A tracked chassis-based inspection robot

Abstract

This utility model relates to the field of inspection robot technology, and discloses an inspection robot based on a tracked chassis. It includes a vehicle body, a visual positioning and navigation system fixedly connected to the top of the vehicle body, an environmental monitoring module mounted on the top of the vehicle body, a safety laser detection system mounted on the bottom of the vehicle body, a moving component mounted on the bottom of the vehicle body, and a lifting component mounted on the top of the vehicle body. The moving component includes two tracked chassis, the outer walls of which are located on both sides of the vehicle body, and drive wheels are rotatably connected to both sides of the vehicle body. This utility model includes a body and a multi-stage linkage lifting mechanism, achieving height adaptation through motors, lead screws, and pulley systems. It is equipped with an image acquisition module with supplementary lighting, infrared and visual cameras, a tracked chassis adapting to complex road surfaces, differential steering, and safety laser detection, visual positioning and navigation, and environmental monitoring modules. This solves the problem of difficult detection at different heights in complex environments, improving the adaptability, stability, and safety of inspections.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to an inspection robot based on a tracked chassis. Background Technology

[0002] In industrial production and facility operation and maintenance scenarios, efficient and accurate inspection of specific areas is a key aspect of ensuring stable system operation. Complex environments require equipment that can adapt to diverse road conditions and inspect targets at different heights. Tracked chassis-based inspection robots have thus become a research and application hotspot, aiming to meet inspection needs in complex scenarios and improve operational efficiency and safety through rational structural design and functional integration.

[0003] Most existing inspection robots adopt a wheeled chassis structure, relying on the contact between the wheel system and the ground to move. They use simple lifting rods or single-stage lifting structures to carry the detection module. The technical principle is mainly to change the direction of movement by rotating the wheel system in conjunction with the steering mechanism, and to adjust the height of the detection module by using the linear motion of the lifting rod. They use equipment such as vision cameras to collect environmental images and monitoring data, and plan paths and execute inspection tasks based on preset programs or simple environmental recognition algorithms. In relatively flat environments with simple detection heights, they can basically complete basic inspection work.

[0004] However, wheeled chassis are prone to slipping, jamming, or even becoming impassable on complex road surfaces, making it difficult to reliably reach inspection points. Furthermore, single-stage or simple lifting structures cannot flexibly adapt to different height inspection needs, failing to provide comprehensive coverage for multi-layered facilities and targets at varying heights, resulting in missed inspections in some areas. This makes it difficult to meet the requirements for comprehensiveness and adaptability in complex environments, significantly limiting the efficiency of inspection work. The tracked chassis and multi-stage linkage lifting mechanism of this invention solve the problems of movement and height-sensitive inspection in complex environments, improving the adaptability and stability of inspections. Therefore, a tracked chassis-based inspection robot is proposed to address these issues. Summary of the Invention

[0005] To overcome the above shortcomings, this utility model provides an inspection robot based on a tracked chassis, which aims to improve the problem of difficult detection at different heights in complex environments in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A tracked chassis-based inspection robot includes a vehicle body, a visual positioning and navigation system fixedly connected to the top of the vehicle body, an environmental monitoring module installed on the top of the vehicle body, a safety laser detection system installed on the bottom of the vehicle body, a moving component installed on the bottom of the vehicle body, and a lifting component installed on the top of the vehicle body.

[0008] The mobile assembly includes two tracked chassis, with the outer walls of both tracked chassis disposed on both sides of the vehicle body. Drive wheels are rotatably connected to both sides of the vehicle body, and the drive wheels mesh with toothed blocks on the inner wall of the tracked chassis. Shock-absorbing springs are rotatably connected to both sides of the vehicle body, with a shock-absorbing wheel rotatably connected to the other end of each shock-absorbing spring. The outer wall of the shock-absorbing wheel is rotatably connected to the outer side of the vehicle body. Guide wheels are rotatably connected to both sides of the vehicle body, and load-bearing wheels are rotatably connected to both sides of the vehicle body. Both the guide wheels and the load-bearing wheels are disposed on the inner wall of the tracked chassis.

[0009] As a further description of the above technical solution:

[0010] The lifting assembly includes a motor and a lifting screw. The bottom of the motor is fixedly connected to the inside of the vehicle body, and the output end of the motor is fixedly connected to the bottom end of the lifting screw.

