Inspection robot system and driving device

Abstract

The utility model relates to an inspection robot system and a driving device. The driving device comprises a first mounting seat; a second mounting seat; the middle connecting piece is pivotally connected between the first mounting seat and the second mounting seat; the motor is mounted on the first mounting seat and / or the second mounting seat, the transmission chain wheel is rotatably connected with the motor, and the motor drives the transmission chain wheel to rotate; the transmission chain is mounted at the bottom of the track and is meshed and matched with the transmission chain wheel; the first mounting seat comprises a main body, a pair of suspension arms which are positioned on the upper part of the main body and are positioned on the left and right sides of the track during mounting, and an upper guide wheel and a lower guide wheel which are arranged up and down as well as a pair of side guide wheel mechanisms which are spaced along the extension direction of the track are mounted on each suspension arm; the second mounting seat comprises a main body, a pair of suspension arms which are positioned on the upper part of the main body and are positioned on the left side and the right side of the track during mounting, an upper guide wheel and a lower guide wheel which are arranged up and down are mounted on each of the pair of suspension arms, and a pair of side guide wheel mechanisms which are spaced along the extension direction of the track.

Description

[0001] This utility model claims priority to Chinese invention patent application No. 202211211293.9, filed on September 30, 2022, entitled "Drive Component for Inspection Robot System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This utility model relates to the field of track inspection technology, specifically to an inspection robot system and its driving device. Background Technology

[0003] Inspections of long-distance or complex sites such as utility tunnels and coal mines are fundamental and crucial for site safety. Due to the large number of monitoring items and long routes, especially in ultra-long utility tunnels where the environmental conditions are harsh, highly enclosed, contain numerous structures, and communication is inconvenient, manual inspections of the site are extremely difficult and impractical, and it is also difficult to effectively guarantee the personal safety of inspection personnel.

[0004] Because robots possess basic characteristics such as perception, decision-making, and execution, they can assist or even replace humans in completing dangerous, arduous, and complex tasks like inspections, thereby improving work efficiency and quality.

[0005] When working, inspection robots typically move along a fixed path on a track platform and monitor the environment that needs to be inspected. With technological advancements and increasing demand, many places have begun to adopt track-based inspection robots, such as factories, livestock farms, smart farms, municipal utility tunnels, underground coal mines, and so on.

[0006] In the transmission design of existing fixed-track inspection robot systems, a drive device such as a motor and related transmission mechanisms such as pulleys are generally set at a fixed position to drive the conveyor belt or conveyor line arranged on the track and the inspection robot installed on it to move together for inspection.

[0007] In existing inspection robot systems, the inspection robot device typically operates as a single unit on a track for inspection. Since inspection robots may need to operate under harsh conditions, such as in mines, underground operations, or environments with high levels of flammable dust—places with strict explosion-proof standards—the design of the inspection robot in these environments must meet explosion-proof requirements, minimize overheating during operation, and improve heat dissipation. In some applications, due to limited space, the inspection robot needs to be as small as possible. The limitations of conveyor belts or tracks also necessitate that the inspection robot be as lightweight as possible and prevent localized overload. These and other application environments place even higher demands on reliability.

[0008] The industry needs to continuously improve inspection robot systems in order to improve their performance, mitigate or even eliminate the aforementioned technical defects, and achieve other technological advantages.

[0009] The information included in this background section of this utility model specification, including any references cited herein and any descriptions or discussions thereof, is included for technical reference purposes only and is not intended to limit the scope of this utility model. Utility Model Content

[0010] In view of the foregoing and other additional concepts, this utility model is proposed. One of the basic concepts of this utility model is to provide a novel tandem inspection robot system with a novel drive design. According to this drive design, a transmission chain is installed and arranged along the track, and the drive motor, reduction mechanism, and transmission sprocket can be assembled together, for example, by a mounting bracket. The inspection robot can be connected to or assembled with it, and the transmission sprockets drive them to run on the track by meshing and rolling on the transmission chain. Guide / limiting guide wheels can be installed on the mounting bracket, for example, a mounting base. All or part of the transmission chain in this drive design, for example, the transmission chain installed in a curved track segment, is preferably a transmission chain that can bend laterally / has three-dimensional extension degrees of freedom. This transmission chain-sprocket arrangement has great advantages over the traditional pulley and slide rail design and the gear and rack transmission design. The operation process and trajectory of pulley and slide rail are unstable and basically cannot be operated under load; the motion of gear and rack transmission is basically unlikely to achieve two-dimensional and three-dimensional motion degrees of freedom, and it is even more impossible to achieve motion from an upright running trajectory to a curved / torsional trajectory to a horizontal circumferential running trajectory in certain situations. The preferred worm gear reduction mechanism not only saves installation space, but also has a natural self-locking capability, which is very important and advantageous for the drive unit and inspection robot to fix and maintain their position on the track when needed.

[0011] According to another approach, using a largely enclosed track, such as a polygonal track with a square cross-section, is easier to manufacture and supply, lower in cost, and avoids dust and water accumulation. Another advantage of this regularly shaped enclosed track is that in dusty environments such as mines and underground operations, it prevents dust from accumulating in the track grooves (if the track is an open grooved track), thus avoiding impacts on usability. Furthermore, regularly shaped enclosed tracks are cheaper to manufacture and process, while offering higher strength and rigidity.

[0012] Another fundamental concept of this invention is to provide a novel cable traction design. According to this design, multiple traction trolleys are installed along a track, and the cable is fixed to each trolley and driven by a drive unit. This method allows for convenient power supply to the drive unit and / or the inspection robot, while also enabling the cable to smoothly and easily follow the drive unit, facilitating cable installation and operation, and ensuring power supply reliability and cable lifespan. This offers advantages over, for example, existing sliding contact line power supply methods.

[0013] More specifically, according to one aspect of the present invention, a drive assembly for an inspection robot system is disclosed, comprising: a drive device, which includes a motor, a reduction mechanism, and a transmission sprocket, wherein the rotational motion of the motor is transmitted to the transmission sprocket via the reduction mechanism, thereby driving the transmission sprocket to rotate; a mounting base, on which at least two pairs of upper guide wheels and at least two pairs of lower guide wheels are mounted, which roll on the track of the inspection robot system, and the drive device is rotatably mounted on the mounting base; and a transmission chain, which is fixedly mounted on the track, wherein the transmission sprocket meshes with the transmission chain, thereby enabling it to travel along the track and together with the mounting base during rotation.

[0014] According to one embodiment, at least two pairs of upper guide wheels include: a pair of upper guide wheels arranged to roll close to the left edge of the track, and a pair of upper guide wheels arranged to roll close to the right edge of the track. According to one embodiment, at least two pairs of lower guide wheels include: a pair of lower guide wheels arranged to roll close to the left edge of the track, and a pair of lower guide wheels arranged to roll close to the right edge of the track. According to one embodiment, the mounting base includes a lower support and two upper support portions, wherein each upper support portion is independently pivotable relative to the lower support. According to one embodiment, the upper support portion is an upper U-shaped portion, wherein each upper U-shaped portion includes a base plate and two side plates extending upward from the base plate. According to one embodiment, each side plate of each upper U-shaped portion is equipped with an upper guide wheel and a lower guide wheel, respectively.

