Crawler-type construction site inspection robot
By introducing an ejection structure and a vibration structure into the tracked construction site inspection robot, the problem of mud embedding in the tracked robot in the construction site environment has been solved, achieving efficient cleaning of the tracks and reduced wear, thus ensuring the continuity of operations and the lifespan of the equipment.
Patent Information
- Application Number
- CN202512009602.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-01-30
AI Technical Summary
In construction environments, existing tracked robots are prone to mud and gravel getting stuck in the gaps between the outer teeth of the tracks, which reduces grip performance, makes cleaning tedious, and affects the continuity of operations.
Design a tracked construction site inspection robot that uses a protrusion structure with friction rollers to disrupt the static friction balance between mud and tooth grooves through radial pushing and rolling contact, and improve the mud removal effect through a vibration structure.
It effectively reduces the adhesion force on the inner wall of the track, reduces wear, extends track service life, improves mud removal efficiency, and ensures continuous operation.
Smart Images
Figure CN121425366A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of inspection robot technology, specifically a tracked construction site inspection robot. Background Technology
[0002] Tracked inspection robots are intelligent devices that use tracks as their mobile platform and integrate functions such as environmental perception, autonomous navigation, data acquisition, and transmission. Their core advantage lies in the excellent terrain adaptability of their tracked structure, enabling stable movement in unstructured or complex conditions such as mud, gravel, and steep slopes. This effectively replaces manual labor in performing repetitive and dangerous inspection tasks. In scenarios such as construction sites, these robots can monitor safety risks and environmental parameters in real time, significantly reducing the accident rate.
[0003] Currently, common tracked robots typically use two drive wheels that mesh with the teeth on the inner side of the track for propulsion. In construction site environments, the ground often contains a large amount of mud and gravel, which can easily become embedded in the gaps between the teeth on the outer side of the track used to enhance traction. Once the gaps between adjacent teeth are filled, the track's grip performance is weakened. Furthermore, clearing these embedded objects usually requires stopping the machine and having maintenance personnel remove them, which is cumbersome, disrupts work continuity, and causes inconvenience. Summary of the Invention
[0004] To address the shortcomings of existing technologies, this invention provides a tracked construction site inspection robot to solve the problems mentioned in the background technology, enabling mud between the outer teeth of the track to be dislodged as much as possible during movement.
[0005] To achieve the above objectives, the present invention provides the following technical solution: a tracked construction site inspection robot, comprising a robot body, drive wheels and walking wheels disposed on both sides of the robot body, and an annular track surrounding the drive wheels and walking wheels for support and movement. The outer wall of the robot body is provided with an ejection structure for applying a pushing force to the inner side of the annular track to remove mud. The ejection structure includes a second rotating shaft rotatably mounted on the robot body. Two or more sets of axially spaced actuating members are fixedly sleeved on the outer periphery of the second rotating shaft. Each set of actuating members includes a mounting sleeve fixedly sleeved on the second rotating shaft, a bottom block fixed to the outer periphery of the mounting sleeve, and a protrusion connected to the end of the bottom block away from the mounting sleeve. The outer end face of the protrusion abuts against the inner wall of the annular track and is configured to apply a radially outward pushing force to the annular track when the second rotating shaft rotates.
[0006] Furthermore, the protrusion has a U-shaped structure, with an internal cavity that opens towards the annular track. A friction roller is rotatably installed inside the cavity. The outer circumferential surface of the friction roller abuts against the inner wall of the annular track to form rolling contact with it during track operation. A vibration structure is provided on the outer side of the friction roller.
[0007] Furthermore, the vibration structure includes a fixed ring, multiple arc-shaped teeth, a fixed rod, and a top rod. The friction roller has an annular cavity, the fixed ring is embedded in the annular cavity, the multiple arc-shaped teeth are equidistantly fixed to the outer periphery of the fixed ring, one end of the top rod abuts against the outer wall of the arc-shaped teeth, and the other end is fixedly connected to the fixed rod. The fixed rod passes through the protrusion and is fixed to the outer wall of the bottom block. A movable structure is provided between the protrusion and the bottom block.
