An inspection robot

Abstract

The utility model provides a kind of inspection robot, and inspection robot includes: fuselage, tracked mobile chassis, threading component, information acquisition component, controller, power component and navigation module;Tracked mobile chassis includes two tracks, and two tracks are arranged in the both sides of fuselage, and with fuselage movably connected;Threading component and information acquisition component are respectively arranged in the both ends of fuselage, and threading component is fixedly connected with fuselage, and information acquisition component includes infrared camera, and infrared camera is movably connected with fuselage;Controller, power component, navigation module are respectively fixedly connected with fuselage;Tracked mobile chassis, information acquisition component, threading component, navigation module are respectively electrically connected with controller;Tracked mobile chassis, information acquisition component, threading component, navigation module are respectively electrically connected with power component.Inspection robot has the moving ability of adapting complex environment and the work ability of efficient cooperation, and can satisfy the automatic inspection demand under various scenes.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and specifically relates to an inspection robot. Background Technology

[0002] Traditional wheeled inspection equipment often slips or gets stuck in rugged, muddy, or uneven environments due to the complex terrain, forcing inspections to be interrupted and demonstrating a significant lack of terrain adaptability. Meanwhile, fixed-position monitoring equipment has blind spots, and manual inspections struggle to cover high-risk, confined, or distant areas. Furthermore, traditional cameras can only collect visible light information and cannot identify internal faults such as overheating or electrical leakage, limiting the inspection range and resulting in incomplete information collection. In addition, when establishing or maintaining inspection areas, separate cabling is often required, such as for sensor lines and communication lines. Manual cabling is not only inefficient but also easily affected by environmental conditions. Utility Model Content

[0003] This utility model provides an inspection robot to solve the problem of insufficient adaptability of inspection robots in complex terrain.

[0004] To solve the above-mentioned technical problems, this utility model is implemented as follows:

[0005] This application provides an inspection robot, which includes: a body, a tracked mobile chassis, a wire threading assembly, an information acquisition assembly, a controller, a power supply assembly, and a navigation module;

[0006] The tracked mobile chassis includes two tracks, which are disposed on both sides of the chassis and are movably connected to the chassis.

[0007] The threading assembly and the information acquisition assembly are respectively disposed at both ends of the body. The threading assembly is fixedly connected to the body. The information acquisition assembly includes an infrared camera, which is movably connected to the body.

[0008] The controller, the power supply assembly, and the navigation module are respectively fixedly connected to the fuselage;

[0009] The tracked mobile chassis, the information acquisition component, the wiring component, and the navigation module are all electrically connected to the controller.

[0010] The tracked mobile chassis, the information acquisition component, the wiring component, and the navigation module are all electrically connected to the power supply component.

[0011] Optionally, each track includes at least four independent rubber rollers arranged in an alternating pattern, and each rubber roller includes a drive motor and a reduction mechanism;

[0012] The output shaft of the drive motor is rigidly connected to the input end of the reduction mechanism via a coupling, and the output shaft of the reduction mechanism is fixed to the wheel axle of the rubber roller;

[0013] The reduction mechanism uses a 30:1 gear reducer.

[0014] Optionally, the tracked mobile chassis further includes a negative pressure adsorption component, which is movably connected to the chassis.

[0015] Optionally, the information acquisition component further includes a first bracket and a second bracket, and the device body is provided with a storage slot;

[0016] The infrared camera is fixedly connected to the first bracket, and the first bracket and the second bracket are movably connected; the second bracket is movably connected to the body.

[0017] The length of the first bracket is less than the length of the second bracket, and the width of the first bracket is less than the width of the second bracket;

[0018] The length of the storage slot along the first direction is not less than the height of the second bracket along the third direction, and the width of the storage slot along the second direction is not less than the width of the second bracket along the second direction.

[0019] Optionally, the information acquisition component further includes a gas sensor and a temperature sensor;

[0020] The gas sensor and the temperature sensor are respectively fixedly connected to the second bracket;

[0021] The gas sensor and the temperature sensor are electrically connected to the controller, respectively.

[0022] Optionally, the threading assembly includes: an adjustable cable clip and a tension buffer device;

[0023] The adjustable cable clip is fixedly connected to the machine body, and the tension buffer device is fixedly connected to the adjustable cable clip.