[0011] As a further description of the above technical solution:

[0012] The top of the lifting screw is rotatably connected to the inside of the vehicle body, and a drive block is threadedly connected to the outer wall of the lifting screw.

[0013] As a further description of the above technical solution:

[0014] The vehicle body is slidably connected to a lifting mechanism, which includes a first-stage lifting mechanism, a second-stage lifting mechanism, a third-stage lifting mechanism, and a fourth-stage lifting mechanism, which are arranged in a linear array.

[0015] As a further description of the above technical solution:

[0016] The lifting mechanism is rotatably connected to pulley blocks on its outer side, and the vehicle body is rotatably connected to pulley blocks inside.

[0017] As a further description of the above technical solution:

[0018] The first-stage lifting mechanism is fixedly connected to the outer wall of the drive block, and multiple camera components are fixedly connected to the outside of the lifting mechanism.

[0019] As a further description of the above technical solution:

[0020] Each of the aforementioned camera components includes a camera adjustment module, an infrared camera, and a viewing angle camera. The outer walls of the camera adjustment module, the infrared camera, and the viewing angle camera are all fixedly connected to the outer wall of the lifting component. A supplementary light is fixedly connected to the outer wall of the lifting component.

[0021] This utility model has the following beneficial effects:

[0022] This utility model includes a body and a multi-stage linkage lifting mechanism, which achieves height adaptation through a motor, lead screw, and pulley block. It is equipped with an image acquisition module with supplementary lighting, infrared and vision cameras, a tracked chassis to adapt to complex road surfaces, differential steering, as well as safety laser detection, visual positioning and navigation, and environmental monitoring modules, which solve the problem of difficult detection at different heights in complex environments and improve the adaptability, stability and safety of inspection. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of an inspection robot based on a tracked chassis proposed in this utility model;

[0024] Figure 2 This is a schematic diagram of the tracked chassis of an inspection robot based on a tracked chassis proposed in this utility model;

[0025] Figure 3 This is a schematic diagram of the lead screw structure of a tracked chassis inspection robot proposed in this utility model.

[0026] Legend:

[0027] 1. Vehicle body; 2. Visual positioning and navigation; 3. Environmental monitoring module; 4. Supplemental lighting; 5. Safety laser detection; 6. Tracked chassis; 7. Camera adjustment module; 8. Infrared camera; 9. View camera; 10. Drive wheel; 11. Shock-absorbing spring; 12. Shock-absorbing wheel; 13. Load-bearing wheel; 14. Guide wheel; 15. First-stage lifting; 16. Second-stage lifting; 17. Pulley block; 18. Third-stage lifting; 19. Fourth-stage lifting; 20. Lifting screw; 21. Drive block; 22. Motor. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Reference Figures 1-3This utility model provides an embodiment of an inspection robot based on a tracked chassis, including a vehicle body 1. The vehicle body 1 serves as the main load-bearing structure of the robot, made of high-strength alloy material, providing a mounting base for various functional components. A visual positioning navigation system 2 is fixedly connected to the top of the vehicle body 1 by bolts. It integrates a high-precision image recognition chip and positioning algorithm, capable of recognizing information such as QR codes and landmarks in the environment, planning the robot's path, and calibrating its position in real time. For example, during inspections in large industrial parks, it can accurately identify pre-set navigation markers in the factory area, guiding the robot to move along a predetermined inspection route, ensuring the orderly conduct of inspection operations. An environmental monitoring module 3 is installed on the top of the vehicle body 1, transmitting temperature data... The system integrates multiple types of sensors, including sensors for carbon dioxide and humidity, to collect data such as temperature and gas concentration in the surrounding environment in real time, providing feedback on environmental quality and providing a basis for subsequent analysis and decision-making. For example, during inspections in chemical workshops, it can promptly detect situations such as harmful gas leaks and abnormal temperature increases. The bottom of the vehicle body 1 is equipped with a safety laser detector 5, whose detection range covers a 220° area in front of the robot. The internal laser emission and reception components work continuously. When an obstacle or person is detected entering a dangerous distance, an electrical signal is immediately sent to the robot control system to control the movement component to brake, avoiding collision accidents and effectively ensuring human and machine safety. The bottom of the vehicle body 1 is equipped with a movement component, and the top of the vehicle body 1 is equipped with a lifting component.