[0008] Furthermore, the movable structure includes two sliding sleeves and two sliding rods. The two sliding sleeves are fixedly installed on the outer wall of the base block. The sliding rods pass through the corresponding sliding sleeves and are slidably connected to the sliding sleeves. A spring is provided between the sliding rods and the sliding sleeves. The springs are fixedly connected between the sliding rods and the sliding sleeves and are accommodated in the internal space of the sliding sleeves. The end of the sliding rod is fixedly connected to the bottom surface of the protrusion so as to allow the protrusion to undergo relative displacement with respect to the base block during vibration.
[0009] Furthermore, an elastic dustproof component is provided between the bottom block and the protrusion. The elastic dustproof component covers the outside of the fixed rod, sliding rod and sliding sleeve, and is fixedly connected between the bottom block and the protrusion.
[0010] Furthermore, the outer side of the robot body is provided with a drive structure for driving the second rotating shaft to rotate. The drive structure includes a rotary motor and a first rotating shaft. The output shaft of the rotary motor is fixedly connected to the first rotating shaft. A first synchronous pulley is sleeved on the outer side of the first rotating shaft. A second synchronous pulley is fixedly sleeved on the outer side of the second rotating shaft. The second synchronous pulley and the first synchronous pulley are connected by a synchronous belt drive.
[0011] Furthermore, the outer shell of the robot body is provided with a mounting groove, in which a mounting shell is fixedly installed. The rotary motor is fixedly installed in the mounting shell, and a support plate is fixedly connected to the bottom of the mounting shell. The second rotating shaft is rotatably connected to the support plate.
[0012] Furthermore, keyways are provided on the outer sides of both the first and second rotating shafts. The first synchronous pulley is sleeved on the outer side of the first rotating shaft via a spline. A first fixing sleeve is threadedly connected to the outer side of the first rotating shaft. The first fixing sleeve abuts against the end of the first rotating shaft to achieve axial positioning of the first synchronous pulley and the first rotating shaft. Two compression rings and a limiting sleeve are sleeved on the outer side of the second rotating shaft. The two compression rings are located on both sides of the second synchronous pulley, and the limiting sleeve is located on the outermost side of the second rotating shaft. Two mounting sleeves, the second synchronous pulley, and the limiting sleeve are all sleeved on the outer side of the second rotating shaft via splines. A second fixing sleeve is threadedly connected to the outer side of the second rotating shaft. The second fixing sleeve abuts against the limiting sleeve to achieve axial fixation of the second synchronous pulley, mounting sleeves, and limiting sleeve on the second rotating shaft.
[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This type of tracked construction site inspection robot uses the protrusions in the ejector structure to radially push the inner wall of the track, causing the annular track teeth to deform outwards, disrupting the static friction balance between the mud and the tooth groove, reducing the adhesion between the mud and the tooth groove, and promoting the peeling of the mud. 2. This type of tracked construction site inspection robot reduces the contact stress on the inner wall of the track by setting friction rollers inside the protrusions, thereby reducing friction, wear, and extending the service life of the annular track and friction rollers through rolling contact instead of sliding friction. 3. This type of tracked construction site inspection robot, through the cooperation of the top rod and arc-shaped teeth with the spring, sliding sleeve and sliding rod in the moving structure, when the friction roller rotates, the top rod and arc-shaped teeth form periodic contact and separation, realizing that the protrusions vibrate at high frequency and micro amplitude relative to the bottom block along the axial direction, and then the vibration energy is transmitted to the inner wall of the annular track through the friction roller, thereby improving the mud removal effect. Attached Figure Description
[0014] Figure 1 This is a three-dimensional structural diagram of the robot body of the present invention; Figure 2 This is a three-dimensional structural diagram of the robot body and the ring track of the present invention in the deployed state; Figure 3 This is a three-dimensional structural diagram of the annular track, drive wheel, and traveling wheel of the present invention; Figure 4 This is a three-dimensional structural diagram of a partial state of the annular track of the present invention; Figure 5 This is a three-dimensional structural diagram of the first rotating shaft, the second rotating shaft, and the protrusion in the unfolded state of the present invention; Figure 6 This is a front view schematic diagram of the first and second synchronous pulleys, the protrusion, and the track of the present invention; Figure 7 For the present invention Figure 6 A schematic diagram of the three-dimensional structure at point A in the middle; Figure 8 This is a three-dimensional cross-sectional structural diagram of the protrusion and bottom block of the present invention; Figure 9 This is a three-dimensional structural diagram of the mounting sleeve, base block, and arc-shaped teeth of the present invention; Figure 10 This is a three-dimensional cross-sectional structural diagram of the elastic dustproof component, sliding rod, and sliding sleeve of the present invention.
