CN117067184A - Conveyor chain and roller assembly - Google Patents

Abstract

The application relates to a conveying chain and a roller assembly, which are used for driving a patrol robot to travel. The conveying chain comprises a plurality of chain segments and a plurality of roller assemblies, wherein the plurality of roller assemblies and the plurality of chain segments are sequentially and alternately connected. The conveyor chain provided by the application is constructed to comprise a plurality of chain segments and a plurality of roller assemblies alternately connected with the chain segments, so that the novel conveyor chain is provided, and the conveyor chain is simple in structure, convenient to arrange and low in cost.

Description

Conveyor chain and roller assembly

Technical Field

The application relates to the technical field of track inspection robots, in particular to a conveying chain and a roller assembly, which are used for driving the inspection robot to travel.

Background

The inspection work of long-distance or complex sites such as pipe corridors and coal mines is the basis and important guarantee of site safety. Due to the reasons of multiple monitoring items, long lines and the like, particularly the ultra-long pipe gallery has the advantages of severe environmental conditions, strong sealing performance, multiple structures and inconvenient communication, the inspection difficulty of the site state in a manual mode is high, the feasibility is extremely limited, and the personal safety of inspection personnel is difficult to effectively guarantee.

Because the robot has the basic characteristics of perception, decision, execution and the like, the robot can assist or even replace human beings to finish dangerous, heavy and complex work of inspection, and the working efficiency and quality are improved.

When the inspection robot works, the track platform is usually used as a carrier to move on the track along a fixed running path, and the environment needing inspection is monitored. As technology advances and demand increases, rail inspection robots have also begun to be employed in many places, such as factories, farming plants, smart farms, municipal pipe galleries, underground coal mines, etc.

However, the roller assemblies and the track assemblies related to the transmission mode of the robot in the existing track inspection robot system have the problems of complex structure, difficult maintenance and high cost. The existing track inspection robot system also has derailment, slipping and sliding (commonly known as galloping), difficult climbing and the like.

The present invention is directed to an improved conveyor chain in a inspection robot system that alleviates or even eliminates the above-identified and other technical shortcomings.

The information included in this background section of the specification of the present invention, including any references cited herein and any descriptions or discussions thereof, is included solely for the purpose of technical reference and is not to be construed as a subject matter that would limit the scope of the present invention.

Disclosure of Invention

The present invention has been developed in view of the above and other further concepts.

According to an aspect of the present invention, there is provided a conveyor chain for conveying a patrol robot, which includes a plurality of segments and a plurality of roller assemblies, the plurality of roller assemblies and the plurality of segments being alternately connected in sequence.

According to an embodiment, the plurality of roller assemblies are disposed substantially equally spaced on the conveyor chain; and the roller assemblies and the chain segments are connected to form a closed loop.

According to one embodiment, each of the segments is permanently or removably connected to both of the roller assemblies at both ends thereof.

According to one embodiment, the roller assembly includes: a support frame having a central axis; and each roller group comprises four rollers, and each roller in the at least one roller group is rotatably arranged on the support frame. Wherein four rollers of each roller set are arranged for rolling contact with four rounded or chamfered corners of the inner cavity, respectively, having a substantially square cross section.

According to an embodiment, the axes of rotation of the four rollers in each roller set are arranged in alignment or offset along the central axis.

According to an embodiment, two rollers in each roller group are respectively located at two sides of the central axis, and the rotating shafts of the rollers in each roller group are perpendicular to a first plane where the central axis is located; the other two rollers in each roller group are respectively positioned at two sides of the central axis, and the rotating shafts of the rollers in the other two rollers are perpendicular to a second plane where the central axis is positioned; the second plane intersects the first plane.

According to an embodiment, the second plane is perpendicular to the first plane.

According to an embodiment, the roller assembly comprises two roller sets arranged along the central axis.

According to an embodiment, the support frame is an integrally formed structure or is assembled from a plurality of components.

According to one embodiment, the support frame comprises four support members, each support member is located between two adjacent rollers in each roller group, and one end of the rotating shaft of each roller in the two adjacent rollers is fixed on the support member.

According to an embodiment, each support extends in a direction substantially parallel to the central axis and comprises a bottom plate and two side plates connected to both sides of the bottom plate, respectively; and one end of the rotating shaft of one roller is fixed on the side plate of one corresponding supporting piece, and the other end of the rotating shaft of the one roller is fixed on the side plate of the other corresponding supporting piece.

According to one embodiment, the roller assembly further comprises a first pair of connecting posts and a second pair of connecting posts; the first pair of connecting posts are detachably mounted on the two bottom plates of the two opposite supporting pieces; and, the second pair of connection posts are detachably mounted on two bottom plates of the other two opposite supports.

According to an embodiment, the roller assembly further comprises a first connecting rod and a second connecting rod; and, the first and second connection bars are disposed along the central axis, wherein one of the first and second pairs of connection posts passes through the first connection bar, and the other of the first and second pairs of connection posts passes through the second connection bar.

According to an embodiment, the two ends of the first connecting rod and the second connecting rod, which are far away from each other, are respectively provided with a jack.

According to an embodiment, the tip secures one end of the segment within the receptacle by deformation.

According to an embodiment, the support frame has two ends, at least one of which is adapted to receive a pushing force along the central axis.

According to one embodiment, the chain segments are flexible ropes, and one roller assembly is connected between every two flexible ropes.

According to an embodiment, the flexible cord is selected from at least one of a metal cord, a steel wire, an iron wire, a metal chain, a cable.

According to one embodiment, the chain segments are rigid segments, and one roller assembly is connected between every two rigid segments.

According to an embodiment, the rigid section is selected from at least one of a metal rod, a metal strip, a nylon rod, a composite rod.

According to an embodiment, the conveyor chain is a conveyor chain for a carrier tape inspection robot.

According to another aspect of the present invention, there is provided a roller assembly including: a support frame; and at least one roller, each roller is rotatably mounted on the support frame around a rotation axis; at least one end of the support frame is connected with a chain segment, the chain segment is any one of a flexible segment and a rigid segment, and the chain segment is connected with the support frame in a detachable connection or permanent connection mode.

According to an embodiment, the flexible segment is selected from at least one of a metal cable, a steel wire, an iron wire, a metal chain, a cable; and is also provided with

Wherein the rigid segments are selected from at least one of metal rods, metal strips, nylon rods, composite rods.

