Auxiliary track system of inspection robot

Abstract

The utility model belongs to the technical field of intelligent inspection, and particularly relates to an inspection robot auxiliary track system which comprises a track body, a plurality of protective sleeves and an adsorption assembly. Wherein the track main body comprises multiple sections of single tracks, the multiple sections of single tracks are sequentially connected end to end, every two adjacent sections of single tracks are connected through a hinge seat, and the track main body is used for being matched with a transmission track at the bottom of the inspection robot; the plurality of sheaths are in one-to-one correspondence with the plurality of sections of single tracks and respectively cover the outer sides of the corresponding single tracks; the adsorption assembly is arranged on the track main body and connected to the bottom of the section of single track on the outermost side of the track main body, and the adsorption assembly is used for fixing the track main body. According to the device, safety accidents such as rollover of the intelligent inspection robot in the advancing process can be effectively prevented, the safety is higher, and normal development of inspection work is facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent inspection, and in particular relates to an auxiliary track system for an inspection robot. Background Art

[0002] With the rapid development of information technology in my country, all industries are steadily and orderly advancing intelligent industrial upgrades. For example, various AI-powered inspection robots are replacing manual inspections, addressing the inertia of human workers in the face of dangerous and tedious tasks, which can lead to false and missed inspections. Furthermore, the use of intelligent inspection robots significantly reduces labor intensity and ensures orderly and stable industrial production.

[0003] The internal environment of an aircraft engine's air intake is extremely complex and changeable, and the inner walls often have irregular curved surfaces. To facilitate internal troubleshooting, intelligent inspection robots are often used to conduct inspections and troubleshoot. However, due to the small space within the air intake, the intelligent inspection robot is prone to malfunctions such as rollovers while moving within, especially when traversing steep or sloping roads. Furthermore, if the intelligent inspection robot malfunctions within the air intake, rescuing it is extremely difficult. If impurities or small parts are left behind due to inspections and malfunctions, they will damage the aircraft engine, posing a significant safety hazard. For example, patent publication number CN115166792A provides a deformable, contact-type pipeline inspection robot comprising a vehicle body, a deformable track module, and a detection slider module. The vehicle body is rotatably mounted on one end of the vehicle body, and a detection slider module is mounted on the deformable track module for circular motion. The vehicle body serves as the power source for the entire inspection robot to advance within the pipeline. During operation, the inspection robot is driven by a motor inside the vehicle, allowing it to navigate the pipeline. Upon reaching a designated location, the robot can replace workers in aircraft air intake inspections and can also be used for flaw detection in pipeline environments. However, while navigating the air intake, the robot's tires have a small contact surface with the pipe wall, resulting in poor grip on the intake sidewall. On irregularly curved surfaces such as sloped or banked roads, the robot is prone to slipping or even rolling over, hindering the inspection process. For example, the patent with publication number CN111776096A provides a triangular crawler inspection robot, including a frame, a walking device and a sensing device, wherein the sensing device is installed on the frame for sensing the external environment, the walking device includes at least two groups of longitudinally arranged walking components and a power component installed on the frame, the power component is used to drive the walking component to operate and thereby realize the robot's obstacle-crossing travel, the walking component includes a walking frame, three walking pulleys arranged in a triangular shape installed on the walking frame, and a walking crawler that cooperates with the three walking pulleys for transmission. The inspection robot utilizes a triangularly arranged crawler, which improves the robot's obstacle-crossing ability and is more stable during walking compared to the traditional transmission crawler structure. However, although this crawler structure increases the contact area with the pipe wall, when dealing with pipelines with irregular curved surfaces such as tilted roads, the crawler is still prone to slipping and overturning, affecting the inspection process. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the purpose of this utility model is to provide an auxiliary track system for an inspection robot, which can effectively prevent the occurrence of safety accidents such as rollover of the intelligent inspection robot during movement, is safer, and is conducive to the normal progress of inspection work.

[0005] The technical solution of the utility model is:

[0006] An inspection robot auxiliary track system, comprising:

[0007] The track body includes multiple sections of single-unit tracks, which are sequentially connected end to end, and adjacent sections of the single-unit tracks are connected by hinged seats. The track body is used to adapt to the transmission crawler at the bottom of the inspection robot;

[0008] A plurality of sheaths, corresponding one to each of the plurality of single-unit tracks, and respectively covering the outer sides of the corresponding single-unit tracks, wherein the sheaths have high friction resistance;

[0009] The adsorption component is arranged on the track body and connected to the bottom of the outermost section of the single track of the track body. The adsorption component is used to fix the track body.