[0015] In the diagram: 1. Robot body; 2. Circular track; 3. Drive wheel; 4. Protrusion; 5. Mounting slot; 6. Walking wheel; 7. Mounting shell; 8. Rotary motor; 9. First shaft; 10. First synchronous pulley; 11. Synchronous belt; 12. Second synchronous pulley; 13. Second shaft; 14. Mounting sleeve; 15. Base block; 16. Friction roller; 17. First fixing sleeve; 18. Second fixing sleeve; 19. Elastic dustproof component; 20. Support plate; 21. Limiting sleeve; 22. Keyway; 23. Top rod; 24. Fixing ring; 25. Arc tooth; 26. Sliding rod; 27. Fixing rod; 28. Spring; 29. Sliding sleeve; 30. Compression ring. Detailed Implementation
[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0017] Please see Figures 1-10 A tracked construction site inspection robot includes a robot body 1, drive wheels 3 and walking wheels 6 located on both sides of the robot body 1, and an annular track 2 surrounding the drive wheels 3 and walking wheels 6 for support and movement. The outer wall of the robot body 1 is provided with an ejection structure for applying a pushing force to the inner side of the annular track 2 to remove mud. The ejection structure includes a second rotating shaft 13 rotatably mounted on the robot body 1. Two or more sets of axially spaced jacking members are fixedly sleeved on the outer periphery of the second rotating shaft 13. Each set of jacking members includes a mounting sleeve 14 fixedly sleeved on the second rotating shaft 13, a bottom block 15 fixed to the outer periphery of the mounting sleeve 14, and a protrusion 4 connected to the bottom block 15 away from the mounting sleeve 14. The outer end face of the protrusion 4 abuts against the inner wall of the annular track 2 and is configured to apply a radially outward pushing force to the annular track 2 when the second rotating shaft 13 rotates.
[0018] The tracked construction site inspection robot of this invention uses an annular track 2 on the robot body 1 to inspect the construction site. When mud or stones become embedded in the tooth grooves on the outer side of the annular track 2, it will increase the walking resistance and cause slippage. Therefore, an ejection structure is used: when it is necessary to clean the annular track 2, the annular track 2 rotates under the action of the drive wheel 3 and the walking wheel 6. At this time, the second rotating shaft 13 rotates, causing the protrusion 4 to abut against the inner wall of the annular track 2, so that the protrusion 4 pushes against the inner wall of the annular track 2. The outer end face of the protrusion 4 adopts an involute arc surface design, and its radius of curvature matches the curvature of the track tooth groove. Through radial pushing, the adjacent teeth will produce an outward expansion deformation and an outward octagonal state, which will disrupt the static friction balance between the mud and the tooth groove. During the pushing process, the annular track 2 will locally produce periodic elastic deformation. Combined with the robot's traveling speed, a shear force field is formed to promote the peeling off of the mud.
[0019] The protrusion 4 is located on the hypotenuse of the trapezoid, ensuring that loose mud clumps can fall off directly when the annular track 2 is in motion. Specifically, the position of the protrusion 4 should correspond to the hypotenuse of the trapezoidal section formed after the annular track 2 is tensioned between the drive wheel 3 and the traveling wheel 6.
[0020] Furthermore, in order to achieve friction reduction and wear resistance when the protrusion 4 pushes, as a preferred technical solution of the present invention, the protrusion 4 has a U-shaped structure, and an internal cavity with an opening facing the annular track 2 is formed. A friction roller 16 is rotatably installed in the cavity. The outer peripheral surface of the friction roller 16 abuts against the inner wall of the annular track 2 to form rolling contact with it during track operation. A vibration structure is provided on the outer side of the friction roller 16.
