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CN-224211158-U - Track inspection robot

CN224211158UCN 224211158 UCN224211158 UCN 224211158UCN-224211158-U

Abstract

The utility model relates to the technical field of crawler robots, and discloses a crawler inspection robot which comprises a chassis, a crawler module, a lifting upper frame, a lifting lower frame, at least one group of fork arm assemblies, a first rail, a second rail, a driving mechanism and a caster, wherein the crawler module is used for lifting and driving the chassis to walk, the lifting module is arranged in an installation space below the chassis, the lifting module comprises a lifting upper frame, the lifting lower frame is arranged below the lifting upper frame, one end of an outer fork arm of each fork arm assembly is hinged with the lifting upper frame, the other end of the outer fork arm of each fork arm assembly is slidably hinged with the first rail, one end of an inner fork arm of each fork arm assembly is hinged with the lifting lower frame, the other end of each inner fork arm of each fork arm assembly is slidably hinged with the second rail, and the driving mechanism is used for driving the fork arm assemblies to be unfolded or folded, and the caster is arranged at the bottom of the lifting lower frame. The crawler inspection robot can lift the chassis of the crawler robot when the robot works normally or fails, so that the purposes of increasing inspection height, solving the problem of roadway blockage and facilitating maintenance when the crawler fails are achieved.

Inventors

  • QIU JIANXIONG
  • HE YIN
  • XIA YAOGUANG

Assignees

  • 浙江中烟工业有限责任公司

Dates

Publication Date
20260508
Application Date
20250506

Claims (10)

  1. 1. The utility model provides a robot is patrolled and examined to track, its characterized in that, robot is patrolled and examined to track includes: A chassis; the crawler module (1) is used for lifting and driving the chassis to walk and is constrained with the chassis together to form an installation space below the chassis; the inspection module (2) is arranged on the upper end face of the chassis; The lifting module (3) is arranged in the installation space below the chassis, and the lifting module (3) comprises: Lifting an upper frame (31) and fixedly connecting with the chassis; A lifting lower frame (32) positioned below the lifting upper frame (31); At least one set of fork arm assemblies formed by an outer fork arm (33) and an inner fork arm (34) which are rotatably connected at a midpoint through a pivot, wherein one end of the outer fork arm (33) is hinged with the lifting upper frame (31), and the other end of the outer fork arm is slidably hinged with a first track formed on the lifting lower frame (32), and one end of the inner fork arm (34) is hinged with the lifting lower frame (32), and the other end of the inner fork arm is slidably hinged with a second track formed on the lifting upper frame (31); The driving mechanism is used for driving the fork arm assembly to be unfolded or folded so as to realize the vertical displacement of the lifting lower frame (32) relative to the lifting upper frame (31); The trundle (36) is arranged at the bottom of the lifting lower frame (32), and when the fork arm assembly is in a limit folding state, the trundle (36) is suspended.
  2. 2. The crawler inspection robot according to claim 1, wherein the first rail and the second rail are formed as a runner extending in a length direction of the lifting lower frame (32) and the lifting upper frame (31), respectively; one end of the outer fork arm (33) connected with the first rail is provided with a first cylindrical sliding block, and the first cylindrical sliding block is hinged to the first rail in a sliding manner; And one end of the inner fork arm (34) connected with the second track is provided with a second cylindrical sliding block, and the second cylindrical sliding block is hinged with the second track in a sliding manner.
  3. 3. The crawler inspection robot according to claim 1, wherein the lifting module (3) comprises a first fork arm assembly and a second fork arm assembly which are oppositely arranged, and a first connecting arm and a second connecting arm are arranged between the first fork arm assembly and the second fork arm assembly; The first connecting arm is arranged close to the lifting lower frame (32), and two ends of the first connecting arm are fixedly connected with an outer fork arm (33) of the first fork arm assembly and an outer fork arm (33) of the second connecting arm respectively; The second connecting arm is arranged near the middle point, and two ends of the second connecting arm are fixedly connected with an inner fork arm (34) of the first fork arm assembly and an inner fork arm (34) of the second connecting arm respectively.
  4. 4. The crawler inspection robot according to claim 3, wherein the driving mechanism is an electric push rod (35), a telescopic end of the electric push rod (35) is hinged to the second connecting arm, and a base end of the electric push rod (35) is hinged to the first connecting arm.
  5. 5. The track inspection robot according to claim 1, characterized in that the pivot extends from the pivot of one set of yoke assemblies to the pivot of the other set of yoke assemblies to support the pivotal connection of the outer yoke (33) and inner yoke (34).
  6. 6. The track inspection robot according to claim 1, characterized in that the width of the lifting lower 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. 7. The track 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. 8. The crawler inspection robot according to claim 1, wherein the crawler module (1) comprises: the crawler wheel mounting frames are arranged on two sides of the chassis; the crawler wheels are positioned on two sides of the chassis and are arranged on the crawler wheel mounting frame; the crawler belt is tensioned on front and rear crawler wheels which are arranged at intervals on the same side of the chassis; And the driving motor is used for driving the crawler wheel.
  9. 9. The crawler inspection robot according to claim 8, wherein a distance between a side of the inspection module (2) facing the crawler wheel mounting frame and the crawler wheel mounting frame is L 1 , and a width of the crawler is L 2 ; wherein L 2 ＜L 1 .
  10. 10. The track inspection robot according to claim 1, characterized in that the caster wheel (36) is provided with a caster wheel brake.