[0015] According to one embodiment, the upper and lower guide wheels are mounted to match the profile of the track and are able to roll close to the upper and lower side edges of the track, respectively, to guide and carry the drive assembly. According to one embodiment, a side guide wheel is further installed on each side plate of each upper U-shaped portion, between its upper and lower guide wheels, the side guide wheel being configured to roll on the side of the track. According to one embodiment, the track is a square track with an overall square cross-section, and the side guide wheels roll on the left and right sides of the square track, respectively. According to one embodiment, two pivot holes are provided on the lower support, and two upper support portions are independently pivotally mounted on the lower support via pivots passing through the corresponding pivot holes. According to one embodiment, a thrust ball bearing fitted onto the pivot is further provided at the lower end of the pivot hole of the lower support. According to one embodiment, a drive chain is fixedly mounted on the bottom surface of the track and extends along the track. According to one embodiment, the drive chain is fixedly mounted on the bottom surface of the track near the centerline by rivets or screws. According to one embodiment, the track has a generally polygonal cross-section. The polygonal shape is configured such that the track, after installation, has a flat bottom and top surface, and two vertical sides, two inclined upper sides, or two curved upper surfaces. According to one embodiment, the cross-section of the track is selected from one of the following: square, trapezoidal, truncated isosceles triangle, pentagon, hexagon, and drum-shaped. According to one embodiment, the track is a square track with a generally square cross-section, and the upper and lower guide wheels of the mounting base roll on the top and bottom surfaces of the square track, respectively. According to one embodiment, the guide wheel is a flanged guide wheel, the side of the flange closest to the track being an inclined surface, the inclined surface forming an angle A with respect to a plane perpendicular to the rotation axis of the guide wheel, where 0 < A ≤ 30°. According to one embodiment, 5° ≤ A ≤ 20°. According to one embodiment, the guide wheel is a flanged guide wheel, the side of the flange closest to the track being a curved surface, the radius of the arc of the curved surface being smaller than the bending radius of the track. According to one embodiment, a drive sprocket is rotatably connected to the motor shaft via a reduction mechanism and is driven to rotate by the motor. According to one embodiment, the reduction mechanism is a meshing worm gear and worm, wherein the worm is driven to the motor shaft, and the worm gear is driven to the drive sprocket. According to one embodiment, the worm gear is fixed to one side of the lower support of the mounting base, and the drive sprocket is rotatably mounted coaxially with the worm gear on the opposite side of the lower support. According to one embodiment, the mounting base is provided with a cable mounting component, wherein the drive assembly is also connected to the cable traction assembly of the inspection robot system. According to one embodiment, an inspection robot or robot module is mounted on the mounting base. According to one embodiment, the drive assembly is configured such that, when mounted on a track, the drive sprocket is located below the track and meshes with a drive chain fixedly mounted at the bottom of the track. According to one embodiment, the inspection robot is an integral inspection robot or a tandem inspection robot comprising a set of robot modules. According to one embodiment, the drive chain is fixedly mounted on the bottom of the track near the centerline by rivets or screws.According to one embodiment, the traction trolley of the cable traction assembly and the mounting base share a common track for rolling. According to one embodiment, the side guide wheels are a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the track, wherein each side guide wheel mechanism includes an upper side guide wheel and a lower side guide wheel arranged vertically. According to one embodiment, a clearance recess is provided between the upper and lower side guide wheels of each side guide wheel mechanism. According to one embodiment, each side guide wheel mechanism further includes an axle with the upper and lower side guide wheels respectively mounted at both ends, the axle having a smaller diameter than the upper and lower side guide wheels, such that a clearance recess is provided between the upper and lower side guide wheels.

[0016] Another aspect of this utility model provides a drive device for an inspection robot system, comprising: a first mounting base, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted, the pair of upper guide wheels being arranged on the left and right sides of the top surface of the track of the inspection robot system, and the pair of lower guide wheels being arranged on the left and right sides of the bottom surface of the track; a second mounting base, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted, the pair of upper guide wheels being arranged on the left and right sides of the top surface of the track of the inspection robot system, and the pair of lower guide wheels being arranged on the left and right sides of the bottom surface of the track; an intermediate connecting member pivotally connected between the first mounting base and the second mounting base; a motor, a reduction mechanism, and a transmission sprocket rotatably connected to the motor, mounted on at least one of the first mounting base and the second mounting base, wherein the motor drives the transmission sprocket via the reduction mechanism. The system comprises: a rotating drive chain fixedly installed at the bottom of the track, wherein the drive sprocket is configured to mesh with the drive chain and, when driven to rotate by a motor, runs along the track together with the drive device; wherein the first mounting base includes a main body, a pair of booms located on the upper part of the main body and positioned on the left and right sides of the track during installation, wherein each of the booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and respectively engaging with the top and bottom surfaces of the track, and a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the track; and a second mounting base includes a main body, a pair of booms located on the upper part of the main body and positioned on the left and right sides of the track during installation, wherein each of the booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and respectively engaging with the top and bottom surfaces of the track, and a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the track.

[0017] According to one embodiment, each side guide wheel mechanism includes an upper side guide wheel and a lower side guide wheel arranged vertically, configured to roll on the side of the track close to the upper and lower sides of the track, respectively. According to one embodiment, each side guide wheel mechanism includes an axle at each end on which the upper and lower side guide wheels are respectively mounted, the axle having a smaller diameter than the upper and lower side guide wheels, such that a clearance recess is provided between the upper and lower side guide wheels; alternatively, the upper and lower side guide wheels of each side guide wheel mechanism are separate guide wheels spaced apart from each other, such that the spacing between the upper and lower side guide wheels defines the clearance recess; alternatively, the upper and lower side guide wheels of each side guide wheel mechanism are an integrally formed structure, the integrally formed structure providing a clearance recess between the upper and lower side guide wheels. According to one embodiment, the side guide wheel mechanism is mounted on a corresponding boom via a side guide wheel bracket. According to one embodiment, the upper guide wheel on each boom is arranged between a corresponding pair of side guide wheel mechanisms in the extension direction of the track. According to one embodiment, all upper guide wheels are identical, all lower guide wheels are identical, and all side guide wheel mechanisms are identical. According to one embodiment, the main body of the first mounting base and its pair of booms are configured in a U-shape, clamp shape, or tuning fork shape, with the upper guide wheel suspended on the top surface of the track and rolling along the left and right sides; the main body of the second mounting base and its pair of booms are configured in a U-shape, clamp shape, or tuning fork shape, with the upper guide wheel suspended on the top surface of the track and rolling along the left and right sides. According to one embodiment, both the first and second mounting bases are integrally formed; or, the main bodies of the first and second mounting bases are assembled from multiple plates, and the pair of booms of the first and second mounting bases are plate-shaped or strip-shaped booms fixedly connected to their respective main bodies. According to one embodiment, the upper guide wheel, lower guide wheel, upper side guide wheel, and lower side guide wheel are all flangeless guide wheels, thereby making the drive device a stable, fully rolling guided drive device.

[0018] Another aspect of this utility model provides a drive device for an inspection robot system, comprising: a motor, a reduction mechanism, and a transmission sprocket; the rotational motion of the motor is transmitted to the transmission sprocket via the reduction mechanism, thereby driving the transmission sprocket to rotate; a mounting base, on which at least two pairs of upper guide wheels and at least two pairs of lower guide wheels are mounted, which roll on a square track of the inspection robot system; and the motor, reduction mechanism, and transmission sprocket are rotatably mounted on the mounting base; a transmission chain, which is fixedly mounted on the square track, wherein the transmission sprocket meshes with the transmission chain, thereby enabling it to travel along the square track and together with the mounting base during rotation; wherein the mounting base includes a lower support and... Two upper support sections, each of which is independently pivotable relative to the lower support section, with side guide wheels further installed between the upper and lower guide wheels on each side plate of each upper U-shaped section; wherein the side guide wheels are a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the square track, each side guide wheel mechanism including an upper side guide wheel and a lower side guide wheel arranged vertically, the upper and lower side guide wheels being configured to roll on the side of the square track close to the upper and lower sides of the track respectively, and a clearance recess is provided between the upper and lower side guide wheels of each side guide wheel mechanism; wherein the upper guide wheel, lower guide wheel, upper side guide wheel, and lower side guide wheel are all guide wheels without flanges.

[0019] According to one embodiment, the drive device has a lightweight construction, wherein multiple perforations are machined on the main bodies of the first and second mounting seats; the intermediate connecting member is in the form of a perforated plate with multiple perforations. According to one embodiment, all the upper guide wheels, lower guide wheels, upper side guide wheels, and lower side guide wheels are flangeless guide wheels, thereby making the drive device a stable, fully rolling guided drive device.

[0020] An inspection robot system was also disclosed, which includes the drive unit described above.

[0021] A tandem inspection robot system is also disclosed, comprising: a track defining an inspection path; a drive unit including a motor, a reduction mechanism, and a transmission sprocket, wherein the rotational motion of the motor is transmitted to the transmission sprocket via the reduction mechanism, thereby driving the transmission sprocket to rotate; multiple mounting bases, each mounting base having a guide wheel that rolls on the track, and the drive unit being rotatably mounted on a corresponding mounting base; a transmission chain fixedly mounted on the track along its extension direction, with the transmission sprocket meshing with the transmission chain, so that it can move along the track together with the drive unit and the mounting bases during rotation; and a tandem inspection robot comprising a group of robot modules connected in series, each robot module being mounted on a corresponding mounting base and driven by the drive unit to move along the track.

[0022] According to one embodiment, robot modules are mounted on corresponding mounting bases and connected in series via rigid rods with universal joints. According to one embodiment, the number of drive units is one; or, the number of drive units is at least two, with at least two drive units having the same configuration. According to one embodiment, the tandem inspection robot is a battery-powered tandem inspection robot, wherein the drive units are equipped with batteries or powered by separate battery modules; a group of robot modules further includes at least one of the following battery-powered functional modules: a lighting module, a video-thermal imaging-audio module, a gas sensor module, an intercom module, a ground wireless sensor data collection module, a fire-fighting module, and a video-thermal imaging lens cleaning module. According to one embodiment, the tandem inspection robot is a cable-powered tandem inspection robot, wherein a group of robot modules includes at least one of the following functional modules: a lighting module, a video-thermal imaging-audio module, a gas sensor module, an intercom module, a ground wireless sensor data collection module, a fire-fighting module, and a video-thermal imaging lens cleaning module.