The beneficial effects of the invention are as follows: in the conveyor chain of this embodiment, by configuring it to include a plurality of segments and a plurality of roller assemblies alternately connected with the plurality of segments, a novel conveyor chain is provided that is simple in structure, convenient in arrangement, and low in cost.

Further embodiments of the invention also enable other advantageous technical effects, not listed one after another, which may be partly described below and which are anticipated and understood by a person skilled in the art after reading the present invention.

Drawings

The above-mentioned and other features and advantages of these embodiments, and the manner of attaining them, will become more apparent and the embodiments of the invention will be better understood by reference to the following description taken in conjunction with the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of a inspection robot system according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a portion of a conveyor chain in a inspection robot system in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of a partial structure of a conveyor chain mated with an endless track in a inspection robot system in accordance with an embodiment of the present invention;

FIG. 4 is an enlarged schematic view of section IV of FIG. 3;

fig. 5 is a schematic view of a partial structure of a patrol robot platform and an annular track in a patrol robot system according to an embodiment of the present invention, showing a patrol robot carried on the patrol robot platform;

FIG. 6 is a schematic view of a partial structure of a driving device in the inspection robot system in cooperation with the endless track and the roller assembly according to an embodiment of the present invention;

FIG. 7 is a schematic top view of the scroll wheel assembly of FIG. 4;

FIG. 8 is a schematic left view of the scroll wheel assembly of FIG. 4;

FIG. 9 is a schematic cross-sectional view of the roller assembly of FIG. 4 taken along a horizontal plane;

FIG. 10 is a schematic cross-sectional view of the scroll wheel assembly of FIG. 4 taken along a vertical plane;

FIG. 11 is a schematic cross-sectional view of the roller assembly and endless track of FIG. 4;

FIG. 12 is a schematic perspective view of the driving device shown in FIG. 6;

FIG. 13 is a schematic front view of the drive device of FIG. 12;

FIG. 14 is a left side schematic view of the drive device of FIG. 12;

fig. 15 is a partial structural schematic view of a curved track section and a straight track section in a inspection robot system according to an embodiment of the present invention;

FIG. 16 is a schematic illustration of the cooperation of curved track segments and straight track segments with chain segments and roller assemblies in a inspection robot system in accordance with an embodiment of the present invention;

FIG. 17 is an enlarged partial schematic view of FIG. 16;

FIG. 18 is an enlarged schematic view of the rolling support wheels and the mount for the rolling support wheels on the curved track section of FIG. 15;

fig. 19 is an enlarged schematic view of the curved track section of fig. 15 and the rolling support wheels thereon.

Detailed Description

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims.

It is to be understood that the illustrated and described embodiments are not limited in application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The illustrated embodiments may be other embodiments and can be implemented or performed in various ways. Examples are provided by way of explanation, not limitation, of the disclosed embodiments. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to the various embodiments of the invention without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield still a further embodiment. Accordingly, the present disclosure is intended to cover such modifications and variations as fall within the scope of the appended claims and their equivalents.

Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The invention will be described in more detail below with reference to a few specific embodiments thereof.

As shown in fig. 1 and 2, fig. 1 is a schematic view of the overall structure of a inspection robot system 100 according to an embodiment of the present invention, and fig. 2 is a schematic view of a part of a conveyor chain 100A in the inspection robot system 100 according to an embodiment of the present invention. The inspection robot system 100 includes a circular orbit 10, an inspection robot 21, an inspection robot platform 22, a conveyor chain 100A, and a driving device 100B. The conveyor chain 100A is connected in an endless form, which is disposed within the endless track 10; the driving device 100B is fixedly arranged at a certain position relative to the circular track 10, and is used for driving the conveying chain 100A to circularly rotate in the circular track 10; the inspection robot platform 22 is connected to the conveyor chain 100A and is arranged to move along the endless track 10; the inspection robot 21 is mounted on the inspection robot stage 22 to move together with the inspection robot stage 22. Therefore, the conveyor chain 100A is a conveyor chain for the carrier tape inspection robot 21.

More specifically, referring to fig. 3 and 4 together, fig. 3 is a schematic view of a partial structure in which a conveyor chain 100A of the inspection robot system 100 cooperates with the endless track 10 according to an embodiment of the present invention, and fig. 4 is an enlarged schematic view of a portion V of fig. 3; the annular rail 10 is configured to be hollow such that it has an inner cavity 11 extending along the annular rail 10. The endless track 10 may be made of aluminum, stainless steel, or the like, which may be spliced from a plurality of sections including straight sections and curved sections to form a closed loop. The cavity 11 extends through the interior of the entire endless track 10 to provide a passageway within which the conveyor chain 100A circulates.

Referring again to fig. 2, the conveyor chain 100A includes a plurality of segments 23 and a plurality of roller assemblies 30 coupled to the segments 23 at spaced apart intervals. The plurality of segments 23 and the plurality of roller assemblies 30 may be connected to form a closed loop. As shown in fig. 3 and 4, the conveyor chain 100A is disposed in the inner cavity 11 of the endless track 10.

Referring to fig. 5 together, fig. 5 is a schematic view of a partial structure of the inspection robot platform 22 and the circular track 10 in the inspection robot system 100 according to the embodiment of the invention, and shows the inspection robot 21 carried on the inspection robot platform 22; the inspection robot 21 is mounted on the circular rail 10 through the inspection robot platform 22 and is capable of traveling along the circular rail 10, and is used for inspecting targets in the environment where the circular rail 10 is located. In an embodiment, the inspection robot 21 may include a camera, a voice intercom, an alarm, a control unit, and the like, where the camera, the voice intercom, and the alarm are all communicatively connected to the control unit. The inspection robot platform 22 is operably connected to the conveyor chain 100A and is capable of being driven by the conveyor chain 100A to travel along the endless track 10. For example, the inspection robot platform 22 may be connected to one of the roller assemblies 30 of the conveyor chain 100A by a screw, a buckle, or the like, so as to be driven by the one roller assembly 30 moving in the endless track 10 to also move along the endless track 10.

