A type of orbital robot

Abstract

This invention relates to the field of intelligent inspection technology, and in particular to a track-mounted robot to alleviate the problems of large turning radii and difficulty in adapting to complex environments associated with conventional rigid-structure robots. The track-mounted robot includes a traction mechanism and a detection module; the traction mechanism and the detection module are connected via a joint bearing; the traction mechanism includes a drive unit and a first guide unit; the drive unit is rotatably connected to the first guide unit; the detection module includes a detection box and a second guide unit; the detection box is rotatably connected to the second guide unit; during the process of the traction mechanism driving the detection module to move according to the track's layout trajectory, offsets occur between the drive unit and the first guide unit, and between the traction mechanism and the detection module. The drive unit and the guide unit can automatically deflect at curves, maintaining good contact with the track; simultaneously, the flexible connection using joint bearings significantly reduces the turning radius.

Description

Technical Field

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

[0002] In current industrial applications, especially in the deployment of tracked robots for inspection and testing tasks within factory areas, traditional designs often employ rigid structures. While this design can meet the requirements for operation on straight tracks, it reveals significant limitations when facing complex terrains (such as pipe corridors and tank areas). Specifically, the rigid structure results in a large turning radius for the robot, making it difficult to flexibly navigate curves or adapt to changes in terrain. This not only limits the robot's applicability but also reduces its work efficiency and reliability.

[0003] Furthermore, when traditional track robots enter curved tracks, the lack of an effective offset adjustment mechanism means that the drive unit and guide unit cannot automatically adjust their angle and position according to the actual shape of the track, which can easily lead to slippage or jamming, further affecting the robot's operational stability.

[0004] Meanwhile, since the track is located within the factory area, dust and debris will inevitably accumulate after long-term use. If it is not maintained regularly, it may affect the normal operation of the track robot and increase maintenance costs and workload. Summary of the Invention

[0005] To alleviate the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0006] This invention relates to a track robot, comprising a traction mechanism and a detection module;

[0007] The traction mechanism and the detection module are connected by a joint bearing.

[0008] The traction mechanism includes a drive unit and a first guide unit;

[0009] The driving part is rotatably connected to the first guide part;

[0010] The detection module includes a detection box and a second guide section;

[0011] The detection box is rotatably connected to the second guide section;

[0012] During the process of the traction mechanism driving the detection module to move according to the track layout trajectory, the drive unit and the first guide unit will be offset, as will the traction mechanism and the detection module.

[0013] Furthermore,

[0014] The first guide section includes a connecting beam and two sets of first guide assemblies;

[0015] The connecting beam is arranged horizontally, and its two ends are respectively rotatably connected to one of the first guide assemblies.

[0016] Furthermore,

[0017] The two sets of drive components are respectively located on both sides of the track and are fixedly connected by a connecting frame;

[0018] A swing arm is provided at the lower part of the connecting frame;

[0019] The swing arm is arranged horizontally, with one end rotatably connected to the connecting frame and the other end rotatably connected to the connecting beam.

[0020] Furthermore,

[0021] The drive unit includes a motor and drive wheels;

[0022] The output shaft of the motor is vertically upward;

[0023] The drive wheel is connected to the output shaft via a transmission.

[0024] Furthermore,

[0025] The first guide assembly is provided with a guide wheel assembly, a load-bearing wheel assembly, and a preload wheel assembly;

[0026] The two sets of guide wheel assemblies are symmetrically arranged on the upper part of the U-shaped bracket and are rotatably connected to both sides of the track web, respectively;

[0027] The two sets of load-bearing wheel assemblies are symmetrically arranged below the guide wheel and rotatably connected to the U-shaped bracket, and respectively rotatably connected to the upper surface of the lower wing plate of the track;

[0028] The preload wheel assembly is located below the guide wheel and is rotatably connected to the lower surface of the lower wing plate of the track.

