Crawler-type chemical inspection robot

Abstract

The present application relates to the technical field of inspection robots, and particularly discloses a tracked chemical inspection robot, which comprises a driving mechanism, a visual mechanism, a shutdown mechanism and automatic mechanisms; the driving mechanism is used for providing the moving power of the robot; the visual mechanism is installed above the driving mechanism and is used for environment perception and data processing; the shutdown mechanism is installed on the end of the visual mechanism away from the driving mechanism and is used for landing and power docking of the unmanned aerial vehicle; two automatic mechanisms are symmetrically installed on the two sides of the visual mechanism respectively and are used for performing automatic plug-in operations. Through the cooperation of the multi-stage buffer shutdown platform and the multi-degree-of-freedom automatic plug-in mechanical arm, the present application realizes the safe landing, accurate positioning and full-automatic charging docking of the unmanned aerial vehicle on the mobile robot, and improves the continuity and automation level of chemical inspection.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to a tracked chemical inspection robot. Background Technology

[0002] Chemical plant areas are typically complex environments, containing hazardous factors such as flammable, explosive, toxic, and harmful substances. Traditional manual inspection methods are not only inefficient but also pose a serious threat to the safety of inspection personnel. Tracked chemical inspection robots and drone inspection technologies are gradually being widely adopted. Tracked robots have strong obstacle-crossing and mobility capabilities, enabling them to adapt to complex plant terrains, while drones have the advantages of wide field of vision and high mobility, allowing them to quickly inspect high or hidden areas. To enable drones to operate continuously for extended periods, inspection robots are usually equipped with drone landing platforms and tethered power supply systems. Through an automatic plug-in mechanism, the drone is automatically connected to the power source after landing, providing it with continuous energy replenishment.

[0003] Existing tracked chemical inspection robots with tethered power supply and automatic plug-in / plug-out mechanisms for drones have the following problems in practical use: The visual perception mechanisms of existing robots are often structurally fixed or have limited adjustment range, making it impossible to flexibly adjust the shooting angle according to complex environments, resulting in blind spots during inspections, and data processing and display are not intuitive or efficient enough; Existing landing platforms lack effective multi-level buffering and precise position adjustment mechanisms, and the impact force generated when the drone lands can easily damage its landing gear, and the fixed landing position makes it impossible to make lateral and longitudinal adaptive adjustments, resulting in difficulties in connecting the tethered power supply cable; Existing automatic plug-in / plug-out mechanisms have simple mechanical structures and low degrees of freedom, and the clamping and plugging / plugging actions are not precise and stable enough, making it prone to plugging / plugging failures or poor contact in the vibration or harsh environment of chemical plants, failing to achieve efficient and reliable automatic charging docking, which seriously restricts the continuity and automation level of drone inspection tasks. Summary of the Invention

[0004] The purpose of this invention is to provide a tracked chemical inspection robot to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a tracked chemical inspection robot, comprising a drive mechanism, a vision mechanism, a stopping mechanism, and an automatic mechanism; the vision mechanism is mounted above the drive mechanism, the stopping mechanism is mounted on the end of the vision mechanism away from the drive mechanism, and two automatic mechanisms are symmetrically mounted on both sides of the vision mechanism; the drive mechanism provides the robot's movement power, the vision mechanism is used for environmental perception and data processing, the stopping mechanism is used for the robot's landing and tethered power connection, and the automatic mechanism is used to perform automatic plugging and unplugging operations.

[0006] Preferably, the drive mechanism includes a drive frame, a drive motor, a drive gear, an energy storage battery, a working chamber, a drive wheel, and a drive track; the drive motor and the energy storage battery are both fixedly installed inside the drive frame, and the working chamber is also provided inside the drive frame; the drive gear is engaged with one side of the output shaft of the drive motor, one end of the drive gear passes through the side wall of the drive frame and engages with the drive wheel, and the inner surface of the drive track is nested and installed on the outer surface of the drive wheel.