Referring also to fig. 6, fig. 6 is a schematic view showing a partial structure of a driving device 100B of the inspection robot system 100, which cooperates with the endless track 10 and the roller assembly 30 according to an embodiment of the present invention; the driving device 100B is configured to drive the roller assembly 30 to roll along the circular track 10 in the inner cavity 11 to drive the conveying chain 100A to run in the inner cavity 11 of the circular track 10, so as to drive the inspection robot 21 to travel along the circular track 10.

In the inspection robot system 100 of this embodiment, a novel conveyor chain is provided by constructing the conveyor chain 100A to include a plurality of chain segments 23 and a plurality of roller assemblies 30 connected to the chain segments 23 at intervals, and connecting the plurality of chain segments 23 with the plurality of roller assemblies 30 to form a closed loop. These chain segments 23 and roller assemblies 30 can be mass produced and easily connected as needed into a closed loop adapted to the length of the endless track 10; the manufacturing cost of the chain segment 23 and the roller assembly 30 is also low. Therefore, the inspection robot system 100 of the present embodiment is simple in structure, convenient to arrange, and low in cost.

Referring again to fig. 2, in some embodiments, the conveyor chain 100A may include: a plurality of segments 23; the plurality of roller assemblies 30, the plurality of roller assemblies 30 and the plurality of segments 23 are alternately connected in sequence. The conveyor chain 100A of this embodiment may be configured in an elongated shape, without being limited to forming a closed loop. In the conveyor chain 100A of this embodiment, by configuring it to include a plurality of segments 23 and a plurality of roller assemblies 30 alternately connected with the plurality of segments 23, a novel conveyor chain is provided that is simple in structure, convenient to arrange, and low in cost.

In further embodiments, as shown in fig. 1-3, the plurality of roller assemblies 30 are disposed substantially equidistant on the conveyor chain 100A; and, the plurality of roller assemblies 30 and the plurality of segments 23 are connected to form a closed loop.

In further embodiments, as shown in fig. 4, each segment 23 is detachably connected to two roller assemblies 30 at both ends thereof. In this way, when a certain one of the wheel assemblies 30 or a certain one of the soft segments 23 is damaged, the damaged wheel assembly 30 or soft segment 23 can be easily removed, thereby replacing a new component. In other embodiments, each segment 23 may be permanently connected to both roller assemblies 30 at both ends thereof.

As shown in fig. 4 and 7 to 10, wherein fig. 7 is a schematic top view of the roller assembly 30 shown in fig. 4, fig. 8 is a schematic left view of the roller assembly 30 shown in fig. 4, fig. 9 is a schematic sectional view of the roller assembly 30 shown in fig. 4 along a horizontal plane, and fig. 10 is a schematic sectional view of the roller assembly 30 shown in fig. 4 along a vertical plane; in further embodiments, each of the roller assemblies 30 has at least one roller 31, the at least one roller 31 being configured to be in rolling contact with the wall of the lumen 11 shown in fig. 4. The plurality of roller assemblies 30 are connected to the plurality of segments 23 at substantially equal intervals. For example, in each roller assembly 30, one, two, three, four, eight, twelve, etc. number of rollers 31 may be provided. By providing the roller 31, it is possible to introduce the movement of the roller assembly 30 on the endless track 10 into rolling motion, thereby reducing friction, thereby reducing resistance to motion, and also reducing wear between components. By arranging the plurality of roller assemblies 30 substantially equally spaced apart, it is facilitated to employ a plurality of segments 23 of substantially equal length for connection with the plurality of roller assemblies 30, which in turn may simplify the fabrication of the segments 23.

In further embodiments, as shown in fig. 4, in the linear track segment 12 of the endless track 10, the chain segment 23 of the conveyor 100A is configured to not substantially contact the wall of the inner cavity 11 during linear operation. By setting the connection position of the segment 23 on the roller assembly 30, the segment 23 can be substantially extended along the central axis of the roller assembly 30; further, due to the support of the segment 23 by the roller assembly 30 within the interior cavity 11, the segment 23 may be located approximately at the center of the interior cavity 11 without contacting the walls of the interior cavity 11. In this way, friction between the segments 23 and the walls of the lumen 11 during operation is prevented, thereby increasing the useful life of the component.

In further embodiments, as shown in fig. 4 and 11, fig. 11 is a schematic cross-sectional view of the roller assembly 30 and the endless track 10 shown in fig. 4; the cross-section of the cavity 11 is generally square, and the four corners 110 of the square are rounded or chamfered. The cross-section of the cavity 11 may be rectangular or square, and each corner 110 preferably transitions smoothly with a rounded off or the corners 110 may be provided with a chamfer. Referring again to fig. 4 and 8, the roller assembly 30 may include two roller groups 30A disposed along the extending direction of the chain segment 23, each roller group 30A having four rollers 31, the four rollers 31 in each roller group 30A being disposed in rolling contact with the four corners 110, respectively; the two roller sets 30A may be disposed near two ends of the support frame 32, respectively. Therefore, by providing the rounded or chamfered corners 110, the four corners 110 can be in stable contact with the four rollers 31 in each roller group 30A, respectively, so that the rollers 31 can roll smoothly at the corners of the inner cavity 11. Moreover, by providing four rollers 31, each roller set 30A can be made to roll relative to the wall of the cavity 11, further reducing friction and resistance to movement. It is noted herein that the extending direction of the segment 23 shown in fig. 4 may coincide with a central axis A1 described below, so that the roller assembly 30 may include two roller groups 30A arranged along the central axis A1.

In further embodiments, as shown in fig. 11, each of the four corners 110 has a first arc shape, and the cross section 311 of the roller surface 310 of each roller 31 in the roller assembly 30 has a second arc shape, and the radius of the first arc shape is slightly greater than or equal to the radius of the second arc shape. In this way, at least the highest point of the roller surface 310 of each roller 31 can be brought into rolling contact with the corresponding corner 110, so that the orientation of the roller 31 can be guided by the corner 110. Accordingly, stable advancement of the roller assembly 30 within the interior cavity 11 may be facilitated, reducing rotation of the roller assembly 30 about its central axis. Thereby ensuring the stability of the inspection robot 21 connected to the wheel assembly 30.

In further embodiments, as shown in fig. 4 and 7-11, the roller assembly 30 may include a support frame 32 and at least one roller set 30A. The support 32 has a central axis A1. Each roller set 30A is four rollers 31, and each roller 31 in the at least one roller set 30A is rotatably mounted on the support frame 32. Wherein the roller assembly 30 is designed to be in rolling contact with a movement path surface by the roller 31 when in movement. For example, the roller assembly 30 may include one roller set 30A, two roller sets 30A, three roller sets 30A, etc.; in the illustrated embodiment, two roller sets 30A are employed.

