Crawler inspection robot
By designing a lifting module in the tracked inspection robot, the problems of limited operating height, difficult passage through alleyways, and inconvenient track maintenance were solved. This enabled convenient height adjustment and fault handling, and improved the continuity and efficiency of inspection tasks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHINA TOBACCO ZHEJIANG IND CO LTD
- Filing Date
- 2025-05-06
- Publication Date
- 2026-05-08
AI Technical Summary
Existing tracked robots suffer from limitations in operating height, difficulty in navigating tunnels, and inconvenience in repairing track malfunctions, which affect the continuity and efficiency of inspection tasks.
A tracked inspection robot was designed, comprising a chassis, a track module, an inspection module, and a lifting module. The lifting module raises the chassis when the robot is working normally or malfunctioning, increasing the inspection height, solving the problem of roadway blockage, and facilitating the repair of track malfunctions.
It meets the inspection needs at different heights, solves the problem of tunnel access, facilitates maintenance in case of track failure, and improves the continuity and efficiency of inspection tasks.
Smart Images
Figure CN224211158U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of tracked robot technology, and specifically to a tracked inspection robot. Background Technology
[0002] Tracked robots are widely used for indoor inspection tasks due to their excellent obstacle-crossing ability and stability, especially in complex environments such as industry, healthcare, and security. Compared with wheeled robots, tracked robots can better adapt to irregular terrain such as steps, ramps, and obstacles, thus having a significant advantage in indoor inspections of narrow passages, complex terrains, and high-risk areas. By equipping them with various detection devices such as cameras, LiDAR, and infrared sensors, tracked robots can collect environmental data in real time, completing tasks such as detailed inspections, equipment status monitoring, and alarms for abnormal conditions.
[0003] However, existing tracked robots still have the following technical problems:
[0004] 1. Limited operating height. Traditional tracked robots typically employ a low chassis design to ensure stability, which severely restricts their vertical inspection range and makes it difficult to meet inspection needs at different height levels.
[0005] 2. Lane access issues. In warehouse lanes, the width of the lanes directly affects the warehouse utilization rate. Generally, the width of the lanes is only slightly wider than the minimum turning diameter of the tracked robot (when the tracked robot is rotating in place). This means that if two tracked robots are moving towards each other in the lane due to a control program error, the robots cannot resolve the situation on their own without human intervention.
[0006] 3. Challenges in Handling Faults. The track system, the core component upon which tracked robots rely for operation, possesses excellent terrain adaptability. However, if a fault occurs—such as a track detachment, breakage, or performance degradation due to wear—the robot may become immobile or even lose its ability to move completely. This problem is particularly pronounced in indoor environments. Due to the characteristics and bulkiness of the track system, manual intervention to move the tracked robot is extremely inconvenient, further impacting the continuity and efficiency of inspection tasks. Track system failures not only significantly increase maintenance and repair costs but can also have serious negative impacts on the safety and timeliness of inspection tasks. Utility Model Content
[0007] In view of the above-mentioned deficiencies or defects in the existing technology, the present invention provides a tracked inspection robot. The tracked inspection robot can raise its chassis when the robot is working normally or when it malfunctions, thereby increasing the inspection height, solving the problem of roadway blockage, and facilitating maintenance when the track fails.
[0008] To achieve the above objectives, this utility model provides a tracked inspection robot, comprising:
[0009] Chassis;
[0010] The track module is used to lift and drive the chassis to move, and together with the chassis, it constrains and forms an installation space located below the chassis;
[0011] The inspection module is located on the upper surface of the chassis;
[0012] A lifting module is disposed within the installation space below the chassis; the lifting module includes:
[0013] The upper frame is lifted and fixedly connected to the chassis.
[0014] The lower shelf is lifted and located below the upper shelf;
[0015] At least one set of fork arm assemblies, the fork arm assembly being formed by an outer fork arm and an inner fork arm rotatably connected at the midpoint via a pivot; one end of the outer fork arm is hinged to the upper lifting frame, and the other end is slidably hinged to a first track formed on the lower lifting frame; one end of the inner fork arm is hinged to the lower lifting frame, and the other end is slidably hinged to a second track formed on the upper lifting frame;
[0016] A drive mechanism is used to drive the fork arm assembly to extend or retract, so as to achieve vertical displacement of the lower lifting frame relative to the upper lifting frame.