[0007] Preferably, the vision mechanism includes an isolation plate, a processing frame, a processor, a detachable plate, a housing frame, a vision glass plate, a data processing screen, a vision encoder, a protective frame, a swing adjuster, and a vision camera. The isolation plate covers the drive frame, and the processing frame and the housing frame are both fixedly mounted on the isolation plate. The outer surface of the processor is nested in the processing frame, and the outer surface of the detachable plate is nested and connected to one end of the processing frame. The inner surface of the housing frame is nested in the outer surfaces of the processing frame, the processor, and the detachable plate. The outer surface of the vision glass plate is nested in the front end of the housing frame, and the data processing screen is connected to the end of the housing frame away from the vision glass plate. The vision encoder is connected to the processing frame, the outer surface of the protective frame is nested in the outer surface of the vision encoder, the swing adjuster is connected to the vision encoder, and the vision camera is connected to the swing adjuster.

[0008] Preferably, the stopping mechanism includes a stopping base frame, bottom side buffers, a protective frame, a stopping isolation plate, a main adjusting plate, a lateral adjusting slide rail, a longitudinal adjusting frame, a stopping bracket, a stopping base frame, an intermediate buffer support frame, and a top stopping plate; the stopping base frame is installed on top of the outer casing frame, the bottom side buffers are distributed and installed in the stopping base frame, the protective frame is nested and installed on the outer surface of the bottom side buffers, and the stopping isolation plate covers the stopping base frame and is located above the protective frame; the main adjusting plate is connected to the stopping isolation plate, the lateral adjusting slide rail is installed on the stopping isolation plate, the longitudinal adjusting frame is limited on the lateral adjusting slide rail for lateral sliding adjustment, and the stopping bracket is limited on the longitudinal adjusting frame for lifting adjustment; the stopping base frame is connected to the main adjusting plate, the intermediate buffer support frame is connected to the stopping base frame, and the top stopping plate is connected to the intermediate buffer support frame.

[0009] Preferably, the landing bracket is equipped with a tethered power supply interface for automatically connecting the tethered cable to provide continuous power when the UAV lands.

[0010] Preferably, the automatic mechanism includes a mounting bracket, a connecting drive gear set, a mechanical base, a mechanical adjustment main frame, a secondary adjustment bracket, a clamping adjustment bracket, a clamping adjustment base, a drive gear, a docking clamping gear, a connecting clamping adjustment plate, and a plug-in clamp. The mounting bracket is respectively installed on both sides of the outer casing frame. The connecting drive gear set docks with the mechanical base from inside the outer casing frame. The mechanical adjustment main frame docks with the secondary adjustment bracket through the mechanical base. One end of the clamping adjustment bracket docks with the secondary adjustment bracket, and the other end of the clamping adjustment bracket away from the secondary adjustment bracket docks with the clamping adjustment base. The drive gear is limited to rotate and adjust within the clamping adjustment base, and the drive gear meshes with the docking clamping gear. Both ends of the connecting clamping adjustment plate dock between the docking clamping gear and the plug-in clamp.

[0011] Preferably, the plug-in clamp has an adapter plug at its end for insertion into the drone charging interface.

[0012] Preferably, the mechanical adjustment main frame, the secondary adjustment bracket, and the clamping adjustment bracket constitute a multi-degree-of-freedom robotic arm structure.

[0013] Preferably, the bottom side buffer and the intermediate buffer support structure form a multi-level buffer structure to absorb the impact force when the drone lands.

[0014] Preferably, the swing adjuster is used to adjust the shooting angle of the vision camera to achieve all-round visual inspection.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects: The tracked chemical inspection robot provided by this invention achieves high mobility and all-around environmental perception in complex chemical environments through the cooperation of a drive mechanism and a vision mechanism. The drive track provides strong obstacle-crossing capabilities, while the vision camera, combined with a swing adjuster, allows for flexible adjustment of the shooting angle. The processor and data processing screen enable real-time processing and visualization of inspection data, greatly improving the efficiency and safety of chemical inspections. The multi-stage buffer design of the bottom side buffer and the middle buffer support frame in the stopping mechanism effectively absorbs the impact force during drone landing, protecting the drone's landing gear. The cooperation of the lateral adjustment rail and the longitudinal adjustment frame enables precise two-dimensional and height adjustment of the stopping position, ensuring accurate docking of the power cable and enabling safe docking and energy replenishment preparation. Through the multi-degree-of-freedom robotic arm structure of the automatic mechanism, combined with the precision transmission of the active drive gear and the docking clamping gear, the plug-in clamping device is driven to accurately clamp and insert into the drone's charging port. Combined with the tethered power supply interface in the stopping mechanism, the fully automated process of "stopping-clamping-plugging-powering" is realized, completely freeing up manual operation and ensuring the continuity of chemical inspection tasks and the drone's endurance. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention.