[0029] Furthermore,

[0030] The first guide assembly is equipped with a dust removal brush;

[0031] The dust removal brush abuts against the upper surface of the lower wing plate of the track.

[0032] Furthermore,

[0033] The first guide assembly is equipped with an encoder;

[0034] The encoder is rotatably connected to the preload wheel and can record mileage.

[0035] Furthermore,

[0036] The second guide section includes two sets of second guide assemblies;

[0037] The structure of the second guide assembly is the same as that of the first guide assembly;

[0038] Two sets of the second guide assemblies are respectively horizontally arranged on the upper part of both ends of the detection box and are rotatably connected to the detection box.

[0039] Furthermore,

[0040] A joint bearing is provided on the side of the connecting beam near the detection box;

[0041] A pull rod is provided on the side of the detection box near the traction mechanism;

[0042] The tie rod is assembled and connected to the spherical bearing.

[0043] Furthermore,

[0044] Both the motor and the testing box are equipped with explosion-proof housings.

[0045] The beneficial effects of the track robot in this invention are analyzed as follows:

[0046] The track robot includes a traction mechanism and a detection module; the traction mechanism and the detection module are connected by a joint bearing; the traction mechanism includes a drive unit and a first guide unit; the drive unit is rotatably connected to the first guide unit; the detection module includes a detection box and a second guide unit; the detection box is rotatably connected to the second guide unit; during the process of the traction mechanism driving the detection module to move according to the layout trajectory of the track, offsets will occur between the drive unit and the first guide unit, and between the traction mechanism and the detection module.

[0047] The traction mechanism adopts a dual-drive wheel with an adjustable guide structure, combined with the linkage mechanism of the swing arm and connecting beam, which enables the drive unit and guide unit to automatically deflect at curves, maintain good contact with the track, and improve operational stability. At the same time, the use of joint bearings to flexibly connect the traction mechanism and the detection module allows the track robot to automatically adjust its posture when passing through curves or slopes, significantly reducing the turning radius and improving its adaptability to complex terrains (such as pipe corridors, tank areas, etc.). Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 A schematic diagram of the structure of the track robot provided for an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the traction mechanism.

[0051] Figure 3 This is a schematic diagram of the detection module's results.

[0052] Figure 4 A schematic diagram of the structure of a track robot for removing tracks;

[0053] Figure 5 This is a schematic diagram of the drive unit.

[0054] Figure 6 This is a schematic diagram of the structure of the first guide assembly;

[0055] Figure 7 This is a partially enlarged schematic diagram of the traction mechanism.

[0056] icon:

[0057] 100-Traction mechanism; 111-Connecting frame; 113-Drive wheel; 121-Connecting beam; 122-First guide assembly; 1221-Guide wheel assembly; 1222-Bearing wheel assembly; 1223-Preload wheel assembly; 1224-U-shaped bracket;

[0058] 200 - Detection module; 210 - Detection box; 221 - Second guide assembly;

[0059] 300-spherical plain bearing;

[0060] 400-track;

[0061] 500-Swing Arm;

[0062] 600-Dust Removal Brush;

[0063] 700-Pull bar. Detailed Implementation

[0064] Traditional tracked robots used in factories have rigid structures, which lack effective flexible structures, resulting in excessively large turning radii and making it difficult to adapt to complex terrains within factories (such as pipe corridors and tank areas).

[0065] In view of this, such as Figures 1 to 7 As shown, this solution provides a track robot to alleviate the above problems.

[0066] This device includes a traction mechanism 100 and a detection module 200;

[0067] The traction mechanism 100 and the detection module 200 are connected by a spherical bearing 300.

[0068] The traction mechanism 100 includes a drive unit and a first guide unit;

[0069] The drive unit is rotatably connected to the first guide unit;

[0070] The detection module 200 includes a detection box 210 and a second guide section;

[0071] The detection box 210 is rotatably connected to the second guide section;

[0072] During the process of the traction mechanism 100 driving the detection module 200 to move according to the layout trajectory of the track 400, the drive unit and the first guide unit, as well as the traction mechanism 100 and the detection module 200, will deviate.