[0010] Preferably, the adsorption assembly includes a fixing frame and a plurality of fixing suction cups, the fixing frame is fixedly connected to one end of the bottom of the single track, and the plurality of fixing suction cups are evenly distributed on the bottom of the fixing frame.

[0011] Preferably, the hinge seat includes:

[0012] Two connecting pieces are respectively fixedly connected to two adjacent single-body rails, and the two connecting pieces have a height difference, and each connecting piece is provided with a pin hole;

[0013] The latch is inserted into the pin holes on the two connecting pieces to realize the movable connection between two adjacent single rails.

[0014] Preferably, the track surface of the single track is provided with anti-slip grooves.

[0015] Preferably, guardrails are installed on both sides of the track surface of the single track, and the guardrails on both sides are fixed to the single track through track frames.

[0016] Preferably, the height of the guardrail is higher than the height of the transmission track of the inspection robot.

[0017] Preferably, at least four driven guide wheels are provided at the bottom of each of the single-unit tracks, and the four driven guide wheels are distributed in a rectangular shape. The driven guide wheels on all the single-unit tracks are connected by the same cable, and the cable is wrapped around each of the driven guide wheels at least once.

[0018] Preferably, an active guide wheel is installed on the fixed suction cup, and the cable is wound on the active guide wheel. The active guide wheel is also connected to an adjustment fastening component, and the adjustment fastening component is used to achieve left and right floating of the track body by adjusting the number of cable winding circles on the active guide wheel.

[0019] Preferably, the sheath is made of polyurethane rubber material.

[0020] Compared with the existing technology, the inspection robot auxiliary track system of the utility model has the following beneficial effects:

[0021] When in use, the auxiliary track system of the inspection robot connects multiple single tracks according to the distance of the air intake duct, forming a track body that is convenient for the inspection robot to enter the air intake duct, and then extends the track body into the interior of the air intake duct along the path trajectory of the air intake duct. The articulation of the multiple single tracks can adapt to the trajectory of the air intake duct. After the track body completely enters the interior of the air intake duct, the friction between the sheath and the inner wall of the air intake duct and the adsorption effect between the adsorption component and the end of the air intake duct can complete the shaping of the track body inside the air intake duct, which can well ensure the stability of the track body, and thus utilize the design of the track body to better allow the inspection robot to adapt to the complex path inside the air intake duct, and ensure that the inspection robot can move stably on the track body through the transmission crawler, effectively preventing the occurrence of safety accidents such as rollover of the intelligent inspection robot during movement, which is safer and conducive to the normal implementation of the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of the track body in an embodiment of the present utility model;

[0023] Figure 2 This is a schematic structural diagram of a single track in an embodiment of the present utility model;

[0024] Figure 3 This is a schematic structural diagram of the guardrail in an embodiment of the present utility model;

[0025] Figure 4 Schematic diagram of the distribution of driven pulleys in an embodiment of the present utility model.

[0026] Description of reference numerals:

[0027] 1. Track body; 2. Single track; 3. Articulated seat; 4. Cover; 5. Adsorption assembly; 51. Fixing frame; 52. Fixed suction cup; 6. Anti-slip groove; 7. Guardrail; 8. Track frame; 9. Driven guide wheel; 10. Cable; 11. Driving guide wheel; 12. Adjustment and fastening assembly. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0030] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this utility model.

[0031] See also Figures 1 to 4 As shown, in order to effectively prevent the occurrence of safety accidents such as rollover of the intelligent inspection robot during its movement, the safety is higher and it is conducive to the normal development of the inspection work. This embodiment provides an auxiliary track system for an inspection robot, including a track body 1, a plurality of sheaths 4 and an adsorption component 5. The track body 1 is composed of multiple sections of single-body tracks 2 connected end to end in sequence. The laying of the track body 1 is used to adapt to the transmission track at the bottom of the inspection robot, and the two adjacent sections of the single-body tracks 2 are connected by an articulated seat 3 to facilitate the left and right floating of the two adjacent sections of the single-body tracks 2; and then the outer side of each section of the single-body track 2 is covered with a sheath 4 with high friction resistance. It is better that the sheath 4 can be made of polyurethane rubber material, which can not only achieve the required friction resistance, but also has a low price, reduces the production cost, and has a good cost performance. Furthermore, an adsorption component 5 is provided at the bottom of the single track 2 located at the outermost side of the track body 1, that is, at either end of the track body 1. The adsorption component 5 is used to fix the track body 1 to the side wall of the narrow space, which can ensure that the track body 1 maintains sufficient stability after entering the air intake duct. The design of the track body 1 can better allow the inspection robot to adapt to the complex path inside the air intake duct, and can ensure that the inspection robot can move stably on the track body 1 through the transmission crawler, effectively preventing the occurrence of safety accidents such as rollover of the intelligent inspection robot during movement, which is safer and is conducive to the normal development of inspection work.

