A multi-mode industrial inspection crawler-type dual-arm robot

Abstract

The present application relates to the technical field of industrial inspection robot, disclose a kind of for coping with multi-working condition industrial inspection crawler type double-arm robot, including robot base, the outside of the robot base is equipped with crawler walking mechanism, the middle part of the robot base is rotatably installed with rotating disc, the outer surface of the rotating disc is fixedly connected with external gear, the external gear is slidably arranged with the robot base, the upper surface of the rotating disc is fixedly connected with damping auxiliary mechanism, the damping auxiliary mechanism includes a plurality of installation rods fixedly connected on the upper surface of rotating disc, when the industrial inspection robot is beneficial, automatically corrects and damping buffer structure automatically by gravity, realizes body horizontal self-regulation, provides stable datum plane for double arm, ensures valve opening and closing and other precision operations, and absorbs high-frequency vibration, improves the reliability of electronic components, further improves the use effect and quality of the whole for coping with multi-working condition industrial inspection crawler type double-arm robot.

Description

Technical Field

[0001] This invention relates to the field of industrial inspection robot technology, and more specifically, to a tracked dual-arm robot for industrial inspection under various working conditions. Background Technology

[0002] With the development of industry, the demand for intelligent operation and maintenance in high-risk industries such as power and petrochemical has surged. Traditional manual inspection faces pain points such as high operational risks, low efficiency and data dispersion, and can no longer meet the needs of complex environments. Against this backdrop, tracked dual-arm robots, with their highly passable tracked chassis and high-precision dual-arm collaborative system, are specially designed for unstructured environments such as substations and chemical pipe corridors, and can autonomously perform complex tasks such as switchgear operation and emergency tripping.

[0003] Currently, existing tracked dual-arm robots designed for multi-condition industrial inspection have the following shortcomings: Most existing robots focus on preventing the chassis from tipping over, but neglect the impact of the robotic arm's base posture on operational accuracy. On slopes, the change in the robotic arm's center of gravity during movement exacerbates the swaying of the robot, leading to visual recognition jitter, grasping or measurement point offset, and the shock-absorbing suspension is installed on both the "body" and the "tracked walking mechanism," which still causes the suspension to generate undulating kinetic energy on the robot as a whole when encountering bumps, affecting the lifespan of electronic components and other issues.

[0004] Existing tracked dual-arm robots for industrial inspection under multiple working conditions have the aforementioned problems. In view of this, we propose a tracked dual-arm robot for industrial inspection under multiple working conditions. Summary of the Invention

[0005] The purpose of this invention is to provide a tracked dual-arm robot for industrial inspection under multiple working conditions, thereby overcoming the aforementioned deficiencies in the prior art.

[0006] To address the shortcomings of existing technologies, this invention provides a floating offshore power generation maintenance mechanism that utilizes wave energy. This addresses several issues: most existing robots focus on preventing the chassis from tipping over, but neglect the impact of the robotic arm's base posture on operational accuracy; on slopes, the change in the robotic arm's center of gravity during movement exacerbates the swaying of the robot, leading to visual recognition jitter, grasping or measurement point misalignment; and the shock-absorbing suspension, mounted on both the "body" and the "tracked walking mechanism," still causes the suspension to generate undulating kinetic energy on the robot when encountering bumps, affecting the lifespan of electronic components. To achieve the above objectives, the present invention is implemented through the following technical solution: The technical solution adopted by this invention to solve its technical problem is: a tracked dual-arm robot for industrial inspection under multiple working conditions, comprising a robot base, a tracked walking mechanism mounted on the outside of the robot base, a rotating disk rotatably mounted in the middle of the robot base, external teeth fixedly connected to the outer surface of the rotating disk, the external teeth being slidably interlocked with the robot base, a damping auxiliary mechanism fixedly connected to the upper surface of the rotating disk, the damping auxiliary mechanism including multiple mounting rods fixedly connected to the upper surface of the rotating disk, the upper ends of the multiple mounting rods being fixedly connected to a mounting disk, an auxiliary disk fixedly connected to the upper end of the mounting disk, and multiple through-holes annularly opened at the upper end of the auxiliary disk, the inner sides of the multiple through-holes being fixedly connected to... A fixed rod is attached, and sliders are slidably arranged on the inner sides of multiple through-holes. The sliders and fixed rods are interleaved and slidably arranged. Two second springs are sleeved on the outer surface of the fixed rod and engage with the sliders. A central swing mechanism is fixedly installed in the middle of the auxiliary disk. The central swing mechanism includes a ball sleeve fixedly installed in the middle of the auxiliary disk. A steering ball is movably arranged on the inner side of the ball sleeve. A central column is fixedly connected to the upper surface of the steering ball. A chassis is fixedly fitted on the upper part of the central column. Multiple pins are fixedly connected to the outer surface of the chassis in a ring. Two hydraulic dampers are connected to the sliders of the multiple pins. A machine operating mechanism is installed on the upper end of the chassis. A gravity correction mechanism is fixedly connected to the upper end of the rotating disk.