[0024] Optionally, the threading assembly further includes an anti-loosening locking mechanism;

[0025] The anti-loosening locking mechanism is movably connected to the adjustable cable buckle.

[0026] Optionally, the power supply component includes: a lithium battery pack and a BMS chip;

[0027] The lithium battery pack is disposed between the wiring assembly and the information acquisition assembly, and is fixedly connected to the body.

[0028] The BMS chip is disposed inside the protective casing of the lithium battery pack, and the BMS chip is electrically connected to the lithium battery pack.

[0029] Optionally, the navigation module is a SLAM navigation module.

[0030] Optionally, the inspection robot also includes a cooling fan, which is fixedly connected to the body.

[0031] In this embodiment, the inspection robot uses a tracked chassis combined with a navigation module to ensure stable movement in complex terrain and autonomous obstacle avoidance and path optimization, significantly expanding the inspection range and reducing blind spots; the infrared camera can collect the surrounding environment in real time, and the movable connection design can cover multiple angles, improving the comprehensiveness of information collection; the cable laying component completes the cable laying synchronously with the robot's movement, and the controller coordinates all actions to realize the integration of inspection and cabling, improving collaborative efficiency; all components are uniformly scheduled by the controller and work with the navigation module to achieve autonomous inspection, reducing human error; the power supply component provides centralized power supply and the controller dynamically allocates energy consumption, extending the battery life. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0033] Figure 1 This is a schematic diagram of an inspection robot provided in an embodiment of this application;

[0034] Figure 2 yes Figure 1 Side view of the inspection robot;

[0035] Figure 3 yes Figure 1 A top view of the inspection robot.

[0036] Figure label:

[0037] 10. Body; 20. Tracked mobile chassis; 201. Track; 2011. Rubber rollers; 30. Wiring assembly; 40. Information acquisition assembly; 401. Infrared camera; 402. First bracket; 403. Second bracket; 50. Controller; 60. Power supply assembly; 70. Navigation module; 80. Cooling fan; X, First direction; Y, Second direction; Z, Third direction. Detailed Implementation

[0038] 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, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0039] The terms "first," "second," etc., used in the specification and claims of this utility model are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this utility model can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0040] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings, through specific examples and application scenarios.

[0041] This application provides an inspection robot, referring to... Figures 1 to 3 The inspection robot includes: a body 10, a tracked mobile chassis 20 (201 type), a wiring assembly 30, an information acquisition assembly 40, a controller 50, a power supply assembly 60, and a navigation module 70. The tracked mobile chassis 201 includes two tracks 201, which are located on both sides of the body 10 and are movably connected to the body 10. The wiring assembly 30 and the information acquisition assembly 40 are respectively located at both ends of the body 10. The wiring assembly 30 is fixedly connected to the body 10. The information acquisition assembly 40 includes an infrared camera 401, which is movably connected to the body 10. The controller 50, the power supply assembly 60, and the navigation module 70 are fixedly connected to the body 10. The tracked mobile chassis 201, the information acquisition assembly 40, the wiring assembly 30, and the navigation module 70 are electrically connected to the controller 50. The tracked mobile chassis 201, the information acquisition assembly 40, the wiring assembly 30, and the navigation module 70 are electrically connected to the power supply assembly 60.

[0042] The inspection robot provided in this application embodiment is suitable for complex environments such as industrial plants, outdoor facilities, and enclosed spaces. It is particularly capable of handling rugged terrain, low light, or potentially dangerous scenarios, and can inspect equipment, lines, pipelines, etc. When it is working, after the power supply component 60 supplies power, the controller 50 receives the preset task, the navigation module 70 plans the path and locates the position, and the tracked mobile chassis 20 drives the inspection robot to move autonomously to the target area. Upon arrival, the movably connected infrared camera 401 flexibly collects infrared images of the equipment, and the data is transmitted back to the controller 50 for analysis and fault identification. If auxiliary operations are required, the cable threading component 30 can complete operations such as cable threading.

[0043] Specifically, the body 10 is the basic framework of the entire inspection robot, used to support and connect all other components, providing structural support for the installation and fixation of each component, and ensuring the stability of the overall structure of the inspection robot.