[0017] Figure 1 This is a perspective view of the tracked chemical inspection robot of the present invention.

[0018] Figure 2 This is a three-dimensional disassembly view of the tracked chemical inspection robot of the present invention.

[0019] Figure 3 This is a three-dimensional disassembly view of the drive mechanism of the tracked chemical inspection robot of the present invention.

[0020] Figure 4 This is a three-dimensional disassembly view of the vision mechanism of the tracked chemical inspection robot of the present invention.

[0021] Figure 5 This is a three-dimensional disassembly view of the stopping mechanism of the tracked chemical inspection robot of the present invention.

[0022] Figure 6 This is a partial disassembly perspective view of the parking bottom frame of the tracked chemical inspection robot of the present invention.

[0023] Figure 7 This is a three-dimensional disassembly view of the automatic mechanism of the tracked chemical inspection robot of the present invention.

[0024] Figure 8This is a partial disassembly perspective view of the clamping and adjusting bracket of the tracked chemical inspection robot of the present invention.

[0025] In the diagram: 1. Drive mechanism; 11. Drive frame; 12. Drive motor; 13. Drive gear; 14. Energy storage battery; 15. Working chamber; 16. Drive wheel; 17. Drive track; 2. Vision mechanism; 21. Isolation plate; 22. Processing frame; 23. Processor; 24. Detachable plate; 25. Vision encoder; 26. Protective outer frame; 27. Swing adjuster; 28. Vision camera; 29. ​​Outer casing frame; 210. Vision glass plate; 211. Data processing screen; 3. Stopping mechanism; 31. Stopping bottom frame; 32. Protective frame; 33. Bottom side buffer. 34. Stop isolation plate; 35. Main adjustment plate; 36. Lateral adjustment slide rail; 37. Longitudinal adjustment frame; 38. Stop bracket; 39. Stop base frame; 310. Intermediate buffer support frame; 311. Top stop plate; 4. Automatic mechanism; 41. Mounting and fixing frame; 42. Connecting drive gear set; 43. Mechanical base; 44. Mechanical adjustment main frame; 45. Secondary adjustment bracket; 46. Clamping adjustment bracket; 47. Clamping adjustment base; 48. Active drive gear; 49. Interlocking clamping gear; 410. Connecting clamping adjustment plate; 411. Insertion and removal clamp. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] like Figures 1 to 8 As shown, the present invention provides a tracked chemical inspection robot, including a drive mechanism 1, a vision mechanism 2, a stopping mechanism 3, and an automatic mechanism 4; the vision mechanism 2 is installed above the drive mechanism 1, the stopping mechanism 3 is installed on the end of the vision mechanism 2 away from the drive mechanism 1, and the two automatic mechanisms 4 are symmetrically installed on both sides of the vision mechanism 2; the drive mechanism 1 is used to provide the robot with the power to move, the vision mechanism 2 is used for environmental perception and data processing, the stopping mechanism 3 is used for the landing of the robot and the docking of the power supply, and the automatic mechanism 4 is used to perform automatic plugging and unplugging operations.

[0028] Through the coordinated operation of drive mechanism 1, vision mechanism 2, stopping mechanism 3 and automatic mechanism 4, the robot can achieve fully automated operation of autonomous movement, environmental perception, drone landing reception and automatic charging in complex chemical environments. This effectively solves the problems of limited visual perception range, insufficient stopping buffer and difficulty in plugging and unplugging in the existing technology.

[0029] Further optimization of the scheme: the drive mechanism 1 includes a drive frame 11, a drive motor 12, a drive gear 13, an energy storage battery 14, a working chamber 15, a drive wheel 16, and a drive track 17; the drive motor 12 and the energy storage battery 14 are both fixedly installed inside the drive frame 11, and the drive frame 11 also has a working chamber 15 inside; the drive gear 13 is connected to one side of the output shaft of the drive motor 12, one end of the drive gear 13 passes through the side wall of the drive frame 11 and is connected to the drive wheel 16, and the inner surface of the drive track 17 is nested and installed on the outer surface of the drive wheel 16.