In the roller assembly 30 of this embodiment, by adopting the support frame 32 and at least one roller group 30A mounted thereon, and designing the roller assembly 30 to be in rolling contact with the surface of the movement path through at least four rollers 31 during movement, friction between components can be reduced, resistance can be reduced, and service life can be further improved.

In further embodiments, as shown in fig. 7-10, the rotational shafts 312 of the four rollers 31 in each roller set 30A are aligned along the central axis A1. That is, the respective four rotating shafts 312 of the four rollers 31 are all facing the same position on the central axis A1; more specifically, the central axes of the four rotating shafts 312 all lie in a plane perpendicular to the central axis A1. The rollers 31 of the roller set 30A are arranged in rolling contact with four rounded or chamfered corners 110 of the inner cavity 11 of the movement track, which is substantially square in cross section, respectively. In this way, the supporting force of the annular rail 10 to which each roller group 30A is subjected can be made relatively uniform, which is advantageous in reducing the tilting swing of the central axis A1 with respect to the annular rail 10.

In other embodiments, the rotating shafts 312 of the four rollers 31 in each roller group 30A may be staggered along the central axis A1. That is, at least two of the respective four rotating shafts 312 of the four rollers 31 are opposite to two different positions on the central axis A1. For example, the rotating shafts 312 of two opposing rollers 31 in each roller group 30A may be aligned along the central axis A1, and the rotating shafts 312 of the other two opposing rollers 31 may be aligned along the central axis A1, but the two opposing rollers 31 and the other two opposing rollers 31 are offset along the central axis A1.

In further embodiments, as shown in fig. 4 and 8, two rollers 31 in each roller group 30A are respectively located at two sides of the central axis A1, and the rotation axes 312 of the respective rollers 31 in the two rollers 31 are all perpendicular to the first plane A2 in which the central axis A1 is located; the other two rollers 31 in each roller group 30A are respectively located at two sides of the central axis A1, and the rotating shafts 312 of the respective rollers 31 in the other two rollers 31 are perpendicular to the second plane A3 where the central axis A1 is located; the second plane A3 intersects the first plane A2. For example, the angle at which the second plane A3 intersects the first plane A2 may be between 45 degrees and 135 degrees. In this way, two of the rollers 31 may be arranged in an X-shaped cross arrangement with the other two rollers 31 as shown in FIG. 8, thereby facilitating a rolling fit with the square lumen 11.

In further embodiments, as particularly shown in fig. 8, the second plane A3 is perpendicular to the first plane A2. In this way, a right angle is formed between every adjacent two rollers 31 in each roller set 30A, thereby facilitating the placement of the four points of the four rollers 31 of the same size furthest from the central axis A1 on the square, thereby facilitating the accommodation of such roller sets 30A for rolling engagement with the square interior cavity 11. Moreover, by adopting the square configuration, each roller group 30A can be rotated into the endless track 10 without considering the positioning in the up-down direction, and thus the assembly efficiency can be improved.

In further embodiments, the support 32 may be an integrally formed structure or may be assembled from multiple components. The integrally formed support 32 may be a unitary member that may be machined from an aluminum alloy, for example. By adopting the integrally formed structure, the roller 31 can be easily mounted and fixed thereon. Two, three or more members may be used to assemble the support frame 32 by structural design, so long as the support frame satisfies a certain supporting function.

In other embodiments, as shown in fig. 4 and 7 to 10, the supporting frame 32 may include four supporting members 33, each supporting member 33 is located between two adjacent rollers 31 in each roller group 30A, and one end of the rotation shaft 312 of each roller 31 of the two adjacent rollers 31 is fixed to the one supporting member 33. By adopting four support members 33 to construct the support frame 32, the structural complexity of the support frame 32 can be reduced; for example, at least two of the supporting members 33 may be designed to have the same structure by using structural symmetry, thereby facilitating the manufacturing process. In addition, the connection of the supports 33 may be achieved by the rotation shaft 312 of the roller 31. In addition, the four supporting members 33 are adopted to form the supporting frame 32, so that the supporting frame 32 can be allowed to have certain deformability, and the adaptability of the roller group 30A to the situation that the manufacturing error exists in the inner cavity 11 can be improved. It will be readily appreciated that when a square configuration of four rollers 31 per roller set 30A is employed, the four supports 33 in the support 32 may be of identical construction, which is more advantageous for mass production.

In further embodiments, as shown in fig. 4 and 7 to 10, each support 33 extends in a direction substantially parallel to the central axis A1, and each support 33 includes a bottom plate 330 and two side plates 331 respectively connected to both sides of the bottom plate 330; and, one end of the rotation shaft 312 of one roller 31 is fixed to the side plate 331 of one corresponding support 33, and the other end of the rotation shaft 312 of the one roller 31 is fixed to the side plate 331 of the other corresponding support 33. In this way, the roller 31 and the corresponding support 33 can be assembled together using the structure of the mounting shaft 312.

In further embodiments, as shown in fig. 9 and 10, the roller assembly 30 may further include a first pair of connecting posts 34 and a second pair of connecting posts 35; the first pair of connecting posts 34 are detachably mounted on the two bottom plates 330 of the two opposite supports 33; and, the second pair of connection posts 35 are detachably mounted on the two bottom plates 330 of the other two opposite supports 33. For example, the second pair of connecting posts 35 may be pins, each pin having one end abutting one base plate 330 and the other end being in stop engagement with the other base plate 330 by a deformable bayonet 38 inserted into a pin aperture, thereby limiting the removal of the pin from the base plate 330. The first pair of connecting posts 34 may be formed directly by a deformable bayonet lock with one end abutting one base plate 330 and the other end passing through the other base plate 330 to effect a stop fit by deformation. In other embodiments, the first pair of connecting posts 34 may also be configured identically to the second pair of connecting posts 35. By employing the first pair of connecting posts 34 and the second pair of connecting posts 35, the structural strength of the support frame 32 may be enhanced, preventing excessive deformation of the support frame 32 during use.