[0023] According to one embodiment, the drive chain is a toothed chain or a roller chain. According to one embodiment, at least a portion of the drive chain is a laterally bendable chain, for example, one that provides three-dimensional extension freedom. According to one embodiment, the mounting base includes a lower support and two upper support portions, each of which is independently pivotable relative to the lower support. According to one embodiment, each upper support portion includes a base plate and two side plates extending upward from the base plate. According to one embodiment, the upper support portion is an upper U-shape, with an upper guide wheel and a lower guide wheel mounted on each side plate of each upper U-shape, the upper and lower guide wheels rolling above and below the track, respectively. According to one embodiment, a side guide wheel is further mounted on each side plate of each upper U-shape, between its upper and lower guide wheels, the side guide wheel being configured to roll along the side of the track. According to one embodiment, the lower support has two pivot holes, and each of the two upper support portions is pivotally mounted on the lower support via a pivot passing through the respective pivot hole. According to one embodiment, a thrust ball bearing fitted onto the pivot is further provided at the lower end of the pivot hole of the lower support. According to one embodiment, the drive chain is fixedly mounted on the bottom surface of the track and extends along the track. According to one embodiment, the drive chain is fixedly mounted on the bottom surface of the track near the centerline by rivets or screws. According to one embodiment, the guide wheel is a flanged guide wheel, the side of the flange closest to the track being an inclined surface, the inclined surface forming an angle A with respect to a plane perpendicular to the rotation axis of the guide wheel, where 0 < A ≤ 30°. According to one embodiment, 5° ≤ A ≤ 20°. According to one embodiment, the guide wheel is a flanged guide wheel, the side of the flange closest to the track being an arc-shaped surface, the radius of the arc being smaller than the bending radius of the track.

[0024] According to one embodiment, the reduction mechanism is a meshing worm gear and worm, wherein the worm is driven by the motor shaft, and the worm gear is driven by the transmission sprocket. According to one embodiment, the worm gear is fixed to one side of the lower support of the mounting base, and the transmission sprocket is rotatably mounted coaxially with the worm gear on the opposite side of the lower support. According to one embodiment, the cross-section of the track is selected from one of the following: square, trapezoidal, truncated isosceles triangle, pentagon, hexagon, and drum-shaped. According to one embodiment, the track is a square track with an overall square cross-section, and the upper and lower guide wheels of the mounting base roll on the top and bottom surfaces of the square track, respectively. Square tracks are easier to manufacture and supply, and have lower costs. According to one embodiment, the track has an overall polygonal cross-section, the polygonal shape being configured such that the track has a flat bottom and top surface after installation, and two vertical sides, two inclined upper sides, or two curved upper surfaces. According to one embodiment, the transmission chain is a continuous chain fixedly mounted on the track along its length. According to one embodiment, the drive chain consists of at least two chain segments seamlessly spliced ​​and fixed to the track along its length. According to one embodiment, each of the robot modules in a group is independently repairable and / or independently replaceable. According to one embodiment, at least one robot module in a tandem inspection robot is fixedly assembled with a drive unit. According to one embodiment, the track is a circular track that defines a fixed circular inspection path for the inspection robot. According to one embodiment, at least one robot module in a tandem inspection robot is fixedly mounted on a mounting base. According to one embodiment, a drive sprocket is located below the track and is capable of engaging with a drive chain fixedly mounted at the bottom of the track. According to one embodiment, splicing grooves for mounting splicing pins are provided on at least a portion of the track segments. According to one embodiment, the track is a monolithically formed metal component. According to one embodiment, the robot module is independently repairable and / or independently replaceable. According to one embodiment, the functional module has a built-in battery. According to one embodiment, the functional module draws power from a cable. According to one embodiment, the track can be made of metal materials such as stainless steel, carbon steel, or aluminum profiles, offering advantages in cost, weather resistance, ease of processing, ease of replacement, and maintainability. According to one embodiment, different robot modules can communicate and be powered via cables, or they can be powered by batteries and communicate wirelessly. According to one embodiment, because the inspection robot uses a design with robot modules distributed in series on the track, this design avoids concentrated attachment on the track, thus providing a distributed, lightweight configuration. Since the functions and power consumption of the modules are also distributed, the battery capacity of each module can be smaller, the pressure is lower, and it is easier to pass explosion-proof certification. Each module can be maintained, repaired, and replaced independently, thus offering advantages over integrated inspection robots.

[0025] It offers better maintainability. According to one embodiment of this utility model, the transmission is achieved by using the meshing between a sprocket and a chain fixedly mounted on a track, combined with a worm gear reduction mechanism. This provides many advantages, such as no slippage, strong climbing ability, self-locking when stopped, stable position of the drive unit even under external force, and simple structure, etc.

[0026] Tandem inspection robots can be configured with multiple robot modules in series, which makes it possible to design the robot modules in a small size and with explosion-proof features, because each module only needs a relatively small capacity battery to meet explosion-proof standards. This design also provides improved maintenance / replacement convenience and high reliability.

[0027] This utility model also discloses the application of the inspection robot system in outdoor environments, underground mines, dock transportation sites, industrial production lines, long-distance rail conveying, long-distance belt conveying, explosion-proof, freeze-proof, rainproof, or dustproof environments for inspection.

[0028] Further embodiments of this utility model can achieve other advantageous technical effects not listed one by one. These other technical effects may be partially described below and can be expected and understood by those skilled in the art after reading this utility model. Attached Figure Description

[0029] The above-described features and advantages of these embodiments, as well as other features and advantages, and the ways in which they are implemented, will become more apparent from the following description in conjunction with the accompanying drawings, and embodiments of the present invention can be better understood.

[0030] Figure 1A This is a schematic diagram of the main configuration of a wireless (battery) powered tandem inspection robot system according to an embodiment of the present invention, showing the overall layout of an exemplary inspection robot system arranged, for example, on a circular track.

[0031] Figure 1B This is a schematic diagram of the main configuration of a wired (cable-powered) tandem inspection robot system according to an embodiment of the present invention, showing the overall layout of the inspection robot system.

[0032] Figure 2A yes Figure 1A The diagram shows an enlarged schematic of a portion of a wireless (battery) powered inspection robot system, illustrating an enlarged view of the arrangement of tandem inspection robots (modules) and drive units on a track.

[0033] Figure 2B yes Figure 1BThe diagram shows an enlarged schematic of a portion of a wired (cable-powered) inspection robot system, illustrating an enlarged view of the arrangement of tandem inspection robots (modules) and drive units on a track.

[0034] Figure 3 yes Figure 2B A further enlarged view of the wired-powered inspection robot module, drive unit, and traction trolley shown.

[0035] Figure 4 yes Figure 2A An enlarged three-dimensional schematic diagram of the drive unit and a portion of the (curved) track of the wirelessly powered inspection robot system shown.

[0036] Figure 5 It's a perspective from another angle. Figure 2B The diagram shows a further enlarged partial view of the structure, with the track having a square cross-section partially cut open.

[0037] Figure 6 This is an enlarged schematic diagram of the drive unit and the inspection robot (module) of a serial inspection robot system according to an embodiment.

[0038] Figure 7 Shown in partial dissection Figure 6 The diagram shows an enlarged view of the drive unit and inspection robot module assembled together via a mounting bracket.

[0039] Figure 8 This is illustrated from another perspective. Figure 6 The diagram shows the structure of the drive unit, inspection robot (module), and mounting base.

[0040] Figure 9 It is a demonstration Figure 8 The diagram shows the construction of the drive unit, in which the inspection robot module has been removed, and a schematic diagram showing that the two upper U-shaped parts of the mounting base can each pivot independently relative to the lower part.

[0041] Figure 10 yes Figure 8-9 The partial perspective view of the drive unit shown particularly highlights the guide wheels and pivot design of the mounting base.

[0042] Figure 11 This is a partial perspective view of a drive device according to another embodiment, which is consistent with... Figure 10 The structures shown are basically the same, except that side guide wheels are added to the mounting base.

[0043] Figure 12 A track with a square cross-section is shown according to one embodiment, in which an electric heating device can be installed.

[0044] Figure 13 The arrangement and design of the guide wheels of the mounting base according to one embodiment are shown, with particular emphasis on the flange on the guide wheels and the inclined surface design of the flange to facilitate the guide wheels through curves.

[0045] Figure 14 The enlarged view shows the construction of a guide wheel in one embodiment, with particular attention to the flange on the roller body and the bevel design of the flange.

[0046] Figure 15 An enlarged schematic perspective view of one embodiment of a traction trolley is shown, illustrating the construction and details of the traction trolley according to one embodiment.

[0047] Figure 16 A schematic perspective view of a stabilized, fully guide wheel rolling (friction) guided drive device according to another embodiment is shown, illustrating the arrangement of the drive device and its first and second mounting bases and guide wheels, etc.

[0048] Figure 17 Showing Figure 16 A schematic perspective view of the drive unit installed and operating on a square track.

[0049] Figure 18 Demonstrated as Figure 17 The schematic cross-sectional view shown is of a first mounting bracket with a motor mounted on a square track. The lateral view shows more details of the track cross-section, the first mounting bracket with the motor, the drive and transmission structure, and the guide wheels thereon.