[0007] Preferably, the tracked walking mechanism includes walking tracks installed on both sides of the robot base, and a brake lever is installed between the two walking tracks.

[0008] Preferably, the machine operating mechanism includes a body fixedly installed on the upper end of the chassis, a fuselage installed on the upper end of the body, steering gears installed on the upper parts of both sides of the fuselage, a large arm rotatably installed on the side of the two steering gears that are far apart from each other, a small arm rotatably installed on the bottom end of the large arm, and a robotic arm installed on the bottom end of the small arm.

[0009] Preferably, the gravity correction mechanism includes a correction bowl fixedly connected to the middle of the upper end of the rotating disk, and a correction iron ball is provided on the inner side of the correction bowl.

[0010] Preferably, the upper end of the rotating disk is provided with a plurality of electromagnetic adsorption blocks arranged in a ring, and the plurality of electromagnetic adsorption blocks are interspersed with the calibration bowl and used in conjunction with the calibration iron ball.

[0011] Preferably, a top rod is fixedly connected to the upper end of the correction iron ball, and multiple counterweights are fitted onto the outer surface of the top rod.

[0012] Preferably, the upper end of the top rod is movably fitted with a hanging sleeve, and the upper end of the top rod is fixedly connected with a baffle plate.

[0013] Preferably, a first spring is provided on the inner side of the hanging sleeve, the first spring abutting against the baffle, and the hanging sleeve is fixedly connected to the mounting plate.

[0014] Preferably, a drive motor is fixedly mounted on the upper surface of the robot base, and the output shaft of the drive motor passes through the robot base and extends downwards to be fixedly fitted with a small gear.

[0015] Preferably, a central shaft is fixedly connected to the bottom end of the rotating disk, and a large gear is fixedly fitted onto the outer surface of the central shaft, with the small gear meshing and matching with the large gear.

[0016] The beneficial effects of this invention are: 1. In a tracked dual-arm robot for industrial inspection under multiple working conditions, the collaborative design of gravity autonomous correction and damping auxiliary structure enables automatic horizontal adjustment of the robot body in sloping environments. When the tracked walking mechanism tilts with the terrain, the gravity of the correction iron ball and the counterweight drives the steering ball to swing within the ball sleeve, so that the central column drives the chassis and the upper body to always maintain the vertical gravity direction, providing a stable horizontal reference plane for the dual-arm operating mechanism. This design effectively solves the problems of complex kinematic calculation, visual recognition jitter and reduced operating accuracy of traditional robots caused by the tilt of the base posture. It ensures that the two arms are always on the same reference plane in precision tasks such as valve opening and closing and instrument panel pressing, significantly improving the reliability and control accuracy of operation in sloping environments.