[0021] Specifically, when the protrusion 4 needs to push against the inner wall of the ring track 2, the friction roller 16 just abuts against the inner wall of the ring track 2. When the ring track 2 moves, the friction force drives the friction roller 16 to rotate, and the rolling friction replaces the sliding friction, reducing the contact stress, reducing the wear of the ring track 2, and extending its service life.
[0022] Furthermore, to improve cleaning ability, as a preferred technical solution of the present invention, the vibration structure includes a fixed ring 24, a plurality of arc-shaped teeth 25, a fixed rod 27, and a top rod 23. The friction roller 16 is provided with an annular cavity, the fixed ring 24 is embedded in the annular cavity, the plurality of arc-shaped teeth 25 are equidistantly fixedly connected to the outer periphery of the fixed ring 24, one end of the top rod 23 abuts against the outer wall of the arc-shaped teeth 25, and the other end is fixedly connected to the fixed rod 27. The fixed rod 27 passes through the protrusion 4 and is fixed to the outer wall of the base block 15. A movable structure is provided between the protrusion 4 and the base block 15.
[0023] Specifically, when the annular track 2 is moving, the friction roller 16 is driven to rotate by the friction of the annular track 2. When the friction roller 16 rotates, it drives the fixed ring 24 to rotate, and the fixed ring 24 drives multiple arc-shaped teeth 25 to rotate. The bottom block 15 is fixed with a fixed rod 27 and a top rod 23 that abuts against the arc-shaped teeth 25. When the fixed ring 24 and the arc-shaped teeth 25 rotate, the arc-shaped teeth 25 abut against the end of the top rod 23 in sequence, forming periodic contact and separation. In conjunction with the movable structure between the protrusion 4 and the bottom block 15, the protrusion 4 achieves high-frequency micro-amplitude vibration along the axial direction relative to the bottom block 15, and then transmits the vibration energy to the inner wall of the annular track 2 through the friction roller 16, improving the mud removal effect. The contour design of the arc-shaped teeth 25 needs to be adapted to the working speed of the friction roller 16.
[0024] The radius of curvature of the arc-shaped tooth 25 is matched with the rotational speed of the friction roller 16 to ensure that the contact stress distribution of the push rod 23 is uniform during the contact process, thereby reducing the risk of local wear.
[0025] Furthermore, in order to coordinate with the back-and-forth vibration of the friction roller 16, as a preferred technical solution of the present invention, the movable structure includes two sliding sleeves 29 and two sliding rods 26. The two sliding sleeves 29 are fixedly installed on the outer wall of the base block 15. The sliding rods 26 pass through the corresponding sliding sleeves 29 and are slidably connected to the sliding sleeves 29. A spring 28 is provided between the sliding rods 26 and the sliding sleeves 29. The spring 28 is fixedly connected between the sliding rods 26 and the sliding sleeves 29 and is accommodated in the internal space of the sliding sleeves 29. The end of the sliding rod 26 is fixedly connected to the bottom surface of the protrusion 4 so as to allow the protrusion 4 to undergo relative displacement with respect to the base block 15 during vibration.
[0026] Specifically, the sliding connection between the sliding rod 26 and the sliding sleeve 29 allows the protrusion 4 to achieve axial displacement within ±2mm relative to the bottom block 15 during vibration, adapting to the dynamic response requirements of the friction roller 16. The spring 28 is configured as a compression alloy spring with a stiffness coefficient set at 10N / mm, ensuring effective energy dissipation within the vibration frequency range and reducing the risk of system resonance. The guiding design of the sliding sleeve 29, combined with the buffering effect of the spring 28, effectively suppresses the deflection or jamming of the protrusion 4 under high-frequency vibration, maintaining the uniformity of the pushing action of the annular track 2.
[0027] The sliding sleeve 29 is made of high wear-resistant copper alloy, and the surface of the sliding rod 26 is chrome-plated to reduce the coefficient of friction to below 0.1. The sliding contact surface between the sliding sleeve 29 and the sliding rod 26 is equipped with an O-ring to prevent dust intrusion and extend service life.