[0032] See also Figure 1 and Figure 4 As shown, the adsorption assembly 5 includes a fixing frame 51 and a plurality of fixed suction cups 52. The fixing frame 51 is fixedly connected to one end of the bottom of the single track 2, and the plurality of fixed suction cups 52 are evenly distributed at the bottom of the fixing frame 51. The preferably fixed suction cups 52 are made of rubber. In addition, the fixed suction cups 52 can also be magnets. Thus, by using the fixed suction cups 52 to be adsorbed and fixed to the inner wall of the air intake duct, the stability of the track body 1 can be effectively improved, and the fixed suction cups 52 are arranged on the single track 2 at the end of the track body 1. When installing, placing one end with the fixed suction cups 52 at the entrance of the air intake duct can facilitate subsequent disassembly and assembly operations.

[0033] See also Figures 1 to 3As shown, further, in order to facilitate the adjustment of the track body 1 to the path changes of the air intake duct and ensure that the trajectory of the inspection robot is stable, the articulated seat 3 includes two connecting plates and a pin that is plugged in with the two connecting plates. Specifically, the two connecting plates are respectively fixed to the two adjacent single-body tracks 2, and the two connecting plates have a height difference, that is, the two connecting plates can be overlapped after adjusting the spacing between the two single-body tracks 2. A pin hole is provided on each connecting plate; then the pin is inserted into the pin hole on the two connecting plates to realize the movable connection of the two adjacent single-body tracks 2. During use, the rotation of the connecting plate and the pin can be used to realize the left and right floating adjustment of the single-body track 2 to adapt to the path of the air intake duct.

[0034] See also Figure 2 As shown, in order to improve the stability of the inspection robot, an anti-skid pattern 6 is provided on the track surface of the single track 2. The anti-skid pattern 6 generates a certain friction force on the transmission track, which can ensure that the inspection robot moves more stably and avoid the occurrence of instability such as slipping.

[0035] See also Figure 2 and Figure 3 As shown, further, in order to improve the stability of the inspection robot's movement and avoid rollover, guardrails 7 are installed on both sides of the track surface of each single track 2, and the guardrails 7 on both sides are fixed to the single track 2 through track frames 8. It is preferable that the height of the guardrail 7 is higher than the height of the transmission track of the inspection robot. In actual design applications, most inspection robots lower their own center of gravity in order to improve walking stability, and the center of gravity of most inspection robots is basically on the transmission track. Therefore, the height of the center of gravity of the inspection robot can be used as a reference when designing the height of the guardrail 7.

[0036] See also Figure 2 and Figure 4 As shown, further, in order to facilitate adjustment of the track path of the main track and adapt to changes in the path of the air intake duct, at least four driven guide wheels 9 are provided at the bottom of each single track 2. The four driven guide wheels 9 are arranged in a rectangular shape. The driven guide wheels 9 on all single tracks 2 are connected by a single cable 10, and the cable 10 is wound around each driven guide wheel 9 at least once. Preferably, the cable 10 is a steel wire rope. Furthermore, for ease of adjustment, a driving guide wheel 11 is mounted on the fixed frame 51. The cable 10 is wound around the driving guide wheel 11. An adjustment fastening assembly 12 is connected between the driving guide wheel 11 and the fixed frame 51. The adjustment fastening assembly 12 is used to adjust the number of turns of the cable 10 around the driving guide wheel 11 to achieve left and right floating of the track body 1. The adjustment fastening assembly 12 preferably adopts a ratchet and pawl structure, so that the driving guide wheel 11 can be braked after the driving guide wheel 11 rotates a certain angle or number of turns, maintaining the cable 10 in position, thus achieving the fixed shape of the track body 1.