[0017] Casters are located at the bottom of the lifting lower frame; when the fork arm assembly is in its maximum retracted state, the casters are suspended in the air.
[0018] In some embodiments, the first track and the second track are formed as chutes extending along the length directions of the lower lifting frame and the upper lifting frame, respectively;
[0019] The outer fork arm is provided with a first cylindrical slider at one end connected to the first track, and the first cylindrical slider is slidably hinged to the first track.
[0020] The inner fork arm is connected to the second track at one end, and the second cylindrical slider is slidably hinged to the second track.
[0021] The tracked inspection robot of this invention can raise the chassis of the tracked robot when the robot is working normally or when it malfunctions, thereby increasing the inspection height, solving the problem of roadway blockage, and facilitating maintenance when the track malfunctions.
[0022] In some embodiments, the lifting module includes a first fork arm assembly and a second fork arm assembly disposed opposite to each other; a first connecting arm and a second connecting arm are disposed between the first fork arm assembly and the second fork arm assembly.
[0023] The first connecting arm is positioned close to the lifting lower frame, and its two ends are respectively fixedly connected to the outer fork arm of the first fork arm assembly and the outer fork arm of the second connecting arm;
[0024] The second connecting arm is positioned near the midpoint, and its two ends are fixedly connected to the inner fork arm of the first fork arm assembly and the inner fork arm of the second connecting arm, respectively.
[0025] In some embodiments, the driving mechanism is an electric push rod; the telescopic end of the electric push rod is hinged to the second connecting arm, and the base end of the electric push rod is hinged to the first connecting arm.
[0026] In some embodiments, the pivot extends from the pivot point of one set of wishbone assemblies to the pivot point of another set of wishbone assemblies to support the pivot connection of the outer and inner wishbone arms.
[0027] In some embodiments, the width of the lifting frame is one-third to two-thirds of the distance between the inner sides of the tracks on both sides of the chassis.
[0028] In some embodiments, the maximum lifting height of the lifting module is greater than the height of the track.
[0029] In some embodiments, the track module includes:
[0030] Track wheel mounting brackets are located on both sides of the chassis;
[0031] Track wheels are located on both sides of the chassis and mounted on the track wheel mounting bracket;
[0032] Tracks, tensioned on two spaced-ahead track wheels on the same side of the chassis;
[0033] A drive motor is used to drive the track wheels.
[0034] In some embodiments, the distance between the inspection module and the track wheel mounting frame on the side facing the track wheel mounting frame is L1, and the width of the track is L2;
[0035] Where L2 < L1.
[0036] In some embodiments, the caster is provided with a caster brake.
[0037] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description
[0038] Figure 1 This is a structural schematic diagram of one embodiment of the tracked inspection robot of this utility model.
[0039] Figure 2 yes Figure 1 Another structural diagram;
[0040] Figure 3 This is a structural diagram of the tracked inspection robot in the raised state;
[0041] Figure 4 This is a structural schematic diagram of one embodiment of the lifting module of this utility model;
[0042] Figure 5 yes Figure 4 Another structural diagram;
[0043] Figure 6 This is a schematic diagram of two tracked inspection robots meeting in the same alleyway.
[0044] Figure 7 yes Figure 6 A schematic diagram from another angle.
[0045] Explanation of reference numerals in the attached figures
[0046] 1 Track module; 2 Inspection module; 3 Lifting module; 31 Lifting upper frame; 32 Lifting lower frame; 33 Outer fork arm; 34 Inner fork arm; 35 Electric push rod; 36 Casters. Detailed Implementation
[0047] The specific embodiments of this utility model are described in detail below. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.
[0048] In this utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the orientation in the assembled and used state. "Inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself.