[0044] The core component of the tracked 201 mobile chassis 20 is two tracks 201, which are installed on both sides of the chassis 10 and movably connected to the chassis 10. Compared with wheeled mobile structures, the tracked 201 design can better adapt to complex terrains, such as uneven ground, muddy sections, and steps, thereby improving the inspection robot's mobility and maneuverability.

[0045] The cable threading assembly 30 is located at one end of the machine body 10 and is fixedly connected to the machine body 10. It can be used to lay and thread cables during inspection, such as to assist in laying test cables during pipeline inspection or to organize the lines during the inspection of specific equipment.

[0046] The information acquisition component 40 mainly includes an infrared camera 401, which is movably connected to the body 10. The infrared camera 401 can operate in environments with insufficient light or obstruction, and generates images by detecting the infrared radiation of objects. It can be used to identify abnormal temperatures in equipment, discover hidden fault points, etc.

[0047] The controller 50 is electrically connected to the tracked mobile chassis 20, information acquisition component 40, wiring component 30, and navigation module 70. It receives information from each component and issues instructions according to preset programs or real-time data to coordinate the collaborative work of each component.

[0048] The power supply component 60 supplies power to all the above-mentioned electrical components, ensuring the normal operation of each component.

[0049] The navigation module 70 is fixedly connected to the body 10, which can provide the inspection robot with positioning and path planning functions, allowing the inspection robot to autonomously determine its location and plan its inspection route, avoiding getting lost or repeating inspections, and ensuring that the inspection work is carried out in an orderly manner.

[0050] Equipped with a tracked mobile chassis 20 and a navigation module 70, the inspection robot can autonomously move within its inspection area without human intervention. It can adapt to various complex terrains, such as uneven ground in factory workshops, rugged mountain roads, and narrow spaces within pipelines, expanding its inspection range. Through a movable infrared camera 401, the robot can flexibly adjust its shooting angle to collect images, temperature, and other information about the inspected object under various lighting and environmental conditions, promptly capturing abnormal equipment states. Compared to manual inspection, this reduces blind spots and improves the comprehensiveness and accuracy of information collection. The cable threading component 30 enables the robot to perform auxiliary cable-related construction or maintenance work, improving overall operational efficiency during inspection and reducing the need for human intervention. The controller 50 coordinates the control of all components, achieving seamless integration of movement, information collection, task execution, and navigation functions. This allows the robot to automatically complete inspection tasks according to a preset process, reducing labor costs and avoiding potential oversights and safety risks associated with manual inspection. The infrared camera 401, in conjunction with the power supply component 60, provides continuous power, enabling the inspection robot to operate 24 / 7 without being limited by day or night, weather, or other factors. This allows for timely detection and feedback of potential problems, improving the timeliness and reliability of inspections.

[0051] Optionally, refer to Figures 1 to 3 Each track 201 contains at least four independent rubber rollers 2011, which are arranged in an alternating pattern. Each rubber roller 2011 includes a drive motor and a reduction mechanism. The output shaft of the drive motor is rigidly connected to the input end of the reduction mechanism via a coupling. The output shaft of the reduction mechanism is fixed to the wheel axle of the rubber roller 2011. The reduction mechanism uses a 30:1 gear reducer.

[0052] The rubber material possesses good elasticity and friction, reducing hard impacts with the ground and improving driving stability. The staggered arrangement enhances the continuity of contact between the tracks 201 and the ground, reducing the risk of slippage, especially on uneven terrain where it provides better ground contact. The drive motor provides power to each rubber roller 2011, transmitting torque through its output shaft. The reduction mechanism is rigidly connected to the drive motor via a coupling, ensuring lossless power transmission and converting the high speed, low torque of the drive motor into low speed, high torque. A 30:1 reduction ratio means that for every 30 rotations of the motor output shaft, the reduction mechanism output shaft rotates once, significantly increasing the driving torque of the rubber roller 2011. The coupling connects the drive motor output shaft to the input end of the reduction mechanism, achieving rigid transmission between the two, ensuring the stability and accuracy of power transmission, and reducing energy loss during transmission. The wheel axle, fixed to the reduction mechanism output shaft, serves as the rotation axis of the rubber roller 2011, converting the torque transmitted by the reduction mechanism into the rotation of the rubber roller 2011, driving the track 201.