[0050] Figure 19 Demonstrated as Figure 17 The schematic top view of the first mounting bracket with motor mounted on a square track shows the top view of the first mounting bracket with motor mounted on the track, especially showing the installation and positional relationship of the upper guide wheel and the side guide wheel mounted thereon. The second mounting bracket may have a structure that is substantially the same as or similar to that of the first mounting bracket.

[0051] Figure 20 A schematic perspective view of the side guide wheel bracket for mounting the side guide wheel mechanism is shown, illustrating the general structure and installation of the side guide wheel bracket and the side guide wheel mounted on one side of the first mounting base. Detailed Implementation

[0052] The details of one or more embodiments of the present invention will be set forth in the following description of the accompanying drawings and specific embodiments. Other features, objects, and advantages of the present invention will become apparent from these descriptions, drawings, and claims.

[0053] It should be understood that the illustrated and described embodiments are not limited in application to the details of the construction and arrangement of the components set forth in the following description or illustrated in the drawings. The illustrated embodiments may be other embodiments and can be implemented or performed in various ways. The examples are provided by way of explanation rather than limitation of the disclosed embodiments. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part of one embodiment may be used with another embodiment to still produce another embodiment. Therefore, the disclosure of the present invention covers such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0054] Similarly, it is understood that the phrases and terms used in this document are for descriptive purposes and should not be considered restrictive. The use of “including,” “contains,” or “has,” and their variations, in this document is intended to include, in an open-ended manner, the items listed thereafter, their equivalents, and any additional items.

[0055] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, it can refer to direct connection or indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] In existing inspection robot solutions, in applications where the conveyor belt of the inspection robot operates in relatively narrow passages, the integrated design of the inspection robot with its upper belt may be unable to pass through the narrow passages due to its large overall size, thus limiting or hindering the application of the inspection robot system.

[0057] Furthermore, inspection robots need to operate continuously for extended periods in harsh environments, such as high temperatures, high humidity, and high dust levels. In such cases, the integrated design of the inspection robot may lead to a series of problems due to its monolithic structure. For example, the concentrated operation and heat generation of the various working modules can cause heat dissipation issues, which may not meet the requirements for explosion-proof and reliability in certain applications. Moreover, if any component in the integrated design fails, the inspection robot conveyor chain must be stopped, and the entire robot disassembled for replacement or repair. This could result in prolonged conveyor chain interruptions, causing unacceptable losses in applications requiring long-term, low-failure operation of the inspection robot conveyor chain.

[0058] The present invention will now be described in further detail and explanation with reference to the accompanying drawings and specific embodiments.

[0059] Figure 1A This is a schematic diagram of the main configuration of a wireless (battery) powered tandem inspection robot system 100 according to an embodiment of the present invention, showing the overall layout of an exemplary inspection robot system 100 arranged on, for example, a circular track 200. Figure 2A yes Figure 1A An enlarged schematic diagram of a portion of the wireless (battery) powered inspection robot system 100 shown, illustrating an enlarged view of the arrangement of tandem inspection robots (modules) 300 and drive units 400 on track 200. Figure 4 yes Figure 2A A further enlarged perspective view of the drive unit 400 and a portion of the curved track of the wireless (battery) powered inspection robot system 100 shown.

[0060] like Figure 1A , 2A and Figure 4 The diagram illustrates the basic components and overall layout of a wireless (battery) powered tandem inspection robot system 100. Driven by a drive unit 400, the tandem inspection robots 300 of the inspection robot system 100 engage with a drive chain 240 fixed on a track 200 via a drive sprocket 440, thus moving along the track to inspect targets in the surrounding environment.

[0061] like Figure 2A As shown, an exemplary tandem inspection robot 300 is illustrated, comprising a set of four tandemly arranged inspection robot modules 300A-300D. These robot modules 300A-300D are arranged in a series, spaced apart from each other, on a track 200. One robot module 300D is mounted to and driven by a drive motor 410 at one end, while the other robot module 300A is mounted to and driven by another drive motor 410. These robot modules are connected to each other via rigid links such as steel rods 302 or steel wires 302, allowing them to be driven together on the track 200. When using rigid links such as steel rods 302, universal joints can be added to both ends to provide a universal joint, offering flexibility and maneuverability when navigating curves. Alternatively, in the case of battery power, at least one robot module, such as robot module 300B, can be a battery module, which can power the inspection robot module 300A and its associated drive unit 400 via wires or cables 301. exist Figure 2AIn this embodiment, drive units 400 with motors, transmission, and reduction mechanisms are provided at both ends, namely at the positions of inspection robot modules 300A and 300D. Of course, it is also possible to equip a tandem inspection robot with one or more drive units 400. Inspection robot modules 300A-300D can communicate wirelessly with each other. The drive motor 410 can, for example, be a servo motor.

[0062] Figure 1B This is a schematic diagram of the main configuration of a wired (cable-powered) tandem inspection robot system 100 according to an embodiment of the present invention, showing the overall layout of the inspection robot system 100. Figure 2B yes Figure 1B An enlarged schematic diagram of a portion of the wired (cable-powered) inspection robot system 100 is shown, illustrating an enlarged view of the arrangement of tandem inspection robots (modules) 300 and drive units 400 on track 200. Figure 3 yes Figure 2B A further enlarged view of the wired-powered inspection robot module 300D, drive unit 400, and traction trolley shown. Figure 5 It's a perspective from another angle. Figure 2B A further enlarged partial view of the structure is shown, with a partially cutaway view revealing the square cross-section of the track 200. This embodiment of the wired-powered tandem inspection robot system 100 is similar to... Figure 1A , 2A The configuration and construction of the wireless (battery) powered tandem inspection robot system shown are similar in all aspects. The main difference is that in the wired powered tandem inspection robot system 100, a group of four tandemly arranged inspection robot modules 300A-300D are powered externally via cable 450, thus the individual battery modules can be omitted depending on the situation. Furthermore, communication between the inspection robot modules 300A-300D (if any) can also be in a limited form, although this is not mandatory. Cable 450 connects to the drive unit and / or the inspection robot (module) and can follow the inspection robot (module) 300 on the track 200 via traction by a trolley 470, as detailed below. Wired power supply and communication are advantageous in short-distance inspection applications and provide a more reliable power supply and communication method.

[0063] like Figure 3As shown, one end of the robot module 300D is connected to the traction trolley 470 via a carrier cable 450 (e.g., snap-fit ​​or other mounting method). Those skilled in the art will understand that, since the inspection robot is relatively lightweight and the track 200 is mostly horizontal, the traction trolley does not need to be equipped with a separate traction cable; the traction cable can be omitted in the case of the inspection robot. That is, the traction trolley 470 can be connected (and electrically connected) to the drive unit 400 simply via a power and / or communication cable 450, and / or connected (and electrically connected) to the inspection robot (e.g., [missing information]). Figure 3 On module 300D (as shown), the power supply cable 450 can run along the track 200 together with the drive device 400. In contrast, some existing inspection robots also use cable power supply, but they generally use a sliding contact line arrangement. One of the technical drawbacks of sliding contact lines is that they are prone to poor contact or short circuits in humid environments, and the reliability of power supply via sliding contact lines is relatively low. This cable traction method of the present invention can mitigate or avoid the above-mentioned drawbacks.

[0064] Figure 5 It's a perspective from another angle. Figure 2B The diagram shows a further enlarged partial view of the structure, with the track having a square cross-section partially cut open. Figure 6 This is a schematic diagram of a drive device 400 and an inspection robot (one of the robot modules) 300 of a tandem inspection robot system according to an embodiment of the present invention, installed and running on a track 200.

[0065] Figure 7 The assembly of the drive unit 400 on the square track 200 and an exemplary assembly configuration of the transmission chain 240 are shown in a partial cross-sectional view. As shown, the track 200 obviously has a generally square cross-section; however, other configurations and cross-sections of the track 200 are also possible. For example, the track 200 may have an overall polygonal cross-section, the polygonal shape of which, after installation, results in a flat bottom and top surface, and two vertical sides, or two inclined upper sides, or two curved upper surfaces. The cross-section of the track 200 can be square, trapezoidal, truncated isosceles triangle, pentagonal, hexagonal, and drum-shaped, etc. The track 200 may be integrally formed from metals such as aluminum, aluminum alloy, steel, etc. Generally, square tracks are easier to manufacture and supply, and the cost can be lower.

[0066] In addition, and importantly, such as Figure 5 and Figures 7-10 As shown, according to Figure 7As shown, on the track 200, for example near the center line of the bottom surface of the track 200 or other parts, the transmission chain 240 can be fixedly installed by means of rivets, screws, bolts or other methods. The transmission chain 240 is arranged along a part or the entire extension length and extension direction of the track 200, and in this utility model, it needs to be fixedly installed on the track 200 so that the sprocket 440 can mesh with it and move along the transmission chain 240. Figure 5 and Figure 7 The image also shows a motor 410 and a reduction gear 430 mounted on a mounting base 420 of the drive unit 400, as well as an inspection robot 300 that can be mounted, for example, on the opposite side of the motor 410. The reduction gear 430 is preferably, but not limited to, a worm gear reduction mechanism, as described in further detail below.