[0028] Furthermore, in order to protect the movable structure and the fixed rod 27 during extension and retraction, as a preferred technical solution of the present invention, an elastic dustproof component 19 is provided between the bottom block 15 and the protrusion 4. The elastic dustproof component 19 covers the outside of the fixed rod 27, the sliding rod 26 and the sliding sleeve 29, and is fixedly connected between the bottom block 15 and the protrusion 4.
[0029] Specifically, by covering the outside of the fixed rod 27, sliding rod 26 and sliding sleeve 29, the elastic dustproof component 19 effectively isolates external particles such as mud and sand from eroding the sliding pair, reducing the risk of jamming caused by foreign object intrusion; the elastic deformation capacity of the dustproof component allows it to adapt to the dynamic displacement of the moving structure within a range of ±3mm, ensuring a balance between protective performance and freedom of movement.
[0030] Furthermore, in order to accommodate the protrusion 4 in a non-clean state, as a preferred technical solution of the present invention, the outer side of the robot body 1 is provided with a drive structure for driving the second rotating shaft 13 to rotate. The drive structure includes a rotary motor 8 and a first rotating shaft 9. The output shaft of the rotary motor 8 is fixedly connected to the first rotating shaft 9. A first synchronous pulley 10 is sleeved on the outer side of the first rotating shaft 9. A second synchronous pulley 12 is fixedly sleeved on the outer side of the second rotating shaft 13. The second synchronous pulley 12 and the first synchronous pulley 10 are connected by a synchronous belt 11.
[0031] Specifically, when the annular track 2 needs cleaning, the robot body 1 commands and controls the rotary motor 8 to rotate, which drives the first rotating shaft 9 to rotate, which in turn drives the first synchronous wheel 10, the synchronous belt 11, and the second synchronous wheel 12 to rotate. When the second synchronous wheel 12 rotates, it drives the second rotating shaft 13 to rotate. The second rotating shaft 13 is rotated by a specified angle, causing the protrusion 4 to abut against the inner wall of the annular track 2, pushing the annular track 2 and causing the teeth to deform locally and expand outward. After cleaning is completed, the rotary motor 8 rotates, resetting the second rotating shaft 13 and resetting the protrusion 4, ready for the next cleaning cycle. After cleaning is completed, the rotary motor 8 drives the second rotating shaft 13 to reverse, causing the protrusion 4 and friction roller 16 to disengage from the inner wall of the annular track 2, maintaining a safe gap of approximately 2-5 mm to eliminate running resistance in the non-cleaned state.
[0032] Due to the design of the arc-shaped teeth 25, cleaning can only be performed when the robot body 1 moves forward. In other words, the arc-shaped teeth 25 and the push rod 23 can only rotate in one direction to achieve the continuous vibration of the protrusion 4.
[0033] Furthermore, in order to facilitate the installation of the rotary motor 8, as a preferred technical solution of the present invention, the outer shell of the robot body 1 is provided with a mounting groove 5, a mounting shell 7 is fixedly installed in the mounting groove 5, the rotary motor 8 is fixedly installed in the mounting shell 7, a support plate 20 is fixedly connected to the bottom of the mounting shell 7, and the second rotating shaft 13 is rotatably connected to the support plate 20.
[0034] Specifically, the rotary motor 8 is fixedly installed inside the mounting housing 7, which is embedded in the mounting groove 5. This facilitates the rotation of the first rotating shaft 9 and the second rotating shaft 13. At the same time, the second rotating shaft 13 can be rotatably installed on the support plate 20, thus ensuring the stability of the second rotating shaft 13.
[0035] Furthermore, to facilitate the installation and disassembly of the ejection structure, as a preferred embodiment of the present invention, keyways 22 are provided on the outer sides of both the first rotating shaft 9 and the second rotating shaft 13. The first synchronous wheel 10 is sleeved on the outer side of the first rotating shaft 9 via a spline. A first fixing sleeve 17 is threadedly connected to the outer side of the first rotating shaft 9. The first fixing sleeve 17 abuts against the end of the first rotating shaft 9 to achieve axial positioning of the first synchronous wheel 10 and the first rotating shaft 9. Two compression rings 30 and a limiting sleeve 21 are sleeved on the outer side of the second rotating shaft 13. The two compression rings 30 are respectively located on both sides of the second synchronous wheel 12. The limiting sleeve 21 is located on the outermost side of the second rotating shaft 13. The two mounting sleeves 14, the second synchronous wheel 12, and the limiting sleeve 21 are all sleeved on the outer side of the second rotating shaft 13 via splines. A second fixing sleeve 18 is threadedly connected to the outer side of the second rotating shaft 13. The second fixing sleeve 18 abuts against the limiting sleeve 21 to achieve axial fixation of the second synchronous wheel 12, the mounting sleeve 14, and the limiting sleeve 21 on the second rotating shaft 13.