[0017] 2. In a tracked dual-arm robot for industrial inspection under multiple working conditions, this invention decouples the robot base from the tracked walking mechanism and integrates multiple buffer structures in the correction system, achieving efficient isolation of high-frequency vibrations. During the chassis's swinging motion following the central column, the pin drives a slider to slide on a fixed rod via a hydraulic damper, compressing a second spring. This combination of mechanical spring and hydraulic damping effectively absorbs the high-frequency vibrations and impact kinetic energy transmitted by the walking mechanism. Compared to the traditional method of directly mounting shock-absorbing suspension between the body and the track, this invention avoids the direct transmission of vibration energy to electronic components, significantly reducing the impact of body sway on precision components such as sensors and controllers, thereby extending the service life of electronic components and improving the long-term operational stability of the entire machine in complex terrain. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is the invention Figure 1 Schematic diagram of the upper structure of the auxiliary plate; Figure 3 This is the invention Figure 2 Mid-side view structural schematic diagram; Figure 4 This is the invention Figure 3 Mid-level view structural diagram; Figure 5 This is the invention Figure 4 Mid-view structural diagram; Figure 6 This is the invention Figure 1 Mid-top view of the structure; Figure 7 This is the invention Figure 1 A schematic diagram of the structure from a mid-view perspective; Figure 8 This is the invention Figure 1 A schematic diagram of the structure viewed from below.

[0021] In the diagram: 1. Robot base; 2. Brake lever; 3. Track; 4. Electromagnetic adsorption block; 551. Track walking mechanism; 552. Damping auxiliary mechanism; 553. Swinging mechanism; 554. Gravity correction mechanism; 555. Robot operating mechanism; 6. Mounting rod; 7. Correction iron ball; 8. Through-hole; 9. Hydraulic damper; 10. Robotic arm; 11. Forearm; 12. Upper arm; 13. Steering mechanism; 14. Body; 15. 16. Body; 17. Chassis; 18. Auxiliary plate; 19. Slider; 20. Calibration cup; 21. Counterweight; 22. Rotating plate; 23. Ball sleeve; 24. Steering ball; 25. Center column; 26. Pin shaft; 27. Mounting plate; 28. Hanging sleeve; 29. ​​Baffle plate; 30. First spring; 31. Push rod; 32. External gear; 33. Central shaft; 34. Fixed rod; 35. Second spring; 36. Drive motor; 37. Small gear; 38. Large gear. Detailed Implementation

[0022] This invention provides a floating offshore power generation maintenance mechanism that utilizes wave energy, solving the following problems: most existing robots focus on preventing the chassis from tipping over, but neglect the impact of the robotic arm's base posture on operational accuracy. On slopes, when the robotic arm moves, the change in its center of gravity exacerbates the shaking of the robot, leading to visual recognition jitter, grasping or measurement point offset. Furthermore, the shock-absorbing suspension is installed on both the "body" and the "tracked walking mechanism," which still causes the suspension to generate undulating kinetic energy on the robot as a whole when encountering bumps, affecting the lifespan of electronic components. To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0023] Combined with appendix Figure 1-8 A tracked dual-arm robot for industrial inspection under multiple working conditions includes a robot base 1. A tracked walking mechanism 551 is mounted on the outside of the robot base 1. A rotating disk 21 is rotatably mounted in the middle of the robot base 1. External teeth 31 are fixedly connected to the outer surface of the rotating disk 21 and are slidably interposed with the robot base 1. A damping auxiliary mechanism 552 is fixedly connected to the upper surface of the rotating disk 21. The damping auxiliary mechanism 552 includes multiple mounting rods 6 fixedly connected to the upper surface of the rotating disk 21. The upper ends of the multiple mounting rods 6 are all fixedly connected to a mounting disk 26. An auxiliary disk 17 is fixedly connected to the upper end of the mounting disk 26. Multiple openings 8 are annularly formed on the upper end of the auxiliary disk 17. Fixed rods 33 are fixedly connected to the inner sides of each of the multiple openings 8. Slider blocks 18 are slidably arranged on the inner sides of each of the multiple openings 8, and the sliders 18 are slidably interposed with the fixed rods 33. Two second springs 34 are fitted on the outer surface of the fixed rod 33 to abut against the slider 18. A central swing mechanism 553 is fixedly installed in the middle of the auxiliary disk 17. The central swing mechanism 553 includes a ball sleeve 22 fixedly installed in the middle of the auxiliary disk 17. A steering ball 23 is movably arranged on the inner side of the ball sleeve 22. A central column 24 is fixedly connected to the upper surface of the steering ball 23. A chassis 16 is fixedly fitted on the upper part of the central column 24. Multiple pins 25 are fixedly connected to the outer surface of the chassis 16 in a ring. Two hydraulic dampers 9 are connected to both the multiple pins 25 and the slider 18. A machine operating mechanism 555 is installed at the upper end of the chassis 16. A gravity correction mechanism 554 is fixedly connected to the upper end of the rotating disk 21. The track walking mechanism 551 includes walking tracks 3 installed on both sides of the robot base 1. A brake lever 2 is installed between the two walking tracks 3.