[0067] In certain outdoor or cold-weather applications, the track 200 of the tandem inspection robot system of this invention may freeze due to exposure to rain and cold, thus affecting the normal use of the track 200. Therefore, as Figure 12 As shown, a heating wire mounting groove 260 can also be provided in the track 200, which can accommodate a heating element 250, such as a heating tape, heating wire, or a thermistor PTC, for heating the track, de-icing, and / or dewatering. Although as... Figure 12 As shown, heating elements 250 are provided on both sides. However, the number and arrangement of heating elements 250 can be varied as needed, for example, more or fewer, and they can be provided on any type of track 200, not limited to a square track.

[0068] Another advantage of regularly shaped enclosed tracks, such as square tracks 200, is that in dusty environments such as mines and underground operations, dust accumulation in the grooves of the track (if the track is an open grooved track) can be avoided, thus preventing it from affecting use. Furthermore, regularly shaped enclosed tracks have lower manufacturing and processing costs, while offering higher strength and rigidity.

[0069] Figure 6 This is an enlarged schematic diagram of the drive device 400 and the inspection robot 300 of a serial inspection robot system according to an embodiment of the present invention. Figure 7 Shown in partial dissection Figure 6 A schematic end view of the structure shown. Figures 8-10 The diagram illustrates the construction of a drive unit, inspection robot (module), and mounting base, among other components, according to one embodiment. Figure 6-10As shown, this embodiment of the drive unit 400 may include a motor 410, a reduction mechanism 430, and a transmission sprocket 440. As an exemplary example, the reduction mechanism 430 mainly consists of a worm gear and a worm that mesh with each other. This worm gear type reduction mechanism 430 not only effectively reduces speed but also has a self-locking mechanism, facilitating the fixing of the inspection robot (module) on the track—a feature not found in other types of reduction mechanisms. The motor shaft of the motor 410 can be coaxially connected to the worm to transmit rotational motion from the motor; the reduced rotational motion, after being slowed down by the meshing worm gear, is then transmitted to the transmission sprocket 440. Figure 7 As shown, the worm gear reducer 430 is mounted on the right side of the mounting base 420, while the drive sprocket 440 can be mounted on the left side of the mounting base 420, for example, in a coaxial or parallel manner. Thus, the inspection robot (module) 300 and the drive unit 400 are assembled into a single unit via the mounting base 420. The drive sprocket 440 meshes with the drive chain 240 fixed on the track, as shown... Figure 7 As shown. In this way, when the drive sprocket 440 of the drive device 400 is driven to rotate by the motor 410, it can engage with the drive chain 240 fixed on the track 200 and roll along the track 200, for example, rolling forward or backward, thereby driving the entire drive device 400, the mounting base 420 and the inspection robot 300 to move along the track 200 together.

[0070] The drive chain 240 can be a roller chain. Of course, the drive chain 240 can also be any other form that meshes with the drive sprocket, such as a toothed chain. Since the drive chain 240 needs to extend upwards generally vertically and horizontally circumferentially along with the track 200, it may require lateral bending and / or torsion. Therefore, it is preferable that at least a portion or all of the drive chain 240 is a laterally bending chain drive that can have a degree of freedom in three-dimensional space.

[0071] To ensure that the entire drive unit 400 and the inspection robot 300 move smoothly and steadily along the track 200, such as Figure 8-10 As shown, according to one embodiment, the mounting base 420 may include a lower support 423 and two upper support portions 421 and 422, which may be generally U-shaped. Each upper U-shaped portion 421 or 422 is independently pivotable relative to the lower support 423. For example, the upper U-shaped portion 421 or 422 may be pivotable from... Figure 8 The indicated orientations each pivot independently relative to the lower support 423. Figure 9 The orientation shown allows the mounting bracket 420 to be adjusted flexibly when turning on the track, ensuring a smooth curve.

[0072] Each of the upper U-shaped portions 421 and 422 includes a base plate and two side plates extending upward from the base plate. For example... Figure 10 As shown, an upper guide wheel 421A and a lower guide wheel 421C are mounted on one side plate of the upper U-shaped portion 421, and an upper guide wheel 421B and a lower guide wheel 421D are mounted on the opposite side plate. A pivot 480 is mounted on the bottom plate of the upper U-shaped portion 421, as detailed below. Similarly, an upper guide wheel 422A and a lower guide wheel 422C are mounted on one side plate of the upper U-shaped portion 422, and an upper guide wheel 422B and a lower guide wheel 422D are mounted on the opposite side plate. Another pivot 480 is mounted on the bottom plate of the upper U-shaped portion 422, as detailed below. These upper and lower guide wheels are configured to roll above and below the track 200, serving to guide, limit, and straighten movement, and preventing bouncing during operation. The arrangement of these guide wheels helps the drive unit 400 and the inspection robot 300 to run smoothly along the track 200, and prevents bouncing, derailment, and deviation during operation, etc.

[0073] like Figure 5-10 As shown, a straight plate 423A can be designed on the lower bracket 423, on which an inspection robot (module) 300 can be mounted, such as a camera module, battery module, drive module, video-audio module, sensor module, etc., or other inspection equipment. Two pivot holes 423D and 423E can also be designed on the lower bracket 423 at positions corresponding to the base plates of the two upper U-shaped portions 421 and 422. These two pivot holes 423D and 423E can be intentionally thickened, as shown in the figure, to allow two pivots 480 of a certain length to pass through them, such as... Figure 10 As shown. One end of each of the two pivots 480 can be fixed, for example, to the base plate of the corresponding upper U-shaped portion, for example, by threading into the two pivot holes 423D and 423E, or / or by nuts or bolts. The other end of each of the two pivots 480 is pivotally mounted on the lower support 423. For example, the upper U-shaped portion can be pivoted relative to the lower support by the end flange of the other end abutting against the end face of the corresponding pivot hole. As a preferred embodiment, thrust ball bearings 423B and 423C can be fitted between the end flange of the other end and the corresponding pivot holes 423D and 423E, thereby ensuring that the two upper U-shaped portions 421 and 422 are accurately and reliably assembled relative to the lower support 423, and ensuring that the two upper U-shaped portions 421 and 422 can each pivot smoothly and independently relative to the lower support 423.

[0074] Figure 11 This is a partial perspective view of the drive device 400 according to another embodiment, which is consistent with... Figure 10The structures shown are basically the same, the difference being the addition of side guide wheels to the mounting base. A side guide wheel, 421E, 421F, 422E, and 422F, is added to each side plate of the upper U-shaped portions 421 and 422. After the drive unit 400 is mounted on the track 200, these side guide wheels 421E, 421F, 422E, and 422F roll along the left and right sides of the track, further guiding the movement, limiting (left and right) movement, straightening, and preventing derailment. They also contribute to smooth cornering.

[0075] Figures 13-14 This demonstrates a design for guide wheels that aid in cornering on track curves. For example... Figures 13-14 The illustration uses the upper guide wheel 421A of the mounting base 420 as an example. The upper guide wheel 421A may have a roller body 421A1 that rolls on the track 200, and an integral flange 421A2. A chamfered arc, such as a concave arc C, can be used to transition between the flange 421A2 and the roller body 421A1 to avoid stress concentration and to some extent facilitate bending. Preferably, the end face of the flange 421A2 on the side closest to the track after installation is designed as a bevel S, and the bevel S forms an angle A with a plane perpendicular to the rotation axis R of the guide wheel, where 0 < A ≤ 30°, more preferably 2° ≤ A ≤ 20°, 5° ≤ A ≤ 15°, etc. When the end face of the flange 421A2 on the side closest to the track 200 after installation is designed as an arc surface, especially an outwardly arched arc surface, the radius of the arc surface is preferably smaller than the bending radius of the track to facilitate bending. Figure 13 The diagram illustrates the behavior of the upper guide wheel with its S-shaped bevel design when cornering. It shows that, especially on the inside of the curve, the S-shaped bevel design significantly reduces or even eliminates interference / obstruction of the guide wheel's rolling from the side of the track 200. Despite Figure 13-14 This only illustrates the design of the upper guide wheel of the mounting base; however, the lower guide wheel of the mounting base can also adopt this inclined or curved surface design. Similarly, the upper and lower guide wheels of the traction trolley 470 can adopt this inclined or curved surface design for cornering, which is easily understood by those skilled in the art.

[0076] Figure 15 An embodiment of one of the traction trolleys 470 that can roll along the inspection track 200 is shown. A cable 450 can be fixed to the traction trolley 470, and the cable 450 can be used directly as the traction cable without the need for a separate traction cable. This is because the track 200 is mostly horizontal, and even if the cable 450 is subjected to traction force during traction, the traction / tension is small enough not to negatively impact the cable 450's lifespan or the reliability of the power supply.