In further embodiments, as shown in fig. 9 and 10, the roller assembly 30 further includes a first connecting rod 36 and a second connecting rod 37. The first connecting rod 36 and the second connecting rod 37 are disposed along the central axis A1, wherein one connecting column of the first pair of connecting columns 34 and one connecting column of the second pair of connecting columns 35 each pass through the first connecting rod 36, and the other connecting column of the first pair of connecting columns 34 and the other connecting column of the second pair of connecting columns 35 each pass through the second connecting rod 37. Further, two first sleeves 341 may be sleeved on each first pair of connecting columns 34, and two second sleeves 351 may be sleeved on each second pair of connecting columns 35, so as to center the first connecting rod 36 and the second connecting rod 37. In this way, the first and second connection bars 36 and 37 can be connected to the roller assembly 30, and it is easy to position the first and second connection bars 36 and 37 to be disposed along the central axis A1.

In further embodiments, as shown in fig. 9 and 10, the two ends 360 and 370 of the first connecting rod 36 and the second connecting rod 37, which are far away from each other, are respectively provided with insertion holes 361 and 371. By providing receptacles 361 and 371, docking with the chain segment 23 may be facilitated. For example, in one embodiment, the tip 360 may be deformed by extrusion to secure one end of one segment 23 within the receptacle 361, and the tip 370 may be deformed by extrusion to secure one end of the other segment 23 within the receptacle 371. In this way, the connection installation of the soft segment 23 and the roller assembly 30 can be conveniently and rapidly achieved.

In further embodiments, as shown in fig. 7, the support 32 has two ends 320, at least one of the two ends 320 being configured to receive a pushing force along the central axis A1. Each end 320 may be formed by an end of at least one support 33. In this way, by receiving the pushing force along the central axis A1, the roller assembly 30 can be pushed to move in the endless track 10.

In further embodiments, as shown in fig. 4 and 5, the outer profile 13 of the circular track 10 has a square cross section, and four corners 130 of the square are all third arcs; the inspection robot stage 22 includes a stage main body 220 and a plurality of rolling wheels 221 rotatably mounted on the stage main body 220, a cross section of a rolling wheel surface 222 of each rolling wheel 221 is a fourth arc shape, and the plurality of rolling wheels 221 are disposed such that each of the four corners 130 is in contact with at least one rolling wheel 221. The cross section of the outer contour 13 may be rectangular or square. Through the contour design of the third arc and the fourth arc, the platform main body 220 can conveniently roll on the annular track 10, and then the inspection robot 21 is driven to stably move. Although the embodiments shown in fig. 4-5 illustrate embodiments in which inspection robot platform 22 has scroll wheel 221, inspection robot platform 22 may also employ embodiments that do not require scroll wheel 221, e.g., where inspection robot platform 22 is lifted by scroll assembly 30 and directly driven without additional scroll wheels, which are within the scope of the present invention.

In some embodiments, as shown in fig. 2 and 3, the chain segment 23 may be a flexible cable, and one roller assembly 30 is connected between every two flexible cables. In this way, the turning through of the conveyor chain 100A comprising such a flexible cable in a curved track section may be facilitated; in addition, the flexible rope is convenient to manufacture and can reduce cost.

In further embodiments, the flexible cord may be selected from one of a metal cable, a steel wire, an iron wire, a metal chain, a cable. These forms of flexible cord are readily available or custom made and therefore can be cost effective.

In other embodiments, the segments 23 may be rigid segments, with one of the roller assemblies 30 connected between each two of the rigid segments. In this manner, a plurality of roller assemblies 30 may also be connected to form the conveyor chain 100A.

In further embodiments, the rigid segment may be selected from one of a metal rod, a metal bar, a nylon rod, a composite rod. These forms of rigid segments are also readily available or custom made and therefore can be cost effective.

In some embodiments, as shown in fig. 3 and 4, the roller assembly 30 and the track 10 of one embodiment described above may comprise a track assembly 100C. The track 10 of this embodiment may include an interior cavity 11; the cross-section of the interior cavity 11 is generally square with four corners 110 of the square being rounded or chamfered, the interior cavity 11 being sized and shaped such that four rollers 31 in the roller set 30A are in rolling contact with the corresponding four corners 110 and the sides of each roller 31 are not in contact with the walls of the interior cavity 11.

In further embodiments, at least one face of the track 10 of the track assembly 100C is at least partially grooved along its extension; by providing a slot, the connection between inspection robot platform 22 and wheel assembly 30 may be allowed to move through the slot. For example, as shown in fig. 3 and 4, the bottom surface of the rail 10 of the rail assembly 100C is at least partially grooved along its extension. In other embodiments, slots may also be provided in the track side walls.

In some embodiments, the track assembly 100C may be configured as a track assembly for travel by a inspection robot, which may be arranged in a straight line, a curved line, or a combination of straight and curved lines. The track assembly 100C may be arranged in a closed loop or may be arranged in a section.

In some embodiments, as shown in fig. 6, the driving apparatus 100B may include two sprockets 41 and an endless chain 42 engaged around the two sprockets 41, the rotation axes A4 of the two sprockets 41 being substantially parallel, the endless chain 42 having a plurality of pushing assemblies 43 mounted thereon. The plurality of pushing assemblies 43 are arranged at spaced intervals on the endless chain 42. As the endless chain 42 rotates about the two sprockets 41, one of the push assemblies 43 is in push engagement with one of the roller assemblies 30 on the conveyor chain 100A, and the other push assembly 43 adjacent to the one push assembly 43 moves into push engagement with the other roller assembly 30 adjacent to the one roller assembly 30 as the endless chain 42 rotates.

In the driving apparatus 100B of this embodiment, by mounting a plurality of push assemblies 43 arranged at intervals on the endless chain 42, and disposing these push assemblies 43 such that one of the push assemblies 43 can be in push-fit with one of the roller assemblies 30 on the conveyor chain 100A, the other push assembly 43 adjacent to the one push assembly 43 can be moved into push-fit with the other roller assembly 30 adjacent to the one roller assembly 30 with rotation of the endless chain 42, so that the respective roller assemblies 30 of the conveyor chain 100A can be pushed successively, thereby achieving the endless movement of the conveyor chain 100A.