[0030] The mobile assembly includes two tracked chassis 6, with the outer walls of both chassis 6 located on both sides of the vehicle body 1, providing the robot with the ability to move across complex terrain. Drive wheels 10 are rotatably connected to both sides of the vehicle body 1. The toothed blocks on the outer walls of the drive wheels 10 mesh with the toothed blocks on the inner walls of the tracked chassis 6. Utilizing the friction between the tracks and the ground, the robot moves as a whole, much like tracked construction machinery. It can move stably on complex surfaces such as oily or uneven ground in factories, or on outdoor surfaces with ditches or gravel. The drive wheels 10 mesh with the toothed blocks on the inner walls of the tracked chassis 6. The two sides of the vehicle body 1 are rotatably connected to shock-absorbing springs 11, and the other end of the shock-absorbing springs 11 is rotatably connected to shock-absorbing wheels 12. The outer wall of the shock-absorbing wheels 12 is rotatably connected to the outside of the vehicle body 1. When the robot travels on a bumpy road, the shock-absorbing springs 11 are compressed and extended, and in conjunction with the rolling of the shock-absorbing wheels 12, the impact of the road is buffered, ensuring the stability of the vehicle body 1 and the components above it. The two sides of the vehicle body 1 are rotatably connected to guide wheels 14, and the two sides of the vehicle body 1 are rotatably connected to load-bearing wheels 13. The guide wheels 14 and the load-bearing wheels 13 are both set on the inner wall of the tracked chassis 6.

[0031] The lifting assembly includes a motor 22 and a lifting screw 20. The bottom of the motor 22 is fixedly connected to the inside of the vehicle body 1, and the output end of the motor 22 is fixedly connected to the bottom of the lifting screw 20. The top of the lifting screw 20 is rotatably connected to the inside of the vehicle body 1. A drive block 21 is threadedly connected to the outer wall of the lifting screw 20. The drive block 21 is made of wear-resistant alloy material, and its internal thread is precisely matched with the external thread of the lifting screw 20. A lifting mechanism is slidably connected inside the vehicle body 1. The lifting mechanism includes a first-stage lifting 15, a second-stage lifting 16, a third-stage lifting 18, and a fourth-stage lifting 19. The first-stage lifting 15, the second-stage lifting 16, the third-stage lifting 18, and the fourth-stage lifting 19 are arranged in a linear array.

[0032] The outer side of the lifting mechanism is rotatably connected to pulley blocks 17. The pulley blocks 17 are made of high-strength nylon or alloy pulleys, and are equipped with steel wire ropes or special cables, which have the characteristics of high strength and wear resistance. The pulley blocks 17 are rotatably connected inside the vehicle body 1. The outer side of the first-stage lifting 15 is fixedly connected to the outer wall of the drive block 21. Multiple camera components are fixedly connected to the outside of the lifting mechanism. The multiple camera components include a camera adjustment module 7, an infrared camera 8 and a viewing angle camera 9. The outer walls of the camera adjustment module 7, the infrared camera 8 and the viewing angle camera 9 are all fixedly connected to the outer wall of the lifting component. The outer wall of the lifting component is fixedly connected to a supplementary light 4.