[0024] The above technical solution addresses the issue of the robot's movement on the ground via the tracked walking mechanism 551 during inspection. When encountering a slope at the inspection equipment's operating position, one side of the tracked walking mechanism 3 tilts, causing the mechanism on the robot base 1 to tilt synchronously. Specifically, the robot base 1 drives the rotating disk 21 to move, causing the mounting rod 6 to tilt, which in turn causes the mounting disk 26 to swing, thereby driving the auxiliary disk 17 to move as well. Although the above structure tilts, under the influence of the gravity of the correction ball 7 and the counterweight 20, It can autonomously correct the swing angle of the steering ball 23 within the ball sleeve 22, so that the steering ball 23 drives the central column 24 to always maintain a vertical state, thereby driving the upper chassis 16 to move synchronously, so that the body 15 remains vertical. Then, by operating the rotation of the steering gear 13, the rotation angle of the upper arm 12 is driven, thereby adjusting the rotation amplitude of the lower arm 11, making it convenient for the robot arm 10 to operate the equipment. It can automatically adjust the horizontal self-adjustment of the body through gravity automatic correction and damping buffer structure, providing a stable reference plane for the two arms, and ensuring precise operations such as valve opening and closing.

[0025] A further technical solution is provided, in which the machine operating mechanism 555 includes a body 15 fixedly mounted on the upper end of the chassis 16, a body 14 mounted on the upper end of the body 15, a steering gear 13 mounted on the upper part of both sides of the body 14, a large arm 12 rotatably mounted on the side of the two steering gears 13 that are far apart from each other, a small arm 11 rotatably mounted on the bottom end of the large arm 12, a manipulator 10 mounted on the bottom end of the small arm 11, a plurality of electromagnetic adsorption blocks 4 are arranged in a ring on the upper end of the rotating disk 21, the plurality of electromagnetic adsorption blocks 4 are interposed with the correction bowl 19 and used in conjunction with the correction iron ball 7, a top rod 30 is fixedly connected to the upper end of the correction iron ball 7, a plurality of counterweights 20 are fitted on the outer surface of the top rod 30, a hanging sleeve 27 is movably fitted on the upper end of the top rod 30, a baffle 28 is fixedly connected to the upper end of the top rod 30, a first spring 29 is provided on the inner side of the hanging sleeve 27, the first spring 29 abuts against the baffle 28, and the hanging sleeve 27 is fixedly connected to the mounting plate 26.

[0026] The above technical solution corrects the gravitational swing of the iron ball 7 and the counterweight 20, causing it to swing towards the lower tilt side. During the swing, the correcting iron ball 7 slides within the correcting bowl 19. The movement causes the push rod 30 to move slightly upwards, which in turn causes the baffle 28 to contact the first spring 29 within the sleeve 27. Then, the corresponding electromagnetic adsorption block 4 is automatically activated by the external controller to adsorb the correcting iron ball 7, maintaining the stability of the structure on the robot body 15. By decoupling the robot base 1 from the tracked walking mechanism 551, the robot body remains horizontal and vertical. The orientation of gravity ensures that the robot's two arms remain on the same horizontal reference plane during operation, greatly simplifying kinematic calculations and path planning on slopes. This allows the arms to perform precise operations as if on flat ground, such as opening and closing valves and pressing instrument panels. Simultaneously, as the chassis 16 swings with the central column 24, it can drive the pin 25 to compress or expand the hydraulic damper 9, and drive the corresponding slider 18 to slide on the fixed rod 33 to compress the second spring 34. Combined with mechanical springs or hydraulic damping, high-frequency vibrations are absorbed, improving overall application efficiency and quality.

