completed, greatly improving the installation and maintenance efficiency of the flexible track 1. The way that the connecting joint 4 squeezes and wraps makes the connecting joint 4 closely fit with the flexible track 1. The design of the flush outer contour is not only beautiful, but more importantly, it eliminates the protrusions and gaps at the track connection, avoiding the jamming or impact of the robot during operation due to uneven track interfaces, ensuring the smoothness of the robot's operation. [[ID=⑧]]

[0033] Furthermore, in specific implementation, as Figure 2 , Figure 4 and Figure 8 shown, a bar code 13 for calibrating the position of the box body 2 is provided on the flexible track 1 provided in the embodiment of the present invention, and a bar code reading camera 22 for reading the bar code 13 is provided on the top of the box body 2. The cooperation of the bar code 13 and the bar code reading camera 22 provides a reliable means for the precise positioning of the robot. In a complex working environment, the robot needs to accurately know its own position in order to execute tasks according to the predetermined path. By reading the bar code 13 on the track, the robot can obtain its own position information and compare it with the preset program, and adjust its running state in a timely manner to ensure the accuracy of the running trajectory. At the same time, the setting of the bar code 13 also facilitates the planning and management of the robot's running path. The layout and coding information of the bar code 13 can be flexibly adjusted according to actual needs, enabling the robot to adapt to different working scenarios and task requirements, improving the versatility and intelligent level of the robot.

[0034] Further, in specific implementation, as Figure 5 、 Figure 6 shown, in the above-mentioned operation module provided by the embodiment of the present invention, second motors 24 are respectively installed on both sides of the lower cavity 202 through brackets 23. The second motors 24 are coaxially connected with vertically arranged lead screws 25. A regulating plate 26 is in threaded transmission connection with the lead screws 25. A pan-tilt camera 27 or a robotic arm 28 is foldably and retractably connected below the regulating plate 26. Specifically, the pan-tilt camera 27 or the robotic arm 28 is carried below the regulating plate 26. Through the transmission of the lead screw 25 and the regulating plate 26, flexible adjustment in the vertical direction can be achieved to meet the operation requirements at different heights. Both the pan-tilt camera 27 and the robotic arm 28 can adopt the form driven by hinge joints and micro servo motors, have multiple degrees of freedom, unfold downward for work, and can be completely retracted into the lower cavity 202 after folding and cooperate with the movement of the lead screw 25, avoiding the occupation of space by the exposed structure. The foldable and retractable characteristic enables these operation modules to be completely retracted into the lower cavity 202 when not in use, effectively reducing the overall volume of the robot, enabling it to easily enter narrow spaces for operation. This not only improves the environmental adaptability of the robot but also reduces the risk of damage caused by the exposed structure during movement.

[0035] Further, in specific implementation, as Figure 7 shown, the above-mentioned operation module provided by the embodiment of the present invention includes an extended power battery 29 installed in the lower cavity 202. Specifically, in order to meet the passability of narrow spaces, the overall volume of the robot cannot be too large, and the power capacity of the power supply in each box body 2 is small, resulting in the problem that the robot may have insufficient battery life. In some long-time and long-distance operation tasks, work is often interrupted due to insufficient power, affecting the task progress. Therefore, the box body 2 with the extended power battery 29 installed in the lower cavity 202 can be used in cooperation with other box bodies 2 to increase the power reserve and extend the working time. This enables the robot to continuously and efficiently complete tasks without frequent charging, improving work efficiency. At the same time, the modular design of the extended power battery 29 also facilitates flexible configuration according to actual needs. Users can select to carry an appropriate number of box bodies 2 containing the extended power battery 29 according to the duration and intensity of the operation task to achieve reasonable utilization of resources. It should be noted that the power transmission between different box bodies 2 can be realized by connecting wires passing through the flexible belt 6.

[0036] Further, in specific implementation, as Figure 1 、 Figure 2As shown in the figure, several of the above-mentioned boxes 2 provided in the embodiments of the present invention are arranged along the flexible track 1, and adjacent boxes 2 are connected by a flexible belt 6. Specifically, the design of connecting multiple boxes 2 by a flexible belt 6 endows the flexible track 1 robot with powerful task execution capabilities and flexibility. Multiple boxes 2 can carry different operation modules according to different operation requirements, and complete complex tasks efficiently through collaborative work. This distributed structural design breaks the limitations of the single integral structure of traditional robots, enabling the robot to flexibly adjust its scale and configuration according to the actual operation environment and task requirements. When operating in a narrow space, multiple small boxes 2 can pass through in sequence, having stronger environmental adaptability than large robots. At the same time, the connection method of the flexible belt 6 ensures the relative movement freedom between adjacent boxes 2, enabling each box 2 to collaboratively adjust its posture and maintain the overall stability when the robot passes through a curved or complex track. In addition, the independent operation and combined use characteristics of each operation module also improve the functional expandability and versatility of the robot. Users can quickly combine a suitable robot system according to specific needs, greatly reducing the equipment procurement and usage costs.