[0030] The drive motor 12 drives the drive gear 13 to rotate, which in turn drives the drive wheel 16 to rotate and drive the drive track 17 to move forward. This provides stable and powerful mobility for the entire device, enabling the robot to move flexibly in the complex terrain of the chemical plant area and has good obstacle-crossing ability.

[0031] The vision mechanism 2 is further optimized, including an isolation plate 21, a processing frame 22, a processor 23, a detachable plate 24, a housing frame 29, a vision glass plate 210, a data processing screen 211, a vision encoder 25, a protective frame 26, a rocker adjuster 27, and a vision camera 28. The isolation plate 21 covers the drive frame 11, and the processing frame 22 and the housing frame 29 are both fixedly installed on the isolation plate 21. The outer surface of the processor 23 is nested in the processing frame 22, and the outer surface of the detachable plate 24 is nested and connected to one end of the processing frame 22. The inner surface of the housing frame 29 is nested within the outer surfaces of the processing frame 22, the processor 23, and the removable plate 24. The outer surface of the vision glass plate 210 is nested and installed at the front end of the housing frame 29. The data processing screen 211 is docked and installed on the end of the housing frame 29 away from the vision glass plate 210. The vision encoder 25 is docked and installed on the processing frame 22. The outer surface of the protective frame 26 is nested and installed on the outer surface of the vision encoder 25. The swing adjuster 27 is docked on the vision encoder 25. The vision camera 28 is docked and installed on the swing adjuster 27.

[0032] By adjusting the shooting angle of the vision camera 28 using the swing adjuster 27, all-round visual inspection can be achieved. The image signal collected by the vision camera 28 is transmitted to the vision encoder 25 for encoding processing, and the data is processed by the processor 23 in the processing frame 22. Finally, the inspection results are displayed on the data processing screen 211. The protective frame 26 protects the vision components from corrosion by the chemical environment throughout the process, realizing the real-time acquisition, processing and visualization of inspection data.

[0033] The further optimized design includes a parking mechanism 3 comprising a parking base frame 31, bottom side buffers 33, a protective frame 32, a parking isolation plate 34, a main adjustment plate 35, a lateral adjustment slide rail 36, a longitudinal adjustment frame 37, a parking bracket 38, a parking base frame 39, an intermediate buffer support frame 310, and a top parking plate 311. The parking base frame 31 is installed on top of the outer shell frame 29, and the bottom side buffers 33 are distributed and installed within the parking base frame 31 to absorb the impact force during UAV landing. The protective frame 32 is nested on the outer surface of the bottom side buffers 33 to form a protective structure. The parking isolation plate 34 covers the parking base frame 31 and is located above the protective frame 32 to isolate the parking area from the external environment. The main adjustment plate 35 is docked and installed. On the parking isolation plate 34, the lateral adjustment slide rail 36 is installed; the longitudinal adjustment frame 37 is limited on the lateral adjustment slide rail 36 for lateral sliding adjustment, and the parking bracket 38 is limited on the longitudinal adjustment frame 37 for lifting adjustment, thereby realizing two-dimensional and height-precise adjustment of the UAV parking position, in conjunction with the docking of the tethered power supply cable; the parking base frame 39 is docked on the main adjustment plate 35, the intermediate buffer support frame 310 is docked on the parking base frame 39, and the top parking plate 311 is docked on the intermediate buffer support frame 310; the top parking plate 311 serves as the final landing contact surface of the UAV, and provides multi-level buffer support through the intermediate buffer support frame 310 and the parking base frame 39 to protect the UAV landing gear.

[0034] The multi-stage buffer design of the bottom buffer 33 and the middle buffer support frame 310 can effectively absorb the impact force when the drone lands and protect the drone landing gear. The cooperation of the lateral adjustment slide rail 36 and the longitudinal adjustment frame 37 realizes two-dimensional and height-precise adjustment of the stopping position, ensuring that the drone can accurately dock with the tethered power cable, realizing the safe docking and energy replenishment preparation of the drone.