In further embodiments, as shown in fig. 6, 12 and 13, wherein fig. 12 is a schematic perspective view of the driving device 100B shown in fig. 6, and fig. 13 is a schematic front view of the driving device 100B shown in fig. 12; the pushing assembly 43 is provided with a guide post 48 perpendicular to the moving direction A5 of the endless chain 42 and substantially parallel to the rotation axis A4; and, the driving apparatus 100B further includes a linear guide rail 50 disposed along a length of the endless chain 42A between the two rotation axes A4 for guiding the guide post 48 passing through the linear guide rail 50 to move in a straight line. The guide posts 48 on each pushing assembly 43 may be one, two or more; when one is adopted, the guide post 48 can be in sliding fit with the linear guide rail 50 through a plane, so that the direction of the pushing component 43 can be positioned to be always perpendicular to the moving direction A5, and inclination caused by acting force opposite to the applied pushing force is avoided; when two or more guide posts 48 are employed, they may be disposed along the moving direction A5, and a cylinder may be employed, whereby the same guide effect may be achieved. It will be readily appreciated that by providing a linear guide track 50, the guide post 48 passing through the linear guide track 50 can be guided to move in a straight line, which in turn guides the pushing assembly 43 to which the guide post 48 is attached and the length of endless chain 42A to move in a straight line as well, and ultimately promotes stable movement of the endless chain 42.

In further embodiments, as shown in fig. 6 and 12, the linear guide rail 50 includes a positioning portion 51 and a guide portion 52, and the positioning portion 51 is fixedly connected to the guide portion 52 and is used for fixedly disposing the guide portion 52. For example, the positioning portion 51 may be fixed to a base that carries two sprockets 41. In this manner, the guide 52 may be fixedly disposed relative to the endless chain 42, thereby facilitating guiding of the guide post 48 and the length of endless chain 42A.

In further embodiments, as shown in fig. 12 and 13, the guide 52 includes two guide rods 53, the two guide rods 53 defining a linear guide slot 54 therebetween, the linear guide slot 54 receiving and guiding the guide post 48. By defining the linear guide groove 54 with the two guide rods 53, not only can the guide function be achieved, but also the member can be conveniently manufactured, and the material can be saved. In other embodiments, the guide portion may be formed by forming a linear guide groove in an integral plate member.

In further embodiments, as shown in fig. 12 and 14, fig. 14 is a schematic left-hand view of the driving device 100B shown in fig. 12; the guide posts 48 are disposed on both sides of the pushing assembly 43, and the linear guide rails 50 simultaneously guide the guide posts 48 on both sides of the pushing assembly 43. Correspondingly, two guide rods 53 may also be provided on the other side of the length of endless chain 42A and define a linear guide slot 54 therebetween. Thus, by simultaneously guiding the guide posts 48 on both sides of the push assembly 43 by the linear guide rail 50, the guiding action can be made more stable, preventing the push assembly 43 from swinging left and right, that is, from rotating about the moving direction A5.

In some embodiments, the number of the plurality of pushing assemblies 43 is at least two, for example, two, three, four, etc. The plurality of pushing assemblies 43 may be arranged substantially equally spaced on the endless chain 42. When two pushing assemblies 43 are employed, wherein a first pushing assembly 43 is moved into pushing engagement with one of the roller assemblies 30 on the conveyor chain 100A, a second pushing assembly 43 can be moved into pushing engagement with the other roller assembly 30 adjacent to the one roller assembly 30 as the endless chain 42 rotates; when the second pushing component 43 moves to be disengaged from the other roller component 30, the first pushing component 43 moves to be in pushing engagement with the other roller component 30 adjacent to the other roller component 30, so that each roller component 30 of the conveying chain 100A can be pushed successively, and the circulating movement of the conveying chain 100A is realized.

In further embodiments, the plurality of pushing assemblies 43 are arranged substantially equally spaced on the endless chain 42, wherein a spacing between adjacent two of the pushing assemblies 43 substantially corresponds to a spacing between adjacent two of the roller assemblies 30. The number of the plurality of pushing assemblies 43 is at least three, for example, three, four or more. In the embodiment shown in fig. 12 and 13, the number of the plurality of pushing assemblies 43 is four. The number of the pushing members 43 is not limited as long as the circulating pushing of the conveyor chain 100A by the pushing members can be achieved in the present application.

In further embodiments, as shown in fig. 13, the pushing assembly 43 includes a mounting portion 45 and a pushing rod portion 46, the mounting portion 45 may be fixed to the endless chain 42 by welding, anchoring, or the like, and the pushing rod portion 46 is fixed to the mounting portion 45 and extends outward of the endless chain 42 perpendicular to the moving direction of the endless chain 42. The push rod portion 46 and the mounting portion 45 may be integrally formed members or may be assembled in a two-piece split structure. The guide post 48 may be fixed to the mounting portion 45 or may be fixed to the push rod portion 46.

In further embodiments, as shown in fig. 13, the spacing of the pushrod portions 46 of two adjacent pushing assemblies 43 is equal to or slightly greater than the sum of the length of one roller assembly 30 and the distance between two adjacent roller assemblies 30. In this manner, continuous movement of the conveyor chain 100A may be achieved by the plurality of roller assemblies 30 on the conveyor chain 100A being continuously pushed by the pushing assembly 43 as the endless chain 42 is cycled.

In further embodiments, as shown in fig. 12 and 13, the pushing assembly 43 includes two fingers 44, each finger 44 including a mounting portion 45 and a push rod portion 46, the mounting portion 45 being fixed to the endless chain 42, the push rod portion 46 being fixed to the mounting portion 45 and extending outward of the endless chain 42 perpendicular to the direction of movement of the endless chain 42. A receiving space 47 is formed between the two push rod portions 46 of the pushing assembly 43, and the receiving space 47 is used for receiving a pushed portion of the roller assembly 30, i.e. the support frame 32. By having each pushing assembly 43 include two fingers 44, two fingers 44 can clamp two ends of the support 32, so that the pushing assemblies 43 can be more precisely matched with the support 32; in addition, driving of the endless chain 42 in two different directions is also easily achieved.

In further embodiments, as shown in fig. 12 and 13, the distance between the forward finger 44 in each pushing assembly 43 and the forward finger 44 in the other pushing assembly 43 adjacent to said each pushing assembly 43 is fixed in the direction of movement A5 of said endless chain 42. Since the aforementioned conveyor chain 100A includes the plurality of segments 23 and the plurality of roller assemblies 30 coupled to the segments 23 at intervals, the distance between the forward finger 44 in each push assembly 43 and the forward finger 44 in the other push assembly 43 adjacent to the each push assembly 43 is set to be fixed, and the sequential precise engagement of the push assemblies 43 with the plurality of roller assemblies 30 can be achieved.