[0037] The working principle of this device:

[0038] In order to ensure that the inspection robot can smoothly reach the designated location and complete the inspection task, a patrol inspection robot auxiliary track system is specially designed. The auxiliary track system consists of a guardrail 7, a sheath 4, an articulated seat 3, a track frame 8, a guide wheel, a cable 10, a suction cup assembly, and an adjustment and fastening assembly 12. Before the inspection task begins, the patrol inspection robot auxiliary track system is first connected to multiple sections of single track 2 using the articulated seat 3 according to the distance of the air inlet duct to form a track body 1 that adapts to the length of the air inlet duct. After the connection is completed, the track body 1 is extended into the air inlet duct along the air inlet path trajectory. The cable 10 is retracted and wound using the adjustment and fastening assembly 12. The track body 1 is controlled to float left and right with the cooperation of the driven guide wheel 9 at the bottom of the single track 2 and the active guide wheel 11 on the fixed suction cup 52 to meet the robot's walking route trajectory, completing the laying of the track body 1 in the air inlet duct. After the laying is completed, the positioning function of the adjustment and fastening assembly 12 is used to fix the shape of the track body 1 to conform to the shape of the air inlet duct. Then, the fixed suction cup 52 on the single track 2 at the inlet end of the air intake duct is used to secure the track body 1 within the air intake duct by suction and positioning it against the inner wall of the air intake duct, and the friction between the sheath 4 and the inner wall of the air intake duct is used to achieve stability within the air intake duct. After the track body 1 is laid, the inspection robot is placed on the track surface of the track body 1 and started to move along the track body 1 to the inspection task point. Furthermore, during the inspection robot's movement, the anti-slip grooves 6 and double-sided guardrails 7 on the track surface of the single track 2 effectively ensure the inspection robot's trajectory and prevent the risk of rollover. This effectively prevents safety accidents such as rollovers during the intelligent inspection robot's movement, providing increased safety and facilitating the normal conduct of inspection work. After completing its inspection task, the inspection robot returns to its original location along the track body 1. The adjusting fastening assembly 12 is loosened to free the multi-section single track 2, and the track body 1 is slowly retracted along the air intake duct, allowing the inspection robot to complete the entire inspection task.

[0039] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A patrol robot auxiliary track system, characterized in that: include: The track body (1) comprises a plurality of sections of single-unit tracks (2), wherein the plurality of sections of the single-unit tracks (2) are sequentially connected end to end, and two adjacent sections of the single-unit tracks (2) are connected via an articulated seat (3), and the track body (1) is adapted to be compatible with the transmission crawler belt at the bottom of the inspection robot; A plurality of sheaths (4) corresponding one to one with the multi-section single-body tracks (2) and respectively covering the outer sides of the corresponding single-body tracks (2), wherein the sheaths (4) have high friction resistance; An adsorption component (5) is provided on the track body (1) and is connected to the bottom of the outermost section of the single track (2) of the track body (1). The adsorption component (5) is used to fix the track body (1).

2. The inspection robot auxiliary track system according to claim 1, characterized in that: The adsorption assembly (5) comprises a fixing frame (51) and a plurality of fixing suction cups (52), wherein the fixing frame (51) is fixedly connected to one end of the bottom of the single track (2), and the plurality of fixing suction cups (52) are evenly distributed on the bottom of the fixing frame (51).

3. The inspection robot auxiliary track system according to claim 1, characterized in that: The hinge seat (3) comprises: Two connecting pieces are respectively fixedly connected to two adjacent single-body rails (2), and the two connecting pieces have a height difference, and each connecting piece is provided with a pin hole; The latch is inserted into the pin holes on the two connecting pieces and is used to realize the movable connection between two adjacent single-body rails (2).

4. The inspection robot auxiliary track system according to claim 1, characterized in that: The track surface of the single track (2) is provided with anti-slip grooves (6).

5. The inspection robot auxiliary track system according to claim 1, characterized in that: Guardrails (7) are installed on both sides of the track surface of the single track (2), and the guardrails (7) on both sides are fixed to the single track (2) via track frames (8).

6. The inspection robot auxiliary track system according to claim 5, characterized in that: The height of the guardrail (7) is higher than the height of the transmission track of the inspection robot.

7. The inspection robot auxiliary track system according to claim 2, characterized in that: At least four driven guide wheels (9) are provided at the bottom of each single track (2), and the four driven guide wheels (9) are distributed in a rectangular shape. The driven guide wheels (9) on all the single tracks (2) are connected by a same cable (10), and the cable (10) is wound around each driven guide wheel (9) at least once.

8. The inspection robot auxiliary track system according to claim 7, characterized in that: An active guide wheel (11) is mounted on the fixed suction cup (52), the cable (10) is wound around the active guide wheel (11), and an adjusting fastening assembly (12) is further connected to the active guide wheel (11). The adjusting fastening assembly (12) is used to achieve left-right floating of the track body (1) by adjusting the number of windings of the cable (10) around the active guide wheel (11).

9. The inspection robot auxiliary track system according to claim 1, characterized in that: The sheath (4) is made of polyurethane rubber material.

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