[0027] A further technical solution is that a drive motor 35 is fixedly installed on the upper surface of the robot base 1. The output shaft of the drive motor 35 passes through the robot base 1 and extends to the bottom where a small gear 36 is fixedly fitted. A central shaft 32 is fixedly connected to the bottom of the rotating disk 21. A large gear 37 is fixedly fitted on the outer surface of the central shaft 32. The small gear 36 meshes with the large gear 37.

[0028] The above technical solution controls the operation of the drive motor 35, which drives the small gear 36 to rotate, thereby driving the large gear 37 to rotate, thus causing the rotating disk 21 to rotate on the robot base 1.

[0029] Specific usage of this invention: In a tracked dual-arm robot for industrial inspection under multiple working conditions according to the present invention, the robot first travels on the ground via the walking track 3 in the tracked walking mechanism 551. When encountering a slope at the operating position of the inspection equipment, one side of the walking track 3 tilts, which in turn causes the mechanism on the robot base 1 to tilt synchronously. Specifically, the robot base 1 drives the rotating disk 21 to move, which in turn causes the mounting rod 6 to tilt, thereby causing the mounting disk 26 to swing accordingly, and in turn causing the auxiliary disk 17 to move in the same way. Although the above structure tilts, it corrects the gravity of the iron ball 7 and the counterweight 20. Under its action, the steering ball 23 can autonomously correct the swing angle of the ball sleeve 22, so that the steering ball 23 drives the central column 24 to always maintain a vertical state, thereby driving the upper chassis 16 to move synchronously, so that the machine body 15 remains vertical. Then, by operating the rotation of the steering device 13, the rotation angle of the upper arm 12 is driven, thereby adjusting the rotation amplitude of the lower arm 11, making it convenient for the robot arm 10 to operate the equipment. Before this, by correcting the gravity swing of the iron ball 7 and the counterweight 20, it swings towards the tilted lower position. During the swing, the correction iron ball 7 is inside the correction bowl 19. The sliding motion, when encountering resistance, causes the push rod 30 to move slightly upwards. During this motion, the baffle 28 contacts the first spring 29 within the sleeve 27. Then, the corresponding electromagnetic adsorption block 4 is automatically activated by the external controller to adsorb the correction iron ball 7, maintaining the stability of the structure on the body 15. By decoupling the robot base 1 from the tracked walking mechanism 551, the body is kept horizontal and perpendicular to the direction of gravity. This ensures that the two arms are always on the same horizontal reference plane during robot operation, greatly simplifying the kinematic calculation and path planning on the slope, allowing the two arms to... It can perform precise operations as if on flat ground, such as opening and closing valves and pressing instrument panels. At the same time, as the chassis 16 swings with the central column 24, it can drive the pin shaft 25 to squeeze or expand the hydraulic damper 9, and drive the corresponding slider 18 to slide on the fixed rod 33 to squeeze the second spring 34. Combined with mechanical springs or hydraulic damping, it absorbs high-frequency vibrations, improves the overall application efficiency and quality, controls the operation of the drive motor 35, and can drive the small gear 36 to rotate, thereby driving the large gear 37 to rotate, so that the rotating disk 21 rotates on the robot base 1.