Description

Track inspection robot Technical Field The utility model relates to the technical field of crawler robots, in particular to a crawler inspection robot. Background The crawler robot is widely applied to indoor inspection tasks due to excellent obstacle crossing capability and stability, and particularly in complex environments in the fields of industry, medical treatment, security protection and the like. Compared with a wheeled robot, the crawler robot can better adapt to irregular terrains such as steps, slopes, barriers and the like, and therefore has obvious advantages in indoor inspection in narrow channels, complex terrains and high-risk areas. By carrying a plurality of detection devices such as cameras, liDARs, infrared sensors and the like, the crawler robot can acquire environmental data in real time, and the tasks such as fine inspection, device state monitoring, abnormal condition alarming and the like are completed. However, the existing tracked robots still have the following technical problems: 1. the working height is limited. The traditional track robot generally adopts low chassis design in order to guarantee stability, and the vertical detection range of the traditional track robot is severely restricted, so that the inspection requirements of different height layers are difficult to meet. 2. And the roadway traffic problem. In the roadway of the warehouse, the width of the roadway directly influences the utilization rate of the warehouse, and in general, the width of the roadway is only slightly wider than the minimum turning diameter of the crawler robots (when the crawler robots rotate in situ), so that if the two crawler robots are opposite in the roadway due to a control program error, the robot cannot solve the problem by itself under the condition of no manual intervention; 3. And (5) a fault handling difficulty. The core component of the track robot, the track system, which is operated by the robot, has excellent terrain adaptation capability, but once a fault occurs, such as the track falls off, breaks or performance decreases due to wear, the robot may be in a dilemma of limited movement, or even completely lost in mobility. This problem is particularly pronounced in indoor environments, where manual intervention of the mobile track robot is extremely inconvenient due to the nature of the track system and its bulkiness, further affecting the continuity and efficiency of the inspection task. The failure of the track system not only significantly increases maintenance and repair costs, but may also have a serious negative impact on the safety and timeliness of the inspection task. Disclosure of utility model Aiming at the defects or drawbacks in the prior art, the utility model provides the track inspection robot, which can lift the chassis of the track robot when the robot works normally or fails, thereby achieving the purposes of increasing the inspection height, solving the problem of roadway blockage and facilitating maintenance when the track fails. In order to achieve the above object, the present utility model provides a crawler inspection robot comprising: A chassis; The crawler module is used for lifting and driving the chassis to walk and is constrained with the chassis together to form an installation space below the chassis; the inspection module is arranged on the upper end face of the chassis; The lifting module is arranged in the installation space below the chassis and comprises: Lifting the upper frame, and fixedly connecting with the chassis; The lifting lower frame is positioned below the lifting upper frame; The fork arm assembly is formed by rotatably connecting an outer fork arm and an inner fork arm at a middle point through a pivot, one end of the outer fork arm is hinged with the lifting upper frame, and the other end of the outer fork arm is slidably hinged with a first rail formed on the lifting lower frame; The driving mechanism is used for driving the fork arm assembly to be unfolded or folded so as to realize the vertical displacement of the lifting lower frame relative to the lifting upper frame; The fork arm assembly is arranged at the bottom of the lifting lower frame, and the casters are suspended when the fork arm assembly is in a limit folding state. In some embodiments, the first rail and the second rail are formed as a runner extending along a length direction of the lifting lower frame) and the lifting upper frame, respectively; One end of the outer fork arm, which is connected with the first rail, is provided with a first cylindrical sliding block, and the first cylindrical sliding block is slidably hinged with the first rail; And one end of the inner fork arm, which is connected with the second rail, is provided with a second cylindrical sliding block, and the second cylindrical sliding block is slidably hinged with the second rail. The crawler inspection robot can lift the chassis of the crawler robot when the robot works normally or fails,