[0073] Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown, when entering the curved track, the offset engagement between the drive unit and the first guide unit ensures that the drive unit always clamps the track 400. After entering the curved track, the drive unit and the first guide unit move in different directions through the rotating shaft structure under their respective force relationships, thereby enabling the traction mechanism 100 to adapt to different curved environments. At the same time, the traction mechanism 100 and the detection module 200 are rotatably connected by a joint bearing 300, so that the traction mechanism 100 and the detection module 200 will offset according to the degree of curvature after entering the curved track, thereby reducing the turning radius of the track robot and enabling the track robot to adapt to various complex environments.

[0074] In this design, the first guide section includes a connecting beam 121 and two sets of first guide assemblies 122;

[0075] The connecting beam 121 is arranged in a horizontal direction, and its two ends are respectively rotatably connected to a first guide assembly 122;

[0076] The two sets of drive units are respectively located on both sides of the track 400 and are fixedly connected by the connecting bracket 111;

[0077] A swing arm 500 is provided at the lower part of the connecting frame 111;

[0078] The swing arm 500 is set in the horizontal direction, with one end rotatably connected to the connecting frame 111 and the other end rotatably connected to the connecting beam 121.

[0079] Specifically, the two sets of drive units are fixedly connected by the connecting frame 111 to form a rigid integral stroke drive assembly. After the track robot enters the curved track, due to the change in force position caused by the track, the two sets of first guide assemblies 122 and drive assemblies located before and after the connecting frame 111 respectively contact the curved track at the optimal angle and direction through the rotating shaft structure. The curved track is approximately an arc surface, and the connecting beam 121 is approximately a chord of the arc surface. While the drive assembly rotates along the rotating shaft connected to the swing arm 500, the swing arm 500 also rotates along the rotating shaft connected to the connecting beam 121, causing the drive... The assembly deflects relative to the connecting beam 121, and the two sets of first guide assemblies 122 can rotate along their own axes, so that the two sets of first guide assemblies 122 and the drive assembly respectively contact the arc surface; more preferably, during the straight-rail movement of the track robot, the drive assembly is located at the center of the connecting beam 121, and the connection between the swing arm 500 and the connecting beam 121 can be closer to the first guide assembly located at the front end of the movement direction, making the length of the swing arm 500 longer, thereby increasing the swing range of the drive assembly and making the traction mechanism 100 more adaptable to sharp bends.

[0080] In this design, the drive unit includes a motor and a drive wheel 113;

[0081] The motor's output shaft is positioned vertically upwards;

[0082] Drive wheel 113 is connected to the output shaft for transmission;

[0083] Both the motor 112 and the detection box 210 are equipped with explosion-proof housings.

[0084] Specifically, a reducer is installed at the upper end of the motor. The reducer and the motor are housed together in an explosion-proof housing. The output flange of the reducer is bolted to the drive wheel 113, so that the rotation of the motor drives the rotation of the drive wheel 113. The drive wheels 113 on both sides are symmetrically arranged. The connecting parts at the lower part are adjustable. The outer periphery of the explosion-proof housing of the motor is fixed by a connecting plate. One end of the connecting plate is connected by a rotating shaft, and the other end is provided with a nut, a spring and a screw in sequence. By rotating the nut to adjust the compression of the spring, the position of the drive wheel 113 can be changed, thereby adjusting the clamping force between the drive wheel 111 and the track 400.

[0085] In this plan, such as Figure 2 and Figure 6 As shown, the first guide assembly 122 is provided with a guide wheel assembly 1221, a load-bearing wheel assembly 1222 and a preload wheel assembly 1223;

[0086] Two sets of guide wheel assemblies 1221 are symmetrically arranged on the upper part of the U-shaped bracket 1224 and are rotatably connected to both sides of the web of the track 400 respectively.