[0036] Specifically, when it is necessary to disassemble the protrusion 4 or the friction roller 16, the first fixing sleeve 17 and the second fixing sleeve 18 can be removed, and the limiting sleeve 21, the mounting sleeve 14, the first synchronous wheel 10, the second synchronous wheel 12, and the compression ring 30 can be removed from the first rotating shaft 9 and the second rotating shaft 13 in sequence to achieve replacement; After the replacement or maintenance is completed, the corresponding structures are reset in sequence as described above. The structures can be fixed on the corresponding rotating shafts by the first fixing sleeve 17 and the second fixing sleeve 18. The keyways 22 on the two rotating shafts, in conjunction with the splines, ensure that the structure on the outside of the rotating shaft rotates when the rotating shaft rotates.
[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A tracked construction site inspection robot, comprising a robot body (1), drive wheels (3) and traveling wheels (6) arranged on both sides of the robot body (1), and an endless track (2) arranged around the drive wheels (3) and traveling wheels (6) and used for supporting and advancing, characterized in that, The outer wall of the robot body (1) is provided with an ejection structure for applying a pushing action to the inner side of the annular track (2) to achieve mud separation, the ejection structure comprises a second rotating shaft (13) rotatably mounted on the robot body (1), and the outer periphery of the second rotating shaft (13) is fixedly sleeved with two or more groups of top-moving members arranged at intervals in the axial direction, each group of the top-moving members comprises a mounting sleeve (14) fixedly sleeved on the second rotating shaft (13), a bottom block (15) fixedly connected to the outer periphery of the mounting sleeve (14), and a protruding block (4) connected to the end of the bottom block (15) away from the mounting sleeve (14), the outer end surface of the protruding block (4) abuts against the inner wall of the annular track (2), and is configured to apply a radial outward pushing action to the annular track (2) when the second rotating shaft (13) rotates.
2. The tracked worksite inspection robot of claim 1, wherein, The protruding block (4) has a U-shaped structure, and an accommodation cavity with an opening facing the annular track (2) is formed in the interior of the protruding block (4), a friction roller (16) is rotatably installed in the accommodation cavity, the outer periphery of the friction roller (16) abuts against the inner wall of the annular track (2) to form rolling contact with the annular track (2) during track operation, and a vibration structure is arranged on the outer side of the friction roller (16).
3. The tracked worksite inspection robot of claim 2, wherein, The vibration structure comprises a fixed ring (24), a plurality of arc-shaped teeth (25), a fixed rod (27) and a top rod (23), the friction roller (16) is provided with an annular cavity, the fixed ring (24) is embedded in the annular cavity, a plurality of arc-shaped teeth (25) are fixedly connected to the outer periphery of the fixed ring (24) at equal intervals, one end of the top rod (23) abuts against the outer wall of the arc-shaped tooth (25), and the other end of the top rod (23) is fixedly connected with the fixed rod (27), the fixed rod (27) penetrates through the protruding block (4) and is fixedly connected to the outer wall of the bottom block (15), and a movable structure is arranged between the protruding block (4) and the bottom block (15).
4. The tracked worksite inspection robot of claim 3, wherein, The movable structure comprises two sliding sleeves (29) and two sliding rods (26), the two sliding sleeves (29) are fixedly installed on the outer wall of the bottom block (15), the sliding rod (26) penetrates through the corresponding sliding sleeve (29) and is slidably connected with the sliding sleeve (29), a spring (28) is arranged between the sliding rod (26) and the sliding sleeve (29), the spring (28) is fixedly connected between the sliding rod (26) and the sliding sleeve (29) and is accommodated in the internal space of the sliding sleeve (29), and the end of the sliding rod (26) is fixedly connected with the bottom surface of the protruding block (4) to allow the protruding block (4) to relatively displace with respect to the bottom block (15) during vibration.