[0037] Furthermore, in specific implementation, the above-mentioned flexible track 1 provided in the embodiments of the present invention is coated with a wear-resistant insulating coating, and tensile strength enhancing fibers are embedded in the flexible track 1. Specifically, the wear-resistant insulating coating can be made of polyurethane, which effectively protects the surface of the track, reduces the frictional loss between the drive wheel 32 and the support wheel 33 and the track, extends the service life of the track, and reduces the maintenance cost; at the same time, it can also prevent safety accidents caused by static electricity or leakage during the operation of the track, improving the safety of the system. The tensile strength enhancing fibers can be made of aramid fibers and are embedded in the steel cable 11 in the form of a braided layer, enhancing the mechanical strength of the track, enabling it to withstand greater tensile and external forces, and maintaining good structural integrity in a complex operation environment, avoiding the track from breaking or deforming, ensuring the reliability and stability of the robot operation, and providing a solid guarantee for the long-term stable operation of the flexible track 1 robot.

[0038] Furthermore, in specific implementation, as Figure 1 、 Figure 2 、 Figures 5 - 7 shown, laser ranging modules 5 are respectively installed at both ends of the above-mentioned box 2 along the moving direction of the flexible track 1 provided in the embodiments of the present invention. The installation of the laser ranging module 5 provides an important guarantee for the safe operation and precise operation of the robot. During the operation of the robot, the laser ranging module 5 can continuously monitor the distance of objects in the front and rear directions of the robot. In addition, a binocular camera 200 for constructing a robot environmental map can be installed on the box 2 at the front end of the traveling direction to provide navigation.

[0039] Furthermore, in specific implementation, a rubber layer for increasing friction is coated on the surface of the driving wheel 32 provided in the embodiment of the present invention. This enables the driving wheel 32 to better transmit power during rotation and avoid slipping. At the same time, the elasticity of the rubber layer can also play a certain buffering role, reducing the impact and vibration between the driving wheel 32 and the track, lowering the running noise, and improving the comfort and stability of the robot operation. In addition, the rubber layer has good wear resistance, can withstand long-term friction and wear, extend the service life of the driving wheel 32, reduce the maintenance and replacement frequency, lower the use cost, and provide a reliable guarantee for the continuous and efficient operation of the flexible track 1 robot.

Claims

1. A flexible track robot, characterized in that, The invention comprises a flexible track (1) and a box body (2), wherein a driving assembly (3) is provided at the top of the box body (2), wherein the driving assembly (3) comprises a base (31), wherein the base (31) is provided with a driving wheel (32) in contact with the bottom of the flexible track (1) and supporting wheels (33) respectively clamped on both sides of the flexible track (1), wherein the box body (2) is provided with a first motor (21) in transmission connection with the driving wheel (32), wherein the supporting wheel (33) provides a pressing force on the flexible track (1) through a compression spring limited in the base (31), and wherein the box body (2) is divided into an upper cavity (201) for installing a power supply and a processor and a lower cavity (202) for accommodating an operation module by a partition (20).

2. The flexible rail robot according to claim 1, wherein The flexible track (1) comprises a lower cylindrical steel cable (11) and an upper connecting plate (12) with a T-shaped cross section, wherein a connecting hole is provided on the connecting plate (12).

3. The flexible track robot according to claim 1, characterized in that, Adjacent flexible rails (1) are butted together via a connecting joint (4); the connecting joint (4) is provided with an ear plate (41) bolted to the flexible rail (1); the connecting joint (4) squeezes and wraps the adjacent flexible rail (1) so that the outer contour of the connecting joint (4) is flush with the outer contour of the flexible rail (1).

4. A flexible track robot according to claim 1, characterized in that, A barcode (13) for calibrating the position of the box body (2) is provided on the flexible track (1), and a code reading camera (22) for reading the barcode (13) is provided on the top of the box body (2).

5. The flexible track robot according to claim 1, characterized in that The operation module includes a second motor (24) respectively installed on both sides of the lower cavity (202) through a bracket (23), the second motor (24) is coaxially connected to a vertically arranged screw rod (25), the screw rod (25) is threadedly connected to an adjustment plate (26), and the adjustment plate (26) is foldably stored and connected to a pan-tilt camera (27) or a robotic arm (28) below.

6. The flexible track robot according to claim 1, characterized in that The operation module includes an expansion power battery (29) installed in the lower cavity (202).

7. A flexible track robot according to claim 1, characterized in that, A plurality of the box bodies (2) are arranged along the flexible track (1), and adjacent box bodies (2) are connected by a flexible belt (6).

8. A flexible track (1) robot according to claim 1, characterized in that, The flexible track (1) is coated with a wear-resistant insulating coating, and the flexible track (1) is embedded with tensile reinforcement fibers.

9. The flexible track robot according to claim 1, characterized in that, Laser distance measurement modules (5) are respectively installed at both ends of the box body (2) along the moving direction of the flexible track (1).

10. A flexible track robot according to claim 1, characterized in that, The surface of the driving wheel (32) is covered with a rubber layer for increasing friction.

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