[0077] Figure 15This is an enlarged schematic perspective view of one embodiment of the traction trolley 470, showing the construction and details of the traction trolley 470 in this embodiment. Similar to the arrangement of guide wheels on the mounting base 420, in this embodiment, the traction trolley 470 has a U-shaped support, integrally formed by a base plate and two side plates extending upward from the base plate, which can be machined, for example, from channel steel (or aluminum alloy) or I-beams (or aluminum alloy profiles). A total of eight guide wheels are mounted on this U-shaped support. Specifically, a pair of upper guide wheels 471A and 471B and a pair of lower guide wheels 471C and 471D are mounted on one side plate 471 of the traction trolley 470, all of which serve to guide movement, limit movement, and straighten the vehicle. A pair of upper guide wheels 472A and 472B and a pair of lower guide wheels 472C and 472D are mounted on the other side plate 472 of the traction trolley 470, all of which serve to guide movement, limit movement, straighten the vehicle, and prevent bouncing during operation. These guide wheels help the traction trolley 470 roll smoothly along the track 200, so that when the inspection robot 300 and drive unit 400 are running along the track 200, their (power and / or communication) cables 450 can be used as traction cables and thus can also be carried by the traction trolley 470 along the track 200, providing safe and reliable power and / or communication. The aforementioned upper and lower guide wheels of the traction trolley 470 can have the same construction and design as the upper and lower guide wheels of the mounting base 420, because they can share the track 200 for operation.

[0078] On the traction trolley 470, for example on its base plate 473, a cable mounting component 475 may also be provided. This component may include, for example, a body with a slot 475A for receiving and mounting the cable 450, and, for example, two fastening screws 476 for securing the cable 450 in the slot 475A. Of course, those skilled in the art will understand that the traction trolley may take other forms than those shown in the figure, as long as it can install and fix the traction cable, and these are all within the scope of this invention.

[0079] Track 200 can be integrally formed from metals such as aluminum or aluminum alloys through extrusion processes.

[0080] The drive chain 240 can be a roller chain or a toothed chain, and it can be designed to be loaded or unloaded. Of course, the drive chain 240 can also be other forms that mesh with the drive sprocket, such as a toothed chain. Where inclines and / or turns are required, lateral bending and / or torsion may also be necessary; therefore, in these locations, the drive chain 240 can be a laterally bending chain, preferably with three degrees of freedom, thus allowing for three-dimensional extension freedom.

[0081] One or more tandem inspection robots 300 may be arranged on each track 200. Each tandem inspection robot 300 may include a group of multiple tandem inspection robot modules, such as modules 300A-300D, which are independent of each other and arranged in series. Although a group of four inspection robot modules is arranged as shown in the figure, the number of these modules may be fewer or more, such as two, three, five, six, etc., depending on the needs.

[0082] Although these tandem inspection robot modules are spaced apart from each other as shown in the figure, they can also be tandemly arranged close together on track 200 with virtually no gaps. Despite this... Figure 2A-2B The image shows two motors 410 at the beginning and end, but the number of motors can be one or more, and their positions can also be arranged in other ways.

[0083] By distributing the inspection robot modules, which are arranged in series, on track 200, the weight and stress at each installation point are effectively reduced, and the counterweight is distributed across multiple points instead of a single point as before. This configuration can mitigate or even eliminate potential problems caused by uneven weight distribution and unbalanced center of gravity in previous inspection robots. For example, it can reduce impact, decrease operating noise, and other similar malfunctions, enabling relatively less frequent maintenance and repairs.

[0084] Furthermore, the size and space occupied by each inspection robot module can be reduced, making it possible to apply in situations where the operating channel of the inspection robot conveyor chain is relatively narrow. Additionally, by distributing multiple inspection robot modules that may generate heat during operation in series, battery-powered inspection robot modules, for example, can use relatively small-capacity batteries with better explosion-proof properties when powered by their own batteries, and the problem of poor heat dissipation is also solved, improving the system's operational reliability and robustness. Because the modules are distributed in series and are independent, the difficulty of fault diagnosis, maintenance, and replacement is further reduced. These advantages become even more important and prominent in harsh operating environments such as high temperature, high explosiveness, and high dust.

[0085] The robot module of the tandem inspection robot can be selected from at least one of the following functional modules: lighting module, video-thermal imaging-audio module, gas sensor module, battery module, intercom module, wireless communication module, fire protection module, and camera cleaning module. The lighting module can, for example, serve as ambient lighting and visual monitoring, which is fundamental and necessary for remote monitoring. The video-thermal imaging-audio module can, for example, be used to acquire image, thermal imaging, and audio information, including video recording, thermal imaging, temperature sensing, and audio recording, and can selectively transmit it, for example, in real time, to a ground base station. The fire protection module may include relevant sensors, such as temperature sensors, smoke sensors, etc., and can send corresponding warning signals, and can selectively send corresponding commands to activate consumer facilities, such as fire hydrants, fire extinguishers, etc. The camera cleaning module can be used to clean the inspection robot's camera, for example, by installing a water spray nozzle and water tank to spray and clean the camera, etc. Of course, those skilled in the art will fully understand that, depending on different applications and functions, the tandem inspection robot component of this concept can be additionally or alternatively equipped with other functional modules, which are also within the scope of this concept.

[0086] According to one example, a group of robot modules may include a master module and at least one slave module, with the master module having a wireless or wired communication connection with the at least one slave module.

[0087] As one example, the functional module may have a built-in rechargeable battery as its power source, allowing the module to operate independently and providing better explosion-proof performance. In one example, for ease of inspection, maintenance, and replacement, these functional modules are designed to be independently repairable and / or replaceable.

[0088] In one example, the wireless communication module can act as the main module. The wireless communication module can be selected from at least one of the following: Zigbee module, WiFi module, Bluetooth module, LoRa transmission module, NB transmission module, Proprietary transmission module, Thread transmission module, Wi-SUN transmission module, Z-Wave transmission module, and infrared communication module.

[0089] The aforementioned tandem track inspection robot system and its various components are suitable for inspection purposes in environments such as underground mines, dock transportation sites, industrial production lines, long-distance track conveyors, long-distance belt conveyors, or explosion-proof sites, as well as in other harsh or hazardous environments.

[0090] In one example, the serial inspection robot system may include online monitoring wireless sensors fixed in the environment along the inspection path to collect status data of equipment in the environment.

[0091] The inspection robot in this serial inspection robot system includes a wireless sensor data communication module, which is configured to communicate wirelessly with online monitoring wireless sensors during inspection in order to collect data collected by the online monitoring wireless sensors and issue commands to the online monitoring wireless sensors.

[0092] Although the serial inspection robot system described above employs a serial inspection robot, which offers numerous related technical advantages, those skilled in the art will understand and readily appreciate that, when necessary, the serial inspection robot system of this invention can also be replaced by an integrated inspection robot.

[0093] According to one example, the functional module can be powered by a power cable, or the functional module can have a built-in battery as a power source.

[0094] Another embodiment of a stabilized, fully rolling (friction) guided drive device

[0095] Figure 16 A schematic perspective view of a stabilized, fully guide wheel rolling (friction) guided drive unit 500 according to another embodiment is shown, illustrating the arrangement of the drive unit 500 and its first and second mounting bases 510, 520 and a plurality of guide wheels thereon. Figure 17 Showing Figure 16 A schematic perspective view of the drive unit 500 installed and operating on the square track 200. Figure 18 Demonstrated as Figure 17 The schematic cross-sectional view of the first mounting base 510 with motor mounted on the square track 200 is shown in a transverse view, showing more details of the cross-section of the track 200, the first mounting base 510 with motor 540 mounted, the drive and transmission structure, and the guide wheels thereon. Figure 19 Demonstrated as Figure 17 The schematic top view of the first mounting base 510 with motor mounted on the square track 200 is shown. The top view of the first mounting base 540 with motor mounted on the track 200 is shown, especially the installation and positional relationship of the upper guide wheel and the side guide wheel mounted thereon. The second mounting base 520 may have a structure that is substantially the same as or similar to that of the first mounting base 510. Figure 20 A schematic perspective view of the side guide wheel bracket 560 for mounting the side guide wheel mechanism is shown, illustrating the general structure and installation of the side guide wheel bracket 560 and the side guide wheel thereby mounted on one side of the first mounting base 510.

[0096] like Figure 16-20The diagram illustrates a drive unit 500 according to another embodiment of the present invention, providing a stable, fully guided wheel rolling (friction) design. With this design, compared to the drive unit 400 of the aforementioned embodiment, the drive unit 500 of this embodiment of the present invention can provide more stable drive, lower drive power consumption, less noise, and longer lifespan for the inspection robot.