[0087] Two sets of load-bearing wheel assemblies 1222 are symmetrically arranged below the guide wheel and rotatably connected to the U-shaped bracket 1224, and respectively rotatably connected to the upper surface of the lower wing plate of the track 400;

[0088] The preload wheel assembly 1223 is located below the guide wheel and is rotatably connected to the lower surface of the lower flange of the track 400.

[0089] Specifically, of the two sets of guide wheel assemblies 1221, one set is a fixed guide wheel assembly and the other set is an adjustable guide wheel assembly, which are respectively set on both sides of the track 400. The adjustable guide wheel assembly can change the relative distance between the two sets of guide wheel assemblies by adjusting the spring compression, thereby adjusting the clamping force between the guide wheel and the track 400. The load-bearing wheel and the preload wheel are respectively attached to the upper and lower surfaces of the lower flange of the track 400. Through the cooperation of the hinge shaft of the preload wheel assembly 1223 and the tension spring, the preload wheel is made to be in close contact with the lower surface of the lower flange of the track 400, thereby ensuring that the load-bearing wheel can be in close contact with the upper surface of the lower flange of the track 400.

[0090] In this design, the first guide assembly 122 is equipped with a dust removal brush 600;

[0091] The dust removal brush 600 abuts against the upper surface of the lower flange of the track 400;

[0092] The first guide assembly 122 is equipped with an encoder;

[0093] The encoder is rotatably connected to the preload wheel and can record mileage.

[0094] Specifically, since the track 400 is located within the factory area and is not easy to clean during use, a dust removal brush 600 is installed. During the movement of the track robot, the dust removal brush 600 can sweep away the dust inside the track 400 to reduce the frequency of maintenance of the track 400.

[0095] In this design, the second guide section includes two sets of second guide assemblies 221;

[0096] The structure of the second guide assembly 221 is the same as that of the first guide assembly 122;

[0097] Two sets of second guide assemblies 221 are horizontally arranged on the upper part of both ends of the detection box 210, and are rotatably connected to the detection box 210 respectively.

[0098] Specifically, the detection box 210 is moved along the track 400 by two sets of second guide assemblies 221. There is no power mechanism in the detection module 200. Therefore, only two sets of driven second guide assemblies 221 are connected to the track 400. This makes the influence of the "two-point" detection module 200 (each of the two sets of second guide assemblies 221 is a point) on the track less than that of the "three-point" traction mechanism 100 (the two sets of first guide assemblies 122 and the drive unit constitute three points). Therefore, the length of the detection module 200 can be greater than the length of the traction mechanism 100.

[0099] In this design, a spherical bearing 300 is provided on the side of the connecting beam 121 near the detection box 210;

[0100] A pull rod 700 is provided on the side of the detection box 210 near the traction mechanism 100;

[0101] The tie rod 700 is assembled and connected to the spherical bearing 300.

[0102] Specifically, when the track robot travels to a curve or slope, the joint bearing 300 rotates, causing an offset between the traction mechanism 100 and the detection module 200. When the two are always rigidly connected, the traction mechanism can transmit power to the detection module 200.

[0103] This solution has at least the following beneficial effects:

[0104] This solution provides a track-mounted robot suitable for complex factory environments, effectively solving the problems of large turning radius and poor adaptability of traditional rigid structure robots. By setting joint bearings between the traction mechanism and the detection module to achieve a flexible connection, the robot can automatically adjust its posture when passing through curved tracks or ramps, significantly reducing the turning radius and improving its adaptability to complex terrains (such as pipe corridors and tank areas).

[0105] The traction mechanism employs a dual-drive wheel system with an adjustable guide structure, combined with a linkage mechanism between the rocker arm and connecting beam. This allows the drive unit and guide unit to automatically deflect at curves, maintaining good contact with the track and improving operational stability. Simultaneously, the drive wheel clamping force can be adjusted via springs, enhancing adaptability to different track conditions.