[0053] Each rubber roller 2011 is equipped with an independent drive motor and a 30:1 gear reducer. Through the reduction and torque amplification effect, it provides stronger driving torque to the track 201, enabling the inspection robot to carry heavier equipment. It also prevents stalling due to insufficient power in scenarios requiring high torque, such as muddy terrain or uphill climbing. At least four staggered rubber rollers 2011 allow the track 201 to better conform to complex terrain, reducing the probability of the track 201 being suspended or slipping, and improving its passability on rough and uneven surfaces. The elastic cushioning effect of the rubber material reduces vibration when the inspection robot travels on bumpy roads, protecting delicate components such as the controller 50 and navigation module 70 inside the body 10. Each roller is independently driven. The controller 50 can adjust the speed and direction of different rollers, such as differential speed between the rollers on both sides of the track 201, to achieve flexible turning and rotation in place for the inspection robot. This allows for more precise position adjustment, especially in narrow spaces such as pipes and alleys, meeting the needs of detailed inspections. The drive motor and the reduction mechanism are rigidly connected by a coupling, which reduces the backlash and loss in the power transmission process, ensures that the response speed of the track 201 is consistent with the command of the controller 50, and improves the controllability and reliability of the inspection robot's movement.

[0054] Optionally, the tracked mobile chassis 201 also includes a negative pressure adsorption component, which is movably connected to the chassis 10.

[0055] The negative pressure adsorption component is movably connected to the body 10. By using an air extraction device to reduce the air pressure between the component and the contact surface, the external atmospheric pressure creates pressure on the contact surface, thus firmly adsorbing the inspection robot onto the contact surface. This negative pressure adsorption component may include an adsorption plate, an air extraction unit, and an air pressure sensor, and its movable connection design allows it to adapt to changes in the curvature and tilt angle of the contact surface.

[0056] The negative pressure adsorption component allows the inspection robot to adhere stably to special surfaces such as vertical walls and inclined surfaces, overcoming the limitations of ground-based inspection and enabling three-dimensional inspection. For smooth, damp, or vibrating contact surfaces, negative pressure adsorption enhances the friction between the inspection robot and the surface, preventing falls or deviations due to slippage of the tracks 201. For example, when inspecting outdoor overhead pipelines in rainy weather, the adsorption force can counteract the lubrication effect caused by rainwater, ensuring the stability of the inspection robot during movement and data collection. Because the component is movably connected to the body 10, the adsorption angle can be flexibly adjusted according to the curvature of the contact surface, ensuring a tight fit.

[0057] In scenarios with high altitude and high risk of falling from height, the negative pressure adsorption component can provide additional safety redundancy. Even if the track 201 fails due to sudden situations such as track 201 breakage or power failure, the adsorption force can temporarily fix the inspection robot, reduce the risk of falling, and ensure equipment safety and the continuity of inspection tasks.

[0058] Optionally, refer to Figures 1 to 3 The information acquisition component 40 also includes a first bracket 402 and a second bracket 403. The body 10 is provided with a storage slot 101. The infrared camera 401 is fixedly connected to the first bracket 402, and the first bracket 402 and the second bracket 403 are movably connected. The second bracket 403 is movably connected to the body 10. The length of the first bracket 402 is less than the length of the second bracket 403, and the width of the first bracket 402 is less than the width of the second bracket 403. The length of the storage slot 101 along the first direction X is not less than the height of the second bracket 403 along the third direction Z, and the width of the storage slot 101 along the second direction Y is not less than the width of the second bracket 403 along the second direction Y.

[0059] The first bracket 402 is fixedly connected to the infrared camera 401 and is the direct structure supporting the infrared camera 401. Its length and width are both smaller than those of the second bracket 403. The second bracket 403 is movably connected to the body 10 and is longer and wider, providing more stable support for the first bracket and the infrared camera 401. The movable connection between the first bracket 402 and the second bracket 403 allows the entire information acquisition component 40 to be adjusted relative to the body 10, expanding the camera's shooting coverage.

[0060] Storage slot 101 is located on the body 10 and is a recessed structure for storing the first bracket 402, the second bracket 403, and the infrared camera 401. The length along the first direction X is not less than the height of the second bracket along the third direction Z, and the width along the second direction Y is not less than the width of the second bracket along the Y direction, ensuring that the first bracket 402, the second bracket 403, and the infrared camera 401 can be completely placed into the slot after folding, achieving compact storage.