[0049] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0050] This utility model provides a tracked inspection robot, such as Figures 1-3 As shown, the tracked inspection robot includes a chassis, track module 1, and lifting module 3.
[0051] Track module 1 is mounted on the chassis and is used to lift the chassis and drive it to move. Track module 1 and the chassis together constrain and form an installation space located below the chassis. In one optional embodiment, track module 1 includes track wheel mounting brackets, track wheels, tracks, and a drive motor. Track wheel mounting brackets are located on both sides of the chassis. Track wheels are located on both sides of the chassis and mounted on track wheel mounting brackets. The tracks are tensioned on two track wheels spaced apart on the same side of the chassis. The drive motor drives the track wheels.
[0052] The lifting module 3 is positioned within the mounting space beneath the chassis. This mounting space defines the width and length of the lifting module 3. The lifting module 3 is used to lift the chassis and track module 1. Figure 4 and Figure 5 As shown, the lifting module 3 specifically includes an upper lifting frame 31, a lower lifting frame 32, at least one set of fork arm assemblies, a drive mechanism, and casters 36. The upper lifting frame 31 is fixedly connected to the chassis. The lower lifting frame 32 is located below the upper lifting frame 31. The fork arm assembly is formed by an outer fork arm 33 and an inner fork arm 34 pivotally connected at the midpoint of the outer fork arm 33 and the inner fork arm 34. One end of the outer fork arm 33 is hinged to the upper lifting frame 31, and the other end is slidably hinged to a first track formed on the lower lifting frame 32. One end of the inner fork arm 34 is hinged to the lower lifting frame 32, and the other end is slidably hinged to a second track formed on the upper lifting frame 31.
[0053] When the robot's operating height is limited, the chassis can be raised using the lifting module 3 to increase the robot's height; specifically, this increases the height of the inspection module 2. This allows for inspection needs at different height levels. The configuration of the inspection module 1 depends on actual requirements and can include one or more detection devices such as cameras, LiDAR, and infrared sensors.
[0054] When a robot malfunctions, such as a detached or broken track, or performance degradation due to wear, it may become restricted in its movement or even lose its ability to move completely. It may also become stuck in a passageway, affecting the task execution of other robots. In this situation, the robot can be lifted by the lifting module 3 and moved out of the task execution area to the maintenance area for repair.
[0055] In one optional embodiment, the lifting module 3 can be remotely controlled by setting a controller, a signal transmitter, and a signal receiver to remotely control the drive mechanism and control the lifting module 3 to rise and fall.
[0056] In existing technologies, the tracks of tracked inspection robots are generally higher than the chassis, and the inspection module 2 is located on the upper surface of the chassis, thus creating a depression between the chassis and the tracks. In the technical solution of this utility model, the height of the inspection module 2 is higher than the tracks.
[0057] In one optional embodiment of this utility model, the track wheel mounting frame is higher than the chassis. The distance between the inspection module 2 facing the track wheel mounting frame and the track wheel mounting frame is L1, and the width of the track is L2, where L2 < L1. That is, the width of the depression formed between the chassis and the track wheel mounting frame is greater than the width of the track, i.e., the depression is large enough to accommodate the track.
[0058] The reason for this design is to reduce the height the robot can be raised. For example... Figure 7 As shown, taking the meeting of Robot 1 and Robot 2 as an example, when they meet, the tracks of Robot 1 are raised to be higher than the chassis of Robot 2 and face the depression formed between the chassis of Robot 1 and the track wheel mounting frame, which can achieve the meeting of the two robots.
[0059] In some embodiments, such as Figure 3 and Figure 4 As shown, the first and second tracks are formed as grooves extending along the length of the lower lifting frame 32 and the upper lifting frame 31, respectively. A first cylindrical slider is provided at the end of the outer fork arm 33 connected to the first track, and the first cylindrical slider is slidably hinged to the first track. A second cylindrical slider is provided at the end of the inner fork arm 34 connected to the second track, and the second cylindrical slider is slidably hinged to the second track. With the above configuration, the cylindrical slider can move along the track and rotate within the track, thereby enabling the fork arm assembly to unfold and retract.