As shown in fig. 12 and 14, the push assembly 43 may provide a relief design in the form of, for example, relief notches 44A in the design of fingers 44, for example, the relief notches 44A may be defined by two fingers 44 having a lateral spacing from one another that is greater than the lateral width of the chain segment 23, but less than the lateral width of the roller assembly 30. The relief notches 44A are configured to avoid interference between the push assembly 43 and the chain segment 23 on the conveyor chain 100A when the push assembly 43 is in push engagement with the roller assembly 30. Of course, the relief notch 44A may be of other suitable forms, such as provided by a notched finger 44, etc., and are within the scope of the present inventive concept.

In further embodiments, as shown in fig. 12 and 14, the driving device 100B further includes a motor 49, wherein at least one of the two sprockets 41 is a driving wheel driven by the motor 49. By employing the motor 49 to drive the sprocket 41, automated control can be facilitated. To enhance the power output, two motors 49 may be used to drive the two sprockets 41, respectively.

In some embodiments, the motor 49 is a servo motor, wherein the servo motor 49 is configured to drive the drive wheel clockwise and counterclockwise such that the pushing assembly 43 on the endless chain 42 can push the roller assembly 30 forward and backward. By using a servo motor, an encoder may be provided in the servo motor, and the number of revolutions N of the motor may be determined using the encoder. In other embodiments, the motor 49 may also be a stepper motor.

In further embodiments, as shown in fig. 6, the annular track 10 is provided with a relief groove 140, and the relief groove 140 is used to allow the pushing component 43 to enter the inner cavity 11 to push the roller component 30. The relief groove 140 may be formed in the track top wall 14 of the annular track 10, which may be an elongated groove, so long as the push assembly 43 is allowed to enter the interior cavity 11 of the annular track 10 without impeding movement of the push assembly 43 relative to the annular track 10.

In some embodiments, the present application also provides a linear driving method. The linear driving method includes: providing a drive device 100B according to any one of the above embodiments; each guide post 48 is sequentially passed through the linear guide rail 50 so that the guide posts 48 therein are guided to move in a straight line by the linear guide rail 50.

In further embodiments, as shown in connection with fig. 6, the linear drive method is used to drive the conveyor chain 100A with the roller assemblies 30.

In further embodiments, as shown in connection with fig. 1, 2 and 6, a patrol robot 21 is mounted on the conveyor chain 100A, wherein the linear driving method simultaneously drives the patrol robot 21 mounted thereon to travel along the path of the conveyor chain 100A by driving the conveyor chain 100A to run.

In further embodiments, as shown in fig. 3 and 4, the circular track 10 is provided with an elongated slot 15 along the extension direction of the circular track 10 at a wall portion designed to allow passage of the inspection robot platform 22. For example, the circular track 10 includes a track bottom wall 15, the track bottom wall 15 may have the elongated slot 150 formed therein, and at least a portion of the elongated slot 150 is preferably offset to the side, for example, in an uphill turn design, to allow for cantilever rollers during uphill turns; of course, the slot 150 may also be at least partially generally centrally disposed, or at least partially offset to one side, depending on particular design considerations, for example, in some cases. The slot 150 may be looped along the endless track 10 to allow the connection between the inspection robot platform 22 and the trolley assembly 30 to move through the slot 150. In other embodiments, the slot 150 may also be formed in the track side wall.

In some embodiments, as shown in fig. 15 to 17, wherein fig. 15 is a partial structural schematic view of the curved track section 16 and the straight track section 12 in the inspection robot system 100 according to an embodiment of the present invention, fig. 16 is a schematic view of the cooperation of the curved track section 16 and the straight track section 12 with the chain segment 23 and the roller assembly 30 in the inspection robot system 100 according to an embodiment of the present invention, and fig. 17 is a partial enlarged schematic view in fig. 16; the annular track 10 includes a straight track segment 12 extending in a straight line and a curved track segment 16 extending in a curved line, the curved track segment 16 having a curved interior cavity 11A and track outer and inner track side walls 160 and 161 opposite each other; and a plurality of rolling support wheels 24 are rotatably mounted relative to the curved track section 16 for at least partially replacing the track inner side wall 161, some or all of the plurality of rolling support wheels 24 being for rolling support of the chain segments 23 moving past the track inner side wall 161. Wherein the curved track section 16 is at least partially grooved or hollowed out at the location of the track inner side wall 161 where the plurality of rolling support wheels 24 are disposed. It is noted herein that the straight track section 12 extending in a straight line and the curved track section 16 extending in a curved line may constitute a curved track assembly 100D.

In this embodiment, by providing a plurality of rolling support wheels 24 on the curved track section 16, and some or all of the plurality of rolling support wheels 24 are provided for rolling support of the segments 23 moving past the inner side wall 161 of the track, contact and friction of the segments 23 past the curved track section 16 with the curved track section 16, and thus damage to components due to friction, can be prevented.

In other embodiments, the plurality of rolling support wheels 24 at least partially replace both the track inner side wall 161 and the track outer side wall 160, and the curved track section 16 is at least partially grooved or hollowed out where the track inner side wall 161 and the track outer side wall 160 of the plurality of rolling support wheels 24 are disposed.

In further embodiments, as shown in fig. 17, at least a portion of the support surfaces of the plurality of rolling support wheels 24 protrude inboard of the track inner side wall 161 of the curved track section 16. In this way, the segment 23 can be supported by the plurality of rolling support wheels 24 inside the track inner side wall 161 without exposing the segment 23 to the curved track section 16, so that a protective effect can be provided. In other embodiments, the support surface of at least a portion of the plurality of rolling support wheels 24 may be flush with the track inner side wall 161 of the curved track section 16; alternatively, at least a portion of the support surface of the plurality of rolling support wheels 24 may be located outside the curved interior cavity 11A.

In some embodiments, the plurality of rolling support wheels 24 are directly and rotatably mounted on the curved track section 16. For example, the rotational axis of the rolling support wheels 24 may be mounted directly to the curved track section 16.