[0035] The design has been further optimized by equipping the landing bracket 38 with a tethered power supply interface, which is used to automatically connect the tethered cable for continuous power supply when the drone lands.

[0036] The tethered power supply interface on the landing bracket 38 can automatically connect the tethered cable after the drone lands and comes to a stop, providing continuous and uninterrupted power to the drone and ensuring that the drone can perform inspection tasks for a long time.

[0037] The scheme is further optimized. The automatic mechanism 4 includes a mounting bracket 41, a connecting drive gear set 42, a mechanical base 43, a mechanical adjustment main frame 44, a secondary adjustment bracket 45, a clamping adjustment bracket 46, a clamping adjustment base 47, a drive gear 48, a docking clamping gear 49, a connecting clamping adjustment plate 410, and a plug-in clamp 411. The mounting bracket 41 is installed on both sides of the outer casing frame 29. The connecting drive gear set 42 docks with the mechanical base 43 from inside the outer casing frame 29, providing a power source. The mechanical adjustment main frame 44... 4. The mechanical base 43 is connected to the secondary adjustment bracket 45. One end of the clamping adjustment bracket 46 is connected to the secondary adjustment bracket 45, and the other end of the clamping adjustment bracket 46 away from the secondary adjustment bracket 45 is connected to the clamping adjustment base 47, forming a multi-degree-of-freedom robotic arm structure. The active drive gear 48 is limited in the clamping adjustment base 47 for rotation adjustment. The active drive gear 48 meshes with the docking clamping gear 49. The two ends of the connecting clamping adjustment plate 410 are respectively connected between the docking clamping gear 49 and the insertion and removal clamp 411.

[0038] The active drive gear 48 drives the docking clamping gear 49 to rotate, which in turn drives the connecting clamping adjustment plate 410 to flip, thereby opening and closing the plug-in clamp 411, completing the clamping and plugging / unplugging operation of the drone charging interface, and realizing the fully automatic docking and plugging / unplugging operation of the drone charging interface.

[0039] The design has been further optimized by adding an adapter plug at the end of the plug-in clamp 411 for insertion into the drone charging port.

[0040] When the connecting clamping adjustment plate 410 flips and causes the plug-in clamp 411 to close and clamp the drone body or charging port, the plug-in clamp 411 further performs an insertion action by using the adapter plug at the end of the plug-in clamp 411 to accurately insert the adapter plug into the drone charging interface, thereby realizing the automatic plug-in charging function.

[0041] The scheme was further optimized, and the mechanical adjustment main frame 44, the secondary adjustment bracket 45, and the clamping adjustment bracket 46 constitute a multi-degree-of-freedom robotic arm structure.

[0042] The multi-degree-of-freedom robotic arm structure allows the end-effector 411 to move flexibly in three-dimensional space, adapting to the positional differences of charging interfaces for different drone models, thus improving the versatility and adaptability of the automatic plugging and unplugging mechanism.

[0043] The design is further optimized so that the bottom buffer 33 and the middle buffer support frame 310 form a multi-level buffer structure to absorb the impact force when the drone lands.

[0044] Through a multi-stage buffer structure, the impact energy generated when the drone lands can be effectively attenuated. From the primary energy absorption of the bottom buffer 33 to the secondary buffer of the intermediate buffer support frame 310, the impact force is reduced step by step, maximizing the protection of the structural safety of the drone landing gear and landing platform.

[0045] The scheme is further optimized by using the swing adjuster 27 to adjust the shooting angle of the vision camera 28 to achieve all-round visual inspection.

[0046] With the flexible adjustment of the swing regulator 27, the vision camera 28 can be adjusted in a wide range of angles in both horizontal and vertical directions, eliminating blind spots in the inspection and ensuring comprehensive and seamless monitoring of the chemical plant area environment.