[0060] Furthermore, the lifting module 3 includes a first fork arm assembly and a second fork arm assembly disposed opposite to each other. A first connecting arm and a second connecting arm are disposed between the first fork arm assembly and the second fork arm assembly. The first connecting arm is disposed near the lifting lower frame 32, and its two ends are fixedly connected to the outer fork arm 33 of the first fork arm assembly and the outer fork arm 33 of the second connecting arm, respectively. The second connecting arm is disposed near the midpoint of the inner and outer fork arms, and its two ends are fixedly connected to the inner fork arm 34 of the first fork arm assembly and the inner fork arm 34 of the second connecting arm, respectively.
[0061] The first and second connecting arms serve two purposes: firstly, to provide mounting positions and drive points for the drive mechanism; and secondly, to increase the stability of the first and second fork arm assemblies.
[0062] The drive mechanism is used to extend or retract the fork arm assembly to achieve vertical displacement of the lower lifting frame 32 relative to the upper lifting frame 31. The drive mechanism can be an electric actuator, cylinder, or other similar mechanism. It should be noted that retracting the fork arm assembly means the chassis lowers, and extending the fork arm assembly means the chassis rises.
[0063] In one optional embodiment, the drive mechanism is an electric actuator 35. The telescopic end of the electric actuator 35 is hinged to the second connecting arm, and the base end of the electric actuator 35 is hinged to the first connecting arm. Further, the telescopic end of the electric actuator 35 is hinged at the midpoint of the hinge of the second connecting arm, and the base end of the electric actuator 35 is hinged at the midpoint of the first connecting arm.
[0064] Casters 36 are located at the bottom of the lifting frame 32. When the robot is moving on tracks, casters 36 are not in contact with the ground. Therefore, when the fork arm assembly is in its fully retracted state, casters 36 are suspended in the air, i.e., not in contact with the ground. Furthermore, casters 36 are equipped with caster brakes.
[0065] A pivot extends from the pivot point of one set of wishbone assemblies to the pivot point of another set of wishbone assemblies to support the pivotal connection of the outer wishbone 33 and the inner wishbone 34. That is, the two sets of wishbone assemblies share a single pivot.
[0066] More specifically, the outer fork arm 33 and inner fork arm 34 of any set of fork arm assemblies intersect to form an intersection node, and the intersection node is located at the midpoint of the outer fork arm 33 and inner fork arm 34. A pivot hole is provided at the midpoint of both the outer fork arm 33 and inner fork arm 34, and the pivot holes on the outer fork arm 33 and inner fork arm 34 are coaxial. A pivot is inserted into the pivot hole and has a clearance fit with the pivot hole. The pivot extends from the pivot hole of one set of fork arm assemblies to the pivot hole of another set of fork arm assemblies.
[0067] Sharing a single pivot ensures the synchronization of the two sets of forklift assemblies during pivoting motion and also improves the stability between the two sets of forklift assemblies.
[0068] In warehouse aisles, the width of the aisle directly affects the warehouse's utilization rate. Generally, the aisle width is only slightly wider than the minimum turning diameter of the tracked robot. When the tracked robot rotates in place, if two robots accidentally move towards each other in the aisle due to a control program error, the robots cannot resolve the situation without human intervention. Therefore, in the technical solution of this utility model, the width of the lifting frame 32 is set to one-third to two-thirds of the distance between the inner sides of the tracks on both sides of the chassis. Further, the width of the lifting frame 32 is one-third to one-half of the distance between the inner sides of the tracks on both sides of the chassis.
[0069] Thus, as Figure 6 As shown, when Robot 1 and Robot 2 travel towards each other in the same alleyway, Robot 2 can use the lifting module 3 to raise its chassis and track module 1 above Robot 1. Of course, the maximum lifting height of the lifting module 3 must be greater than the height of the track. Since the width of the lifting frame 32 is relatively narrow, this expands the passage width of Robot 1, allowing it to pass smoothly.