[0106] The first guide assembly integrates guide wheels, load-bearing wheels, and preload wheels, and is equipped with an adjustable spring structure to ensure stable operation of the robot under various working conditions; the dust removal brush design effectively removes dust from the track and reduces maintenance frequency.

[0107] The detection module adopts a guiding structure similar to the traction mechanism, but it is a non-powered driven structure, which makes it less stressed in curves, thus allowing its length to be greater than that of the traction mechanism, enhancing the space and stability for mounting the detection equipment.

[0108] This solution achieves flexible operation, high maneuverability, and high stability of the track robot through structural innovation, making it suitable for inspection and testing tasks in complex factory environments. It has good application prospects and promotion value.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track-mounted robot, characterized in that: Includes a traction mechanism (100) and a detection module (200); The traction mechanism (100) and the detection module (200) are connected by a spherical bearing (300); The traction mechanism (100) includes a drive unit and a first guide unit; The driving part is rotatably connected to the first guide part; The detection module (200) includes a detection box (210) and a second guide section; The detection box (210) is rotatably connected to the second guide part; During the process of the traction mechanism (100) driving the detection module (200) to move according to the layout trajectory of the track (400), the drive unit and the first guide unit will be offset, as will the traction mechanism (100) and the detection module (200).

2. The orbital robot according to claim 1, characterized in that: The first guide section includes a connecting beam (121) and two sets of first guide assemblies (122); The connecting beam (121) is arranged in a horizontal direction, and its two ends are respectively rotatably connected to one of the first guide assemblies (122).

3. The orbital robot according to claim 2, characterized in that: The two sets of drive units are respectively disposed on both sides of the track (400) and are fixedly connected by a connecting frame (111); The lower part of the connecting frame (111) is provided with a swing arm (500). The swing arm (500) is arranged in a horizontal direction, with one end rotatably connected to the connecting frame (111) and the other end rotatably connected to the connecting beam (121).

4. The orbital robot according to claim 3, characterized in that: The drive unit includes a motor and a drive wheel (113). The output shaft of the motor is vertically upward; The drive wheel (113) is connected to the output shaft via a transmission.

5. The orbital robot according to claim 4, characterized in that: The first guide assembly (122) is provided with a guide wheel assembly (1221), a load-bearing wheel assembly (1222) and a preload wheel assembly (1223). The two sets of guide wheel assemblies (1221) are symmetrically arranged on the upper part of the U-shaped bracket (1224) and are rotatably connected to both sides of the web of the track (400); Two sets of the load-bearing wheel assemblies (1222) are symmetrically arranged below the guide wheel and rotatably connected to the U-shaped bracket (1224), and respectively rotatably connected to the upper surface of the lower wing plate of the track (400); The preload wheel assembly (1223) is located below the guide wheel and is rotatably connected to the lower surface of the lower wing plate of the track (400).

6. The orbital robot according to claim 5, characterized in that: The first guide assembly (122) is provided with a dust removal brush (600); The dust removal brush (600) abuts against the upper surface of the lower wing plate of the track (400).

7. The orbital robot according to claim 6, characterized in that: The first guide assembly (122) is equipped with an encoder; The encoder is rotatably connected to the preload wheel and can record mileage.

8. The orbital robot according to claim 7, characterized in that: The second guide section includes two sets of second guide assemblies (221); The structure of the second guide assembly (221) is the same as that of the first guide assembly (122); Two sets of the second guide assemblies (221) are respectively horizontally arranged on the upper part of both ends of the detection box (210) and are rotatably connected to the detection box (210).

9. The orbital robot according to claim 8, characterized in that: A spherical bearing (300) is provided on the side of the connecting beam (121) near the detection box (210). A pull rod (700) is provided on the side of the detection box (210) near the traction mechanism (100); The tie rod (700) is assembled and connected to the spherical bearing (300).

10. The orbital robot according to claim 9, characterized in that: The motor (112) and the detection box (210) are respectively equipped with explosion-proof housings.

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