5. The tracked worksite inspection robot of claim 4, wherein, An elastic dustproof member (19) is arranged between the bottom block (15) and the protruding block (4), and the elastic dustproof member (19) is wrapped on the outer sides of the fixed rod (27), the sliding rod (26) and the sliding sleeve (29) and is fixedly connected between the bottom block (15) and the protruding block (4).
6. The tracked worksite inspection robot of claim 1, 2, 3, 4, or 5, wherein, The outer side of the robot body (1) is provided with a driving structure for driving the second rotating shaft (13) to rotate, the driving structure comprises a rotating motor (8) and a first rotating shaft (9), the output shaft of the rotating motor (8) is fixedly connected with the first rotating shaft (9), the outer side of the first rotating shaft (9) is sleeved with a first synchronous wheel (10), the outer side of the second rotating shaft (13) is fixedly sleeved with a second synchronous wheel (12), and the second synchronous wheel (12) and the first synchronous wheel (10) are drivingly connected through a synchronous belt (11).
7. The tracked worksite inspection robot of claim 6, wherein, The outer shell of the robot body (1) is provided with a mounting groove (5), the mounting groove (5) is fixedly installed with a mounting shell (7), the rotating motor (8) is fixedly installed in the mounting shell (7), the bottom of the mounting shell (7) is fixedly connected with a support plate (20), and the second rotating shaft (13) is rotatably connected with the support plate (20).
8. The tracked worksite inspection robot of claim 6, wherein, The outer side of the first rotating shaft (9) and the second rotating shaft (13) is provided with a key groove (22), the first synchronous wheel (10) is sleeved on the outer side of the first rotating shaft (9) through a spline, the outer side of the first rotating shaft (9) is threadedly connected with a first fixing sleeve (17), the end of the first rotating shaft (9) is abutted with the first fixing sleeve (17), so as to realize the axial positioning of the first synchronous wheel (10) and the first rotating shaft (9), the outer side of the second rotating shaft (13) is sleeved with two extrusion rings (30) and a limiting sleeve (21), the two extrusion rings (30) are located on the two sides of the second synchronous wheel (12) respectively, the limiting sleeve (21) is located on the outermost side of the second rotating shaft (13), the two mounting sleeves (14), the second synchronous wheel (12) and the limiting sleeve (21) are sleeved on the outer side of the second rotating shaft (13) through a spline, the outer side of the second rotating shaft (13) is threadedly connected with a second fixing sleeve (18), the limiting sleeve (21) is abutted with the second fixing sleeve (18), so as to realize the axial fixing of the second synchronous wheel (12), the mounting sleeve (14) and the limiting sleeve (21) on the second rotating shaft (13).
9. The tracked worksite inspection robot of claim 7, wherein, The outer side of the first rotating shaft (9) and the second rotating shaft (13) is provided with a key groove (22), the first synchronous wheel (10) is sleeved on the outer side of the first rotating shaft (9) through a spline, the outer side of the first rotating shaft (9) is threadedly connected with a first fixing sleeve (17), the first fixing sleeve (17) abuts against the end of the first rotating shaft (9), so as to realize the axial positioning of the first synchronous wheel (10) and the first rotating shaft (9), the outer side of the second rotating shaft (13) is sleeved with two extrusion rings (30) and a limiting sleeve (21), the two extrusion rings (30) are respectively located on the two sides of the second synchronous wheel (12), the limiting sleeve (21) is located on the outermost side of the second rotating shaft (13), the two mounting sleeves (14), the second synchronous wheel (12) and the limiting sleeve (21) are all sleeved on the outer side of the second rotating shaft (13) through splines, the outer side of the second rotating shaft (13) is threadedly connected with a second fixing sleeve (18), the second fixing sleeve (18) abuts against the limiting sleeve (21), so as to realize the axial fixing of the second synchronous wheel (12), the mounting sleeve (14) and the limiting sleeve (21) on the second rotating shaft (13).