[0070] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.
[0071] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.
[0072] Furthermore, various different embodiments of this utility model can be combined in any way, as long as they do not violate the spirit of this utility model, they should also be regarded as the content disclosed by this utility model.
Claims
1. A tracked inspection robot, characterized in that, The tracked inspection robot includes: Chassis; Track module (1) is used to lift and drive the chassis to move, and together with the chassis, it constrains and forms an installation space located below the chassis; Inspection module (2) is installed on the upper end face of the chassis; A lifting module (3) is disposed in the installation space below the chassis; the lifting module (3) includes: The upper frame (31) is raised and fixedly connected to the chassis; The lower shelf (32) is raised and located below the upper shelf (31); At least one set of fork arm assemblies, the fork arm assembly being formed by an outer fork arm (33) and an inner fork arm (34) rotatably connected at the midpoint by a pivot; one end of the outer fork arm (33) is hinged to the upper lifting frame (31), and the other end is slidably hinged to a first track formed on the lower lifting frame (32); one end of the inner fork arm (34) is hinged to the lower lifting frame (32), and the other end is slidably hinged to a second track formed on the upper lifting frame (31); A drive mechanism is used to drive the fork arm assembly to extend or retract, so as to achieve vertical displacement of the lower lifting frame (32) relative to the upper lifting frame (31); Casters (36) are provided at the bottom of the lifting lower frame (32); when the fork arm assembly is in the ultimate retracted state, the casters (36) are suspended in the air.
2. The tracked inspection robot according to claim 1, characterized in that, The first track and the second track are formed as chutes extending along the length direction of the lower lifting frame (32) and the upper lifting frame (31), respectively; The outer fork arm (33) is connected to the first track at one end and is provided with a first cylindrical slider, which is slidably hinged to the first track. The inner fork arm (34) is provided with a second cylindrical slider at one end connected to the second track, and the second cylindrical slider is slidably hinged to the second track.
3. The tracked inspection robot according to claim 1, characterized in that, The lifting module (3) includes a first fork arm assembly and a second fork arm assembly arranged opposite to each other; a first connecting arm and a second connecting arm are provided between the first fork arm assembly and the second fork arm assembly. The first connecting arm is located near the lifting lower frame (32), and its two ends are fixedly connected to the outer fork arm (33) of the first fork arm assembly and the outer fork arm (33) of the second connecting arm, respectively; The second connecting arm is located near the midpoint, and its two ends are fixedly connected to the inner fork arm (34) of the first fork arm assembly and the inner fork arm (34) of the second connecting arm, respectively.
4. The tracked inspection robot according to claim 3, characterized in that, The driving mechanism is an electric push rod (35); the telescopic end of the electric push rod (35) is hinged to the second connecting arm, and the base end of the electric push rod (35) is hinged to the first connecting arm.
5. The tracked inspection robot according to claim 1, characterized in that, The pivot extends from the pivot point of one set of fork arm assemblies to the pivot point of another set of fork arm assemblies to support the pivotal connection of the outer fork arm (33) and the inner fork arm (34).
6. The tracked inspection robot according to claim 1, characterized in that, The width of the lifting frame (32) is one-third to two-thirds of the distance between the inner sides of the tracks on both sides of the chassis.
7. The tracked inspection robot according to claim 1, characterized in that, The maximum lifting height of the lifting module (3) is greater than the height of the track.
8. The tracked inspection robot according to claim 1, characterized in that, The track module (1) includes: Track wheel mounting brackets are located on both sides of the chassis; Track wheels are located on both sides of the chassis and mounted on the track wheel mounting bracket; Tracks, tensioned on two spaced-ahead track wheels on the same side of the chassis; A drive motor is used to drive the track wheels.
9. The tracked inspection robot according to claim 8, characterized in that, The distance between the inspection module (2) facing the track wheel mounting frame and the track wheel mounting frame is L1, and the width of the track is L2; Where L2 < L1.
10. The tracked inspection robot according to claim 1, characterized in that, The caster (36) is equipped with a caster brake.