[0047] In practical use, the tracked chemical inspection robot provided by this invention utilizes a drive mechanism 1 to provide the entire device with the necessary power for movement. After the drive motor 12 starts, it drives the drive gear 13 to rotate. The drive gear 13, passing through the side wall of the drive frame 11, drives the drive wheel 16 to rotate, which in turn drives the drive track 17 nested on its outer surface, enabling the robot to move stably in the complex terrain of a chemical plant area. The vision mechanism 2 then begins operation. The vision camera 28, adjusted by the swing adjuster 27, changes its shooting angle to perform a full-range scan of the surrounding environment. The acquired image signals are transmitted to the vision encoder 25 and processed by the processor 23 within the processing frame 22. Finally, the inspection results are displayed on the data processing screen 211. The protective outer frame 26 protects the vision components from corrosion by the chemical environment throughout the process.

[0048] When the UAV needs to land for resupply, the landing mechanism 3 comes into play. The UAV lands in the area of ​​the landing base frame 31, where bottom side buffers 33 are distributed and installed to absorb the initial landing impact. The protective frame 32 is nested on the outer surface of the buffer to form a safety barrier. For precise docking, the longitudinal adjustment frame 37 slides on the lateral adjustment rail 36 to adjust its lateral position, and the landing bracket 38 is raised and lowered on the longitudinal adjustment frame 37 to achieve three-dimensional position calibration. The UAV finally contacts the top landing plate 311, and its weight is transferred to the landing base frame 39 and the main adjustment plate 35 through the intermediate buffer support frame 310. This multi-level buffer support structure effectively protects the UAV landing gear, while the landing isolation plate 34 isolates the landing area from the harsh external environment.

[0049] After the drone comes to a stop, the automatic mechanism 4 performs an automatic plug-in / plug-out operation. The drive gear set 42 outputs power from inside the outer casing 29 to the mechanical base 43, driving the main mechanical adjustment frame 44, the secondary adjustment bracket 45, and the clamping adjustment bracket 46 to move in tandem, bringing the end clamping adjustment base 47 to the vicinity of the drone's charging port. The active drive gear 48 rotates within the base, meshing with and driving the docking clamping gear 49 to rotate, which in turn drives the connecting clamping adjustment plate 410 to flip, causing the end plug-in / plug-out clamp 411 to close and clamp the drone's body or charging port. The plug-in / plug-out clamp 411 further performs an insertion action, inserting the adapter plug into the interface. At the same time, the tethered power supply interface on the stop bracket 38 automatically connects to the tethered cable, thus realizing automatic clamping, plug-in / plug-out charging, and continuous tethered power supply for the drone, ensuring uninterrupted operation of chemical inspection tasks.

[0050] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A tracked chemical inspection robot, characterized in that, It includes a drive mechanism (1), a vision mechanism (2), a stopping mechanism (3), and an automatic mechanism (4). The vision mechanism (2) is installed above the drive mechanism (1), the stopping mechanism (3) is installed on the end of the vision mechanism (2) away from the drive mechanism (1), and the two automatic mechanisms (4) are symmetrically installed on both sides of the vision mechanism (2); The drive mechanism (1) is used to provide the robot with the power to move, the vision mechanism (2) is used for environmental perception and data processing, the stopping mechanism (3) is used for the landing of the drone and the docking of the power supply, and the automatic mechanism (4) is used to perform automatic plug-in and unplug operations.

2. The tracked chemical inspection robot according to claim 1, characterized in that, The drive mechanism (1) includes a drive frame (11), a drive motor (12), a drive gear (13), an energy storage battery (14), a working chamber (15), a drive wheel (16), and a drive track (17). The drive motor (12) and the energy storage battery (14) are both fixedly installed inside the drive frame (11), and the drive frame (11) is also provided with the working cavity (15). The drive gear (13) is connected to one side of the output shaft of the drive motor (12). One end of the drive gear (13) passes through the side wall of the drive frame (11) and is connected to the drive wheel (16). The inner surface of the drive track (17) is nested and installed on the outer surface of the drive wheel (16).