[0097] like Figure 16-20 As shown, the drive unit 500 can be installed on the track 200, and the inspection robot (or inspection robot module) can be installed and fixed on the drive unit 500 or connected to the drive unit 500 and move along the track. Thus, under the drive of the drive unit 500, the robot can mesh with the transmission chain 210 fixed on the track 200 through the transmission sprocket 570 and run along the track 200 to perform inspection.

[0098] Specifically, such as Figure 16-20 As shown, the drive unit 500 may include a first mounting base 510 mounted to roll on the track 200 via its guide wheels, a second mounting base 520 mounted to roll on the track 200 via its guide wheels, and an intermediate connector 530 connecting the first mounting base 510 and the second mounting base 520 arranged in series on the track 200, such that the first mounting base 510 and the second mounting base 520 can roll on the track 200 in a series configuration. The intermediate connector 530 may be, for example, in the form of an intermediate connecting plate as shown in the figure, on which an inspection robot or an inspection robot module (not shown) may be suspended.

[0099] like Figure 16-20 As shown, an example of the first mounting base 510, second mounting base 520, and intermediate connector 530 of the drive unit 500 can be designed to be lightweight, minimizing the weight of the drive unit 500 and the load on the drive motor 540. Excessive weight and load not only affect the operation and lifespan of the motor 540 but may also affect the stable and reliable operation and service life of the guide wheel of the drive unit 500. Therefore, as shown, the main body of the first mounting base 510 and the second mounting base 520 can be constructed of perforated plates or have perforated structures such as multiple slots or holes, and the intermediate connector 530 can also be a perforated plate or have perforated structures such as slots or holes to reduce weight.

[0100] The drive unit 500 may further include a motor 540, a reduction mechanism (not shown), and a transmission sprocket 570 mounted on the first mounting base 510. The rotational motion of the motor 540 can be directly or via the reduction mechanism transmitted to the transmission sprocket 570, thereby driving the transmission sprocket 570 to rotate. The transmission sprocket 570 engages with a transmission chain 210 fixed on the track 200, thereby running along the track 200, which in turn drives the drive unit 500 (first and second mounting bases 510, 520) and the inspection robot mounted or connected to the drive unit 500 to run along the track 200 for inspection. Although this embodiment illustrates the motor 540 mounted on the first mounting base 510, the motor 540 can also be mounted on the second mounting base 520. The motor 540 may also be, for example, a servo motor 540. Figure 16-18 As shown, a drive motor 540 is rotatably mounted, for example, on the lower part of the main body of the first mounting base 510, and is connected, for example, to a drive sprocket 570 disposed in the middle of the hollow main body of the first mounting base 510 in a coaxial or parallel manner (preferably the drive sprocket 570 can be reduced in speed via a reduction mechanism not shown), thereby driving the drive sprocket 570 to rotate. An example of a reduction mechanism is a planetary gear set, or planetary gear reducer. Another alternative example of a reduction mechanism can be a worm gear reducer. The worm gear reducer not only reduces speed but also self-locks / brakes, thus facilitating locking the inspection robot (module) on the track 200 when needed without the need for additional braking / self-locking devices.

[0101] like Figure 16-20 As shown, the upper part of the main body of the first mounting base 510 may be provided with a pair of lifting arms 511 and 512 located on both sides of the square track 200 after installation. Together with the main body of the first mounting base 510, they can form a generally U-shaped shape on the upper part of the first mounting base 510, such that when the first mounting base 510 is installed on the track 200, the track 200 is placed in the middle of the U-shape. This pair of lifting arms 511 and 512 can be integrally formed with the main body of the first mounting base 510, or they can be separate components assembled with the main body. As shown, this pair of lifting arms 511 and 512 is preferably arranged symmetrically, and each of them can be, for example, plate-shaped or strip-shaped. Together with a pair of upper guide wheels that are rotatably suspended on the left and right sides of the top surface of the track 200 and the mounting base body, they form a generally clamp-like or fork-shaped structure. The structure of this pair of lifting arms 511 and 512 and the configuration of the guide wheels thereon are substantially the same, and they are preferably arranged symmetrically from left to right, as will be further detailed below.

[0102] Along the boom 511 Figure 16-18Two guide wheels, namely upper guide wheel 511A and lower guide wheel 511B, are rotatably mounted in a generally vertical direction, spaced apart from each other. They are constructed and configured to mate with the top and bottom surfaces of the track 200 respectively after installation, serving to guide and limit movement, and are respectively located on one side of the track 200. Figure 18 The upper guide wheel 511A is mounted to roll on the top and bottom surfaces of the left side of the track 200, thus bearing the suspended weight of the drive unit. The lower guide wheel 511B can be installed to form a tight or loose fit with the bottom surface of the left side of the track 200, depending on the application and requirements. Figure 18 The clearance fit shown is used because the lower guide wheel 511B is not a primary load-bearing guide wheel in this design. Similar to the configuration of the boom 511, two guide wheels, upper guide wheel 512A and lower guide wheel 512B, are rotatably mounted on the boom 512, spaced vertically from each other. They are configured to fit into the top and bottom surfaces of the right side of the track 200, respectively, serving to guide, limit, and roll on the top and bottom surfaces of the track 200. The upper guide wheel 512A rolls on the top surface of the right side of the track 200 to bear the suspended weight, while the lower guide wheel 512B can be installed to form a tight or loose fit with the bottom surface of the right side of the track 200, such as the clearance fit shown, because the lower guide wheel 512B is also not a primary load-bearing guide wheel.

[0103] In the conception of this embodiment, as Figure 16-19 As shown, in order to achieve a stable, fully rolling friction-guided design for the drive unit 500, this invention incorporates an innovative side guide wheel mechanism on each boom 511, 512. Specifically, as... Figure 18-19 As shown, a pair of side guide wheel mechanisms 511C and 511D, arranged side-by-side but spaced apart, are mounted on the left boom 511 along the extension direction of the track 200. They provide guidance and control for the operation of the drive unit 500 and the inspection robot on it by rolling (friction) on the left side of the track 200. Additionally, for example, as... Figure 19 Preferably, the upper guide wheel 511A (and the lower guide wheel 511B) are positioned in the middle of the pair of side guide wheel mechanisms 511C and 511D arranged one in front of the other in the extending direction of the track 200. This allows the drive unit 500 to be stabilized during operation, preventing it from swaying left and right, for example, with... Figure 11 The arrangement of the side guide wheels in the illustrated embodiment is more stable during operation.

[0104] For example, Figure 16 , 19As shown in Figure 20, the pair of side guide wheel mechanisms 511C and 511D preferably have the same construction and configuration, wherein each side guide wheel mechanism 511C; 511D consists of an axle S and two upper and lower side guide wheels 5111 and 5112; 5113 and 5114 rotatably mounted on the axle S. The diameter of the axle S is smaller than that of the upper and lower side guide wheels 5111 and 5112 and 5113 and 5114 mounted thereon, such that each side guide wheel mechanism 511C; 511D has a generally dumbbell-shaped structure, and each has a clearance recess 5110 as a clearance design, such as... Figure 20 As shown. Figure 18 As shown, the upper and lower side guide wheels of each side guide wheel mechanism 511C; 511D operate on the corresponding sides of the track 200 near the top and bottom surfaces of the track, respectively. A clearance recess 5110 is provided approximately in the middle of the sides of the track, providing space for mounting components 220 (e.g., multiple fastening screws 220 located in the middle of the sides when the track 200 is assembled) to pass through. Furthermore, because the upper and lower side guide wheels operate on the sides of the track near the top and bottom surfaces of the track, the drive device 500 is naturally more stable during operation, for example, with... Figure 11 The side guide wheel arrangement in the illustrated embodiment is more stable during operation. Each pair of side guide wheels in the side guide wheel mechanism, namely the upper side guide wheel and the lower side guide wheel, can be either individual side guide wheels without a shared axle S, or they can be integrally formed.

[0105] As shown in the figure, the side guide wheel bracket 560 may have a main body 561 that is generally in the shape of an isosceles triangle. Three mounting holes 563 are opened near the three corners of the isosceles triangle 561, and two mounting supports 562, which may be arranged approximately axially symmetrically, are provided on the isosceles triangle 561. Figure 20 As shown, the pair of side guide wheel mechanisms 511C and 511D are fixedly installed on the boom 511 through corresponding through slots 580 via two side guide wheel brackets 560. The upper ends of the two axles S of the pair of side guide wheel mechanisms 511C and 511D are installed in the two mounting seats 562 of the upper side guide wheel bracket 560, and the lower ends of the two axles S are installed in the two mounting seats 562 of the lower side guide wheel bracket 560.