[0061] When the inspection robot enters a narrow space, the infrared camera 401 can be stored in the storage slot 101 by folding the first bracket 402 and the second bracket 403, reducing the overall size of the robot body 10, avoiding collisions between the brackets and surrounding objects, and ensuring smooth passage through narrow passages. When inspecting open areas, the brackets can be unfolded to position the camera in the optimal shooting position.

[0062] Storage slot 101 provides dedicated storage space for the first bracket 402, the second bracket 403 and the infrared camera 401. When the inspection robot is moving, transporting or not working, the components can be folded and placed in the slot to prevent the infrared camera 401 and the bracket from being damaged by collision, friction or external environment. In particular, it protects the lens of the precision infrared camera 401.

[0063] Since the size of the first support 402 is smaller than that of the second support 403, it not only ensures the stability of the support, but also reduces the overall weight by using a lightweight sub-support. After storage, the components are embedded in the storage slot 101 of the body 10, which makes the center of gravity of the inspection robot more concentrated and reduces swaying during movement. Especially when the tracked chassis 201 travels on rough terrain, it can improve the overall balance performance.

[0064] Optionally, the information acquisition component 40 also includes a gas sensor and a temperature sensor; the gas sensor and the temperature sensor are respectively fixedly connected to the second bracket 403; the gas sensor and the temperature sensor are respectively electrically connected to the controller 50.

[0065] Gas sensors can detect leaked toxic or flammable gases, while temperature sensors can accurately measure the real-time temperature of the equipment surface. These measurements are corroborated by the thermal imaging results from the infrared camera 401, allowing staff to make a more comprehensive assessment of the equipment's operating status.

[0066] The gas sensor can quickly respond to changes in gas concentration. Once the concentration exceeds the safety threshold, it can immediately trigger an alarm via the controller 50. Especially in enclosed spaces, it can provide early warning of gas leak risks, preventing accidents such as explosions and poisoning. The accurate readings of the temperature sensor can compensate for the limitations of the infrared camera 401, enabling more precise identification of overheating hazards.

[0067] Optionally, the cable threading assembly 30 includes: an adjustable cable clip and a tension buffer device; the adjustable cable clip is fixedly connected to the machine body 10, and the tension buffer device and the adjustable cable clip are fixedly connected.

[0068] The adjustable cable clip can be adapted to cables of different diameters and materials through structural adjustments, eliminating the need to replace components due to changes in cable specifications. This enhances the applicability of the inspection robot in different cable threading scenarios. For example, when threading thin-diameter optical fibers in power line inspections or threading thicker traction cables in pipeline maintenance, the cable clip can be adjusted to achieve a stable clamping.

[0069] The tension buffer device absorbs instantaneous tension fluctuations generated during the threading process, preventing excessive tension from causing cable breakage, especially for fragile inspection cables. It also reduces the impact of tension reaction forces on the robot body 10 or the threading assembly 30, protecting the inspection robot's structure and connecting components, and extending the service life of the equipment and cables. For example, when encountering obstacles while threading cables inside pipes, the buffer device can alleviate the stress of sudden cable tension, preventing the cable from breaking or the inspection robot from shifting due to reaction forces.

[0070] Adjustable cable clips securely hold the cable, preventing it from slipping, falling off, or shifting during threading, ensuring the cable is laid along the preset path. Meanwhile, the tension buffer device stabilizes the tension, keeping the cable at a moderate tension during threading, neither slack nor overly tight. Especially when threading cables through complex paths, it reduces the probability of cable tangling and jamming, improving the smoothness and accuracy of the threading operation.

[0071] When the cable threading assembly 30 works in conjunction with the information acquisition assembly 40, navigation module 70, etc., cable laying can be completed during inspection, or cables can be organized and repaired when equipment line faults are found, improving the efficiency of a single inspection and reducing the need for secondary operations.

[0072] Optionally, the cable threading assembly 30 also includes an anti-loosening locking mechanism; the anti-loosening locking mechanism is movably connected to the adjustable cable clip.

[0073] The anti-loosening locking mechanism uses mechanical locking such as buckles, locking pins, and friction plates to lock the cable clip in place after it is adjusted to the appropriate clamping position. This prevents the cable clip from being accidentally loosened due to external force, ensuring that the cable is always firmly clamped and preventing it from falling off and interrupting the cable threading operation.