[0030] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand and implement the present invention. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A tracked dual-arm robot for industrial inspection under multiple working conditions, characterized in that: The system includes a robot base (1), on which a tracked walking mechanism (551) is mounted. A rotating disk (21) is rotatably mounted in the middle of the robot base (1). External teeth (31) are fixedly connected to the outer surface of the rotating disk (21). The external teeth (31) are slidably interlocked with the robot base (1). A damping auxiliary mechanism (552) is fixedly connected to the upper surface of the rotating disk (21). The damping auxiliary mechanism (552) includes multiple mounting rods (6) fixedly connected to the upper surface of the rotating disk (21). The upper ends of the multiple mounting rods (6) are all fixedly connected to a mounting disk (26). An auxiliary disk (17) is fixedly connected to the upper end of the mounting disk (26). Multiple openings (8) are circumferentially opened at the upper end of the auxiliary disk (17). Fixed rods (33) are fixedly connected to the inner sides of the multiple openings (8). Slider blocks (18) are slidably arranged on the inner sides of the multiple openings (8). (18) is interspersed and slidably arranged with the fixed rod (33). The outer surface of the fixed rod (33) is fitted with two second springs (34) that abut against the slider (18). The middle part of the auxiliary disk (17) is interspersed and fixedly installed with a central swing mechanism (553). The central swing mechanism (553) includes a ball sleeve (22) interspersed and fixedly installed in the middle of the auxiliary disk (17). The inner side of the ball sleeve (22) is movably arranged with a steering ball (23). The upper surface of the steering ball (23) is fixedly connected with a central column (24). The upper part of the central column (24) is fixedly fitted with a chassis (16). The outer surface of the chassis (16) is fixedly connected with multiple pins (25). The multiple pins (25) and the slider (18) are all connected to two hydraulic dampers (9). The upper end of the chassis (16) is equipped with a machine operating mechanism (555). The upper end of the rotating disk (21) is fixedly connected with a gravity correction mechanism (554).

2. The tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 1, characterized in that: The tracked walking mechanism (551) includes walking tracks (3) installed on both sides of the robot base (1), and a brake rod (2) is installed between the two walking tracks (3).

3. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 1, characterized in that: The machine operating mechanism (555) includes a body (15) fixedly installed on the upper end of the chassis (16). A body (14) is installed on the upper end of the body (15). Steering gears (13) are installed on the upper parts of both sides of the body (14). A large arm (12) is rotatably installed on the side of the two steering gears (13) that are far apart from each other. A small arm (11) is rotatably installed at the bottom end of the large arm (12). A robot arm (10) is installed at the bottom end of the small arm (11).

4. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 1, characterized in that: The gravity correction mechanism (554) includes a correction bowl (19) fixedly connected to the middle of the upper end of the rotating disk (21), and a correction iron ball (7) is provided on the inner side of the correction bowl (19).

5. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 4, characterized in that: The upper end of the rotating disk (21) is provided with a plurality of electromagnetic adsorption blocks (4), which are interspersed with the calibration bowl (19) and used in conjunction with the calibration iron ball (7).

6. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 4, characterized in that: The upper end of the correction ball (7) is fixedly connected to a top rod (30), and multiple counterweights (20) are fitted on the outer surface of the top rod (30).

7. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 6, characterized in that: The upper end of the top rod (30) is movably fitted with a hanging sleeve (27), and the upper end of the top rod (30) is fixedly connected with a baffle (28).

8. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 7, characterized in that: The inner side of the hanging sleeve (27) is provided with a first spring (29), which abuts against the baffle (28), and the hanging sleeve (27) is fixedly connected to the mounting plate (26).

9. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 1, characterized in that: A drive motor (35) is fixedly installed on the upper surface of the robot base (1). The output shaft of the drive motor (35) passes through the robot base (1) and extends to the bottom where a small gear (36) is fixedly fitted.

10. A tracked dual-arm robot for industrial inspection under multiple working conditions as described in claim 9, characterized in that: The bottom end of the rotating disk (21) is fixedly connected to a central shaft (32), and a large gear (37) is fixedly fitted on the outer surface of the central shaft (32). The small gear (36) meshes with the large gear (37).

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