[0106] In this embodiment, the right boom 512 and the left boom 511 have essentially the same structure, upper and lower guide wheels, and two side guide wheel mechanisms, and are preferably arranged symmetrically. Therefore, their configuration, installation, function, and effect can be directly referred to the above description of the left boom 511, and will not be described in detail again. Simply put, an upper guide wheel 512A and a lower guide wheel 512B are rotatably mounted on the boom 512. They are constructed and configured to engage with the top and bottom surfaces of the right side of the track 200 after installation, serving to guide, limit, and roll along the track. To achieve a stable, fully rolling friction-guided design for the drive device 500, a pair of side guide wheel mechanisms 512C and 512D are also installed on the boom 512 along the extension direction of the track 200, spaced apart from each other. They provide guidance and limitation for the operation of the drive device 500 and the inspection robot by rolling (friction) on the right side of the track 200. Additionally, for example... Figure 19 As shown, the upper guide wheel 512A (and the lower guide wheel 512B) are positioned between the opposite guide wheel mechanisms 512C and 512D in the extending direction of the track 200. This allows the drive unit 500 to be stabilized during operation, preventing it from swaying left and right, for example, with... Figure 11 The arrangement of the side guide wheels shown is more stable during operation. Similarly, the pair of side guide wheel mechanisms 512C and 512D mounted on the right-side boom 512 have a generally dumbbell-shaped structure, each with a clearance recess 5120 for clearance design, as shown... Figure 18 As shown, this is to avoid mounting components on the right side, such as fastening screw 220.

[0107] As described above, those skilled in the art will understand that this embodiment achieves a stable, fully rolling (friction) guided design for the drive device 500. This stable, fully rolling (friction) guided design is achieved by arranging upper and lower guide wheels that roll on the top and bottom surfaces of the track on the left and right sides of each mounting base, respectively, and two side guide wheels that roll on the sides of the track near the top and bottom surfaces. Preferably, the upper and lower guide wheels and the side guide wheels of the side guide wheel mechanism are flangeless, thereby further ensuring that these guide wheels do not have sliding (friction) contact when in contact with the track, but rather full rolling (friction) contact.

[0108] The side guide wheel mechanisms preferably all have the same construction and configuration to facilitate maintenance and replacement and reduce spare parts costs. Although the side guide wheel mechanism provides a center clearance design through a dumbbell-shaped construction as shown in the figure, those skilled in the art will understand that the wheel axle S can also be omitted, and the two side guide wheels of the side guide wheel mechanism can be directly and rotatably mounted on the corresponding mounting bearings 562 of the side guide wheel bracket 560, which is also within the scope of this utility model.

[0109] As mentioned above, apart from the motor, the second mounting base 520 may have a fully rolling (friction) guided operation and design that is substantially the same or similar to that of the first mounting base 510 in terms of construction, fit, installation and stabilization, and therefore will not be described in detail here.

[0110] Furthermore, those skilled in the art will fully understand that, where technically feasible, the entirety or a portion of the structure and configuration of the drive device 500 of this embodiment can be incorporated into the preceding embodiments, and can replace the drive device or its components in the preceding embodiments, for example... Figures 1A-15 The drive device or its components shown. For example, the construction, configuration, and installation of the side guide wheel mechanism in this embodiment can replace, for example... Figure 11 The side guide wheel shown; or, it can be combined as a side guide wheel with... Figure 15 In the illustrated embodiment of the traction trolley, these also fall within the scope of this utility model.

[0111] The basic concept of this utility model has been described above with reference to embodiments. Note that the above are merely exemplary embodiments and technical principles applied by this utility model. Those skilled in the art will understand that this utility model is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the protection scope of this utility model. The scope of this utility model is determined by the scope of the appended claims.

Claims

1. A drive device for an inspection robot system, characterized in that, The driving device includes: A first mounting base is provided, on which a pair of upper guide wheels and a pair of lower guide wheels are mounted. The pair of upper guide wheels are arranged on the left and right sides of the top surface of the track of the inspection robot system, and the pair of lower guide wheels are arranged on the left and right sides of the bottom surface of the track. The second mounting base has a pair of upper guide wheels and a pair of lower guide wheels mounted on it. The pair of upper guide wheels are arranged on the left and right sides of the top surface of the track of the inspection robot system, and the pair of lower guide wheels are arranged on the left and right sides of the bottom surface of the track. An intermediate connector pivotally connected between the first mounting base and the second mounting base; A motor, a reduction gear, and a drive sprocket rotatably connected to the motor are mounted on at least one of the first mounting base and the second mounting base, wherein the motor drives the drive sprocket to rotate via the reduction gear; and A drive chain is fixedly installed at the bottom of the track, wherein the drive sprocket is configured to mesh with the drive chain and runs along the track together with the drive device when driven to rotate by the motor; The first mounting base includes a main body, a pair of booms located on the upper part of the main body and positioned on the left and right sides of the track during installation, wherein each of the pair of booms is equipped with an upper guide wheel and a lower guide wheel arranged vertically and respectively for engaging with the top and bottom surfaces of the track, and a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the track; and The second mounting base includes a main body, a pair of booms located on the upper part of the main body and positioned on the left and right sides of the track during installation, each of the pair of booms being equipped with an upper guide wheel and a lower guide wheel arranged vertically and respectively cooperating with the top and bottom surfaces of the track, and a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the track.

2. The driving device according to claim 1, characterized in that, Each of the side guide wheel mechanisms includes an upper side guide wheel and a lower side guide wheel arranged vertically, the upper side guide wheel and the lower side guide wheel being configured to roll on the side of the track close to the upper side and the lower side of the track, respectively.

3. The driving device according to claim 2, characterized in that, A clearance recess is provided between the upper and lower guide wheels of each of the aforementioned side guide wheel mechanisms.

4. The driving device according to claim 3, characterized in that, Each of the side guide wheel mechanisms includes an axle with an upper side guide wheel and a lower side guide wheel respectively mounted at both ends. The axle has a smaller diameter than the upper and lower side guide wheels, such that the axle between the upper and lower side guide wheels leaves a clearance recess. or The upper and lower guide wheels of each of the side guide wheel mechanisms are spaced apart from each other, such that the gap between the upper and lower guide wheels defines the avoidance recess. or The upper and lower guide wheels of each of the side guide wheel mechanisms are integrally formed, and the integrally formed structure provides the clearance recess between the upper and lower guide wheels.

5. The driving device according to claim 4, characterized in that, The side guide wheel mechanism is mounted on the corresponding boom via a side guide wheel bracket.

6. The driving device according to any one of claims 1-5, characterized in that, The upper guide wheel on each of the booms is arranged between the corresponding pair of side guide wheel mechanisms in the extension direction of the track.

7. The driving device according to any one of claims 1-5, characterized in that, All of the upper guide wheels are identical to each other, all of the lower guide wheels are identical to each other, and all of the side guide wheel mechanisms are identical to each other.

8. The driving device according to any one of claims 1-5, characterized in that, The main body of the first mounting base and the pair of booms thereon are configured in a U-shape, clamp shape or tuning fork shape, and the upper guide wheel is suspended on the top surface of the track and rolls along the left and right sides; and the main body of the second mounting base and the pair of booms thereon are configured in a U-shape, clamp shape or tuning fork shape, and the upper guide wheel is suspended on the top surface of the track and rolls along the left and right sides.

9. The driving device according to any one of claims 1-5, characterized in that, Both the first mounting base and the second mounting base are integrally formed; or The main bodies of both the first mounting base and the second mounting base are assembled from multiple plates, and the pair of booms of both the first mounting base and the second mounting base are plate-shaped or strip-shaped booms fixedly connected to their respective main bodies.

10. The driving device according to any one of claims 2-5, characterized in that, The upper guide wheel, the lower guide wheel, the upper side guide wheel, and the lower side guide wheel are all flangeless guide wheels, thus the drive device is a stable, fully rolling guided drive device.

11. A drive device for an inspection robot system, characterized in that, The driving device includes: The motor, the reduction mechanism, and the transmission sprocket are provided. The rotational motion of the motor is transmitted to the transmission sprocket via the reduction mechanism, thereby driving the transmission sprocket to rotate. Mounting base, on which at least two pairs of upper guide wheels and at least two pairs of lower guide wheels are mounted to roll on a square track of the inspection robot system, and the motor, reduction mechanism and transmission sprocket are rotatably mounted on the mounting base; A drive chain is fixedly mounted on the square track, wherein the drive sprocket meshes with the drive chain, so that it can travel along the square track and the mounting base together when rotating; The mounting base includes a lower bracket and two upper bracket portions, wherein each upper bracket portion is independently pivotable relative to the corresponding lower bracket, and a side guide wheel is further installed between the upper guide wheel and the lower guide wheel on each side plate of each upper U-shaped portion; Each of the side guide wheels is a pair of side guide wheel mechanisms spaced apart from each other along the extension direction of the square track. Each side guide wheel mechanism includes an upper side guide wheel and a lower side guide wheel arranged vertically, the upper and lower side guide wheels being configured to roll on the side of the square track close to the upper and lower sides of the track, respectively, and a clearance recess is provided between the upper and lower side guide wheels of each side guide wheel mechanism; and Among them, the upper guide wheel, the lower guide wheel, the upper side guide wheel, and the lower side guide wheel are all guide wheels without flanges.

12. An inspection robot system, characterized in that, The inspection robot system includes a drive device according to any one of claims 1-11.

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