[0074] Inspection robots often operate in rugged terrain and vibrating environments, where the stress on cables can change frequently during the threading process. Anti-loosening locking mechanisms can resist these dynamic disturbances: when a cable is subjected to instantaneous tension or impact, the locking mechanism maintains the clamping force of the cable clip, preventing wear or positional displacement caused by the cable loosening and then re-tightening. This provides more stable protection, especially for fragile cables such as optical fibers, reducing cable damage or signal interruption caused by detachment.

[0075] The locking mechanism is movably connected to the cable clip. When adjusting cable specifications or loading / unloading cables, the locking can be easily released, allowing for flexible replacement or adjustment of cables. During the threading operation, there is no need to continuously monitor the clamping status after locking, which reduces the real-time adjustment pressure on the cable clip by the controller 50 and also reduces the probability of manual intervention due to loose clamping, thus improving the automation level of the threading operation.

[0076] Optionally, refer to Figures 1 to 3 The power supply component 60 includes a lithium battery pack and a BMS chip; the lithium battery pack is located between the wiring component 30 and the information acquisition component 40 and is fixedly connected to the body 10; the BMS chip is located inside the protective shell of the lithium battery pack and is electrically connected to the lithium battery pack.

[0077] The lithium battery pack boasts high energy density and stable output. Installed between the wiring assembly 30 and the information acquisition assembly 40, in the central area of ​​the chassis 10, it balances the weight of the chassis 10, preventing the inspection robot from experiencing stability issues due to a shifted center of gravity. Its continuous power supply capability meets the simultaneous operation needs of multiple components, including the tracked 201 mobile chassis 20, infrared camera 401, gas sensor, and wiring assembly 30, ensuring the continuity of inspection tasks and reducing frequent charging interruptions.

[0078] The BMS (Battery Management System) chip is integrated inside the protective casing of the lithium battery pack and can monitor key parameters such as battery voltage, current, and temperature in real time. The BMS chip can dynamically adjust the output power of the lithium battery pack according to the real-time power consumption requirements of each component, thus avoiding energy waste.

[0079] Furthermore, the lithium battery pack is fixed in the middle of the body 10, and the BMS chip is integrated into the protective shell, which can reduce the impact of external impacts, dust, and moisture on the battery and chip. Combined with the overall structure of the body 10, it can adapt to the vibration, high and low temperature environments that may be encountered in the inspection scenario, ensuring that the battery pack can still work stably under harsh conditions and reducing the probability of inspection interruption due to battery failure.

[0080] Optionally, the navigation module 70 is a SLAM navigation module 70.

[0081] SLAM (Simultaneous Localization and Mapping) technology does not rely on pre-built environmental maps. It can collect information about the surrounding environment in real time while the inspection robot is moving, and simultaneously complete its own localization and environmental map construction. This means that the inspection robot can adapt to unknown or dynamically changing inspection scenarios without the need for manual pre-drawing of maps, significantly improving deployment efficiency and adaptability in unfamiliar environments.

[0082] The map built by the SLAM module contains precise coordinate information of environmental features, enabling the inspection robot to achieve comprehensive coverage. By recording inspected and uninspected areas, it avoids duplicate inspections or missing key points. For confined spaces such as underground pipe corridors and equipment gaps, or environments with alternating light and dark conditions, the SLAM module can reduce the interference of light and spatial limitations on positioning through multi-sensor fusion.

[0083] Optionally, refer to Figures 1 to 3 The inspection robot also includes a cooling fan 80, which is fixedly connected to the body 10.

[0084] During operation, components such as the controller 50, power supply 60, and drive motor of the inspection robot generate heat due to continuous power consumption and computation, especially in high-temperature environments or during high-intensity inspections, where heat can easily accumulate. The cooling fan 80 accelerates the exchange of heat between the robot body 10 and the external environment by forcing airflow, reducing the operating temperature of core components, preventing performance degradation or damage due to overheating, and ensuring that all components operate stably within a suitable temperature range.

[0085] In enclosed spaces with high dust levels and poor air circulation, the airflow from the cooling fan 80 can simultaneously reduce dust accumulation on component surfaces, mitigating the decrease in heat dissipation efficiency caused by dust accumulation.