3. The tracked chemical inspection robot according to claim 2, characterized in that, The vision mechanism (2) includes an isolation plate (21), a processing frame (22), a processor (23), a detachable plate (24), an outer shell frame (29), a vision glass plate (210), a data processing screen (211), a vision encoder (25), a protective outer frame (26), a swing adjuster (27), and a vision camera (28). The isolation plate (21) is placed on the drive frame (11), the processing frame (22) and the outer shell frame (29) are both fixedly installed on the isolation plate (21), the outer surface of the processor (23) is nested in the processing frame (22), and the outer surface of the detachable plate (24) is nested and connected to one end of the processing frame (22); The inner surface of the outer casing frame (29) is nested within the outer surfaces of the processing frame (22), the processor (23), and the detachable plate (24). The outer surface of the visual glass plate (210) is nested and installed at the front end of the outer casing frame (29). The data processing screen (211) is mated and installed on the end of the outer casing frame (29) away from the visual glass plate (210). The visual encoder (25) is docked on the processing frame (22), the outer surface of the protective frame (26) is nested on the outer surface of the visual encoder (25), the rocking adjuster (27) is docked on the visual encoder (25), and the visual camera (28) is docked on the rocking adjuster (27).

4. The tracked chemical inspection robot according to claim 3, characterized in that, The stopping mechanism (3) includes a stopping base frame (31), a bottom side buffer (33), a protective frame (32), a stopping isolation plate (34), a main adjustment plate (35), a transverse adjustment slide rail (36), a longitudinal adjustment frame (37), a stopping bracket (38), a stopping base frame (39), an intermediate buffer support frame (310), and a top stopping plate (311). The stop bottom frame (31) is installed on the top of the outer casing frame (29), the bottom side buffers (33) are distributed and installed in the stop bottom frame (31), the protective frame (32) is nested and installed on the outer surface of the bottom side buffers (33), and the stop isolation plate (34) is placed on the stop bottom frame (31) and located above the protective frame (32); The main adjustment plate (35) is connected to the stop isolation plate (34), the lateral adjustment slide rail (36) is installed on the stop isolation plate (34), the longitudinal adjustment frame (37) is limited on the lateral adjustment slide rail (36) for lateral sliding adjustment, and the stop bracket (38) is limited on the longitudinal adjustment frame (37) for lifting adjustment; The stop base frame (39) is connected to the main adjustment plate (35), the intermediate buffer support frame (310) is connected to the stop base frame (39), and the top stop plate (311) is connected to the intermediate buffer support frame (310).

5. The tracked chemical inspection robot according to claim 4, characterized in that, The parking bracket (38) is equipped with a tethered power supply interface, which is used to automatically connect the tethered cable for continuous power supply when the UAV lands.

6. The tracked chemical inspection robot according to claim 3, characterized in that, The automatic mechanism (4) includes a mounting bracket (41), a connecting drive gear set (42), a mechanical base (43), a mechanical adjustment main frame (44), a secondary adjustment bracket (45), a clamping adjustment bracket (46), a clamping adjustment base (47), an active drive gear (48), a docking clamping gear (49), a connecting clamping adjustment plate (410), and a plug-in clamp (411). The mounting brackets (41) are respectively installed on both sides of the outer casing frame (29), and the connecting drive gear set (42) is connected to the mechanical base (43) from inside the outer casing frame (29); The mechanical adjustment main frame (44) is connected to the secondary adjustment bracket (45) via the mechanical base (43), one end of the clamping adjustment bracket (46) is connected to the secondary adjustment bracket (45), and the end of the clamping adjustment bracket (46) away from the secondary adjustment bracket (45) is connected to the clamping adjustment base (47). The active drive gear (48) is limited to the clamping adjustment base (47) for rotation adjustment, and the active drive gear (48) meshes with the docking clamping gear (49); The two ends of the connecting clamping adjustment plate (410) are respectively connected between the docking clamping gear (49) and the plug-in clamp (411).

7. The tracked chemical inspection robot according to claim 6, characterized in that, The plug-in clamp (411) has an adapter plug at its end for inserting into the drone charging interface.

8. The tracked chemical inspection robot according to claim 6, characterized in that, The mechanical adjustment main frame (44), the secondary adjustment bracket (45), and the clamping adjustment bracket (46) constitute a multi-degree-of-freedom robotic arm structure.

9. The tracked chemical inspection robot according to claim 4, characterized in that, The bottom side buffer (33) and the middle buffer support frame (310) constitute a multi-level buffer structure to absorb the impact force when the UAV lands.

10. The tracked chemical inspection robot according to claim 3, characterized in that, The swing adjuster (27) is used to adjust the shooting angle of the visual camera (28) to achieve all-round visual inspection.

Images