[0033] Working Principle: When this inspection robot based on a tracked chassis 6 is working, its bottom tracked chassis 6 serves as the basis for movement. The drive wheels 10 rotate, and the robot moves forward using the friction between the tracks and the ground. The load-bearing wheels 13 bear the weight of the robot body, the shock-absorbing wheels 12 and shock-absorbing springs 11 buffer the impact of the road surface, and the guide wheels 14 ensure the track running trajectory, enabling the robot to adapt to complex terrains, such as factory ditches and outdoor gravel roads, and move stably and overcome obstacles. At the same time, the visual positioning and navigation 2 plays a role in movement. By recognizing environmental QR codes and other markings, combined with preset programs, it plans and calibrates the robot's movement path to ensure that it inspects along the designated track. For example, in the inspection route of a large factory area, it accurately reaches each inspection point. In addition, the environmental monitoring module 3 collects environmental data such as temperature and carbon dioxide concentration in real time, and the safety laser detection 5 covers... The system covers the area in front and detects obstacles or personnel entering a dangerous distance. It immediately sends a signal to stop the tracked chassis 6 to avoid collisions and ensure operational safety. When conducting inspections at different heights, the motor 22 can be started. The motor 22 drives the lifting screw 20 to rotate, thereby driving the drive block 21 to lift. This drives the first-level lifting 15, the second-level lifting 16, the third-level lifting 18, and the fourth-level lifting 19. Through the pulley block 17, multi-level lifting is achieved. The image acquisition components of the camera adjustment module 7, infrared camera 8, and viewing angle camera 9 corresponding to different lifting modules are raised and lowered accordingly. With the assistance of the supplementary light 4, images and temperature information at different heights can be clearly collected even in dim environments, completing a comprehensive inspection. This solves the problem of inspection adaptation and coverage in complex environments, improving the stability, safety, and comprehensiveness of the inspection.

Claims

1. A tracked chassis-based inspection robot, comprising a vehicle body (1), characterized in that: The top of the vehicle body (1) is fixedly connected to a visual positioning navigation (2), the top of the vehicle body (1) is equipped with an environmental monitoring module (3), the bottom of the vehicle body (1) is equipped with a safety laser detection (5), the bottom of the vehicle body (1) is equipped with a moving component, and the top of the vehicle body (1) is equipped with a lifting component. The mobile assembly includes two tracked chassis (6), the outer walls of the two tracked chassis (6) are provided on both sides of the vehicle body (1), and drive wheels (10) are rotatably connected to both sides of the vehicle body (1). The drive wheels (10) mesh with the toothed blocks on the inner wall of the tracked chassis (6). Shock-absorbing springs (11) are rotatably connected to both sides of the vehicle body (1). Shock-absorbing wheels (12) are rotatably connected to the other end of the shock-absorbing springs (11). The outer wall of the shock-absorbing wheels (12) is rotatably connected to the outside of the vehicle body (1). Guide wheels (14) are rotatably connected to both sides of the vehicle body (1). Load-bearing wheels (13) are rotatably connected to both sides of the vehicle body (1). The guide wheels (14) and the load-bearing wheels (13) are both provided on the inner wall of the tracked chassis (6).

2. The inspection robot based on a tracked chassis according to claim 1, characterized in that: The lifting assembly includes a motor (22) and a lifting screw (20). The bottom of the motor (22) is fixedly connected to the inside of the vehicle body (1), and the output end of the motor (22) is fixedly connected to the bottom end of the lifting screw (20).

3. The inspection robot based on a tracked chassis according to claim 2, characterized in that: The top of the lifting screw (20) is rotatably connected inside the vehicle body (1), and a drive block (21) is threadedly connected to the outer wall of the lifting screw (20).

4. The inspection robot based on a tracked chassis according to claim 1, characterized in that: The vehicle body (1) is slidably connected to a lifting mechanism, which includes a first-stage lifting mechanism (15), a second-stage lifting mechanism (16), a third-stage lifting mechanism (18), and a fourth-stage lifting mechanism (19). The first-stage lifting mechanism (15), the second-stage lifting mechanism (16), the third-stage lifting mechanism (18), and the fourth-stage lifting mechanism (19) are arranged in a linear array.

5. The inspection robot based on a tracked chassis according to claim 4, characterized in that: The lifting mechanism is rotatably connected to pulley groups (17) on the outside, and the vehicle body (1) is rotatably connected to pulley groups (17).

6. The inspection robot based on a tracked chassis according to claim 5, characterized in that: The first-stage lifting mechanism (15) is fixedly connected to the outer wall of the drive block (21), and multiple camera components are fixedly connected to the outside of the lifting mechanism.

7. The inspection robot based on a tracked chassis according to claim 6, characterized in that: Each of the multiple camera components includes a camera adjustment module (7), an infrared camera (8), and a viewing angle camera (9). The outer walls of the camera adjustment module (7), the infrared camera (8), and the viewing angle camera (9) are all fixedly connected to the outer wall of the lifting component. A supplementary light (4) is fixedly connected to the outer wall of the lifting component.

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