[0086] The cooling fan 80 can also be linked with the controller 50 to monitor the internal temperature of the body 10 through a temperature sensor, and realize intelligent start-stop or speed adjustment: when the temperature is below the threshold, the cooling fan 80 stops working to save power; when the temperature rises to the set value, the cooling fan 80 automatically starts or increases its speed to enhance heat dissipation, ensuring heat dissipation effect while avoiding unnecessary energy waste. It works with the BMS chip of the power supply component 60 to achieve reasonable energy distribution and extend the battery life of a single inspection.

[0087] The cooling fan 80 provides a stable working environment for the core components of the inspection robot, ensuring its long-term and reliable operation under complex working conditions.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An inspection robot, characterized in that, The inspection robot includes: a body (10), a tracked mobile chassis (20), a wire threading assembly (30), an information acquisition assembly (40), a controller (50), a power supply assembly (60), and a navigation module (70); The tracked mobile chassis (20) includes two tracks (201), which are disposed on both sides of the body (10) and are movably connected to the body (10); The threading assembly (30) and the information acquisition assembly (40) are respectively disposed at both ends of the body (10). The threading assembly (30) is fixedly connected to the body (10). The information acquisition assembly (40) includes an infrared camera (401), which is movably connected to the body (10). The controller (50), the power supply assembly (60), and the navigation module (70) are respectively fixedly connected to the fuselage (10); The tracked mobile chassis (20), the information acquisition component (40), the wiring component (30), and the navigation module (70) are electrically connected to the controller (50) respectively; The tracked mobile chassis (20), the information acquisition component (40), the wiring component (30), and the navigation module (70) are electrically connected to the power supply component (60).

2. The inspection robot according to claim 1, characterized in that, Each track (201) includes at least four independent rubber rollers (2011) arranged in an alternating pattern, and each rubber roller (2011) includes a drive motor and a reduction mechanism; The output shaft of the drive motor is rigidly connected to the input end of the reduction mechanism via a coupling, and the output shaft of the reduction mechanism is fixed to the axle of the rubber roller (2011). The reduction mechanism uses a 30:1 gear reducer.

3. The inspection robot according to claim 2, characterized in that, The tracked mobile chassis (20) also includes a negative pressure adsorption component, which is movably connected to the body (10).

4. The inspection robot according to claim 1, characterized in that, The information acquisition component (40) also includes a first bracket (402) and a second bracket (403), and the body (10) is provided with a storage slot (101); The infrared camera (401) is fixedly connected to the first bracket (402), and the first bracket (402) and the second bracket (403) are movably connected; the second bracket (403) is movably connected to the body (10); The length of the first bracket (402) is less than the length of the second bracket (403), and the width of the first bracket (402) is less than the width of the second bracket (403); The length of the storage slot (101) along the first direction (X) is not less than the height of the second support (403) along the third direction (Z), and the width of the storage slot (101) along the second direction (Y) is not less than the width of the second support (403) along the second direction (Y).

5. The inspection robot according to claim 4, characterized in that, The information acquisition component (40) also includes a gas sensor and a temperature sensor; The gas sensor and the temperature sensor are respectively fixedly connected to the second bracket (403); The gas sensor and the temperature sensor are electrically connected to the controller (50), respectively.

6. The inspection robot according to claim 1, characterized in that, The threading assembly (30) includes: an adjustable cable clip and a tension buffer device; The adjustable cable buckle is fixedly connected to the machine body (10), and the tension buffer device is fixedly connected to the adjustable cable buckle.

7. The inspection robot according to claim 6, characterized in that, The threading assembly (30) also includes an anti-loosening locking mechanism; The anti-loosening locking mechanism is movably connected to the adjustable cable buckle.

8. The inspection robot according to claim 1, characterized in that, The power supply component (60) includes: a lithium battery pack and a BMS chip; The lithium battery pack is disposed between the threading assembly (30) and the information acquisition assembly (40) and is fixedly connected to the body (10); The BMS chip is disposed inside the protective casing of the lithium battery pack, and the BMS chip is electrically connected to the lithium battery pack.

9. The inspection robot according to any one of claims 1-8, characterized in that, The navigation module (70) is a SLAM navigation module.

10. The inspection robot according to any one of claims 1-8, characterized in that, The inspection robot also includes a cooling fan (80), which is fixedly connected to the body (10).

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