In other embodiments, as shown in fig. 15-18, wherein fig. 18 is an enlarged schematic view of the rolling support wheels 24 and the mounts 25 for the rolling support wheels 24 on the curved track section 16 shown in fig. 15; the inspection robot system 100 includes a mount 25, the mount 25 being fixedly mountable to the curved track section 16 by welding, screws, or the like, the plurality of rolling support wheels 24 being rotatably mounted to the mount 25, and each rolling support wheel 24 partially protruding into the curved interior cavity 11A. In some embodiments, the mount 25 is removably fixedly mounted to the curved track section 16 for ease of maintenance and replacement.

In further embodiments, as shown in fig. 15 to 17, the fixing frame 25 includes a middle plate 250 and two side plates 251, the middle plate 250 is fixedly installed on the rail inner side wall 161, and the two side plates 251 extend perpendicularly away from the rail inner side wall 161 from both sides of the middle plate 250; and, each rolling support wheel 24 is disposed between the two side plates 251 through a rotation shaft 26 connected to the two side plates 251. In this way, it is possible to facilitate the first mounting of a plurality of rolling support wheels 24 on the mounting bracket 25, and then the mounting bracket 25 on the curved track section 16.

In further embodiments, as shown in fig. 19, wherein fig. 19 is an enlarged schematic view of the curved track section 16 and the rolling support wheels 24 thereon shown in fig. 15; the inner side wall 161 of the rail is provided with a side wall through hole 162 at least at the position corresponding to each rolling support wheel 24, and the middle plate 250 is provided with a through hole 252 at least at the position corresponding to each rolling support wheel 24, so that a part of each rolling support wheel 24 sequentially passes through the through hole 252 and the side wall through hole 162 and stretches into the curved inner cavity 11A.

In further embodiments, as shown in fig. 1, the curved track section 16 may extend in a horizontal direction or in a vertical direction; alternatively, the curved track section 16 may extend in a direction that is inclined relative to the horizontal; further, the curved track section 16 may include various combinations of the three foregoing extensions. In combination with the design of the rolling support wheels 24 described above, the endless track 10 of the present application may have a variety of curved arrangements to accommodate complex venues.

In some embodiments, the present application also provides a position determining method for determining a real-time position of the inspection robot 21 in the inspection robot system 100 according to any of the foregoing embodiments, wherein the driving device 100B includes a servo motor and a sprocket 41 having a diameter D, the servo motor driving the sprocket 41 to rotate, the method comprising: determining an initial position of the inspection robot 21 on the conveyor chain 100A before starting movement; the driving device 100B drives the conveying chain 100A to drive the inspection robot 21 to move from the initial position, and obtains the number of revolutions N of the servo motor after the inspection robot 21 starts to move from the initial position; the distance that the inspection robot 21 starts to move from the initial position is calculated by the rotation number N and the diameter D, and thus the real-time position of the inspection robot 21 on the conveyor chain 100A is determined.

In the position determining method of this embodiment, by using the servo motor, the distance that the inspection robot 21 starts to move from the initial position can be calculated according to the number of revolutions N of the servo motor and the diameter D of the sprocket 41, so as to determine the real-time position of the inspection robot 21 on the conveyor chain 100A, so as to facilitate tracking and positioning of the inspection robot 21.

The basic idea of the present invention is described above in connection with the embodiments. Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention.

Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (18)

1. A conveyor chain for conveying inspection robots, the conveyor chain comprising:

A plurality of segments; and

the plurality of roller assemblies and the plurality of chain segments are sequentially and alternately connected.

2. The conveyor chain of claim 1, wherein,

each chain segment is permanently or detachably connected with the two roller assemblies at the two ends of the chain segment.

3. The conveyor chain of claim 1, wherein said chain segments are flexible cords, one said roller assembly being connected between each two of said flexible cords.

4. A conveyor chain as in claim 3 wherein the flexible rope is selected from at least one of a metal cable, a steel wire, an iron wire, a metal chain, a cable.

5. The conveyor chain of claim 1, wherein said segments are rigid segments, one said roller assembly being connected between each two of said rigid segments.

6. The conveyor chain of claim 5, wherein the rigid segments are selected from at least one of metal rods, metal bars, nylon rods, composite rods.

7. The conveyor chain of claim 1, wherein,

the plurality of roller assemblies are disposed substantially equidistant on the conveyor chain; and is also provided with

The plurality of roller assemblies and the plurality of chain segments are connected to form a closed loop.

8. The conveyor chain of claim 1, wherein the roller assembly comprises:

a support frame having a central axis; and

each roller group comprises four rollers, and each roller in the at least one roller group is rotatably arranged on the support frame;

wherein four rollers of each roller set are arranged for rolling contact with four rounded or chamfered corners of the inner cavity, respectively, having a substantially square cross section.

9. The conveyor chain of claim 8, wherein,

the rotating shafts of the four rollers in each roller group are aligned or staggered along the central axis.

10. The conveyor chain of claim 8, wherein,

two rollers in each roller group are respectively positioned at two sides of the central axis, and the rotating shafts of the rollers in the two rollers are perpendicular to a first plane where the central axis is positioned; the other two rollers in each roller group are respectively positioned at two sides of the central axis, and the rotating shafts of the rollers in the other two rollers are perpendicular to a second plane where the central axis is positioned; the second plane intersects the first plane.

11. The conveyor chain of claim 10, wherein the conveyor chain comprises a plurality of conveyor chains,

the second plane is perpendicular to the first plane.

12. The conveyor chain of claim 8, wherein,

the roller assembly includes two roller sets disposed along the central axis.

13. The conveyor chain of claim 8, wherein,

the support frame is of an integrated structure or is formed by assembling a plurality of components.

14. The conveyor chain of claim 8, wherein,

the support frame comprises four support pieces, each support piece is located between two adjacent rollers in each roller group, and one end of a rotating shaft of each roller in the two adjacent rollers is fixed on one support piece.

15. The conveyor chain of claim 14, wherein the conveyor chain comprises a plurality of conveyor chains,

each support extends in a direction substantially parallel to the central axis, and each support includes a bottom plate and two side plates respectively connected to both sides of the bottom plate; and is also provided with

One end of the rotating shaft of one roller is fixed on the side plate of one corresponding supporting piece, and the other end of the rotating shaft of the one roller is fixed on the side plate of the other corresponding supporting piece.

16. The conveyor chain according to any one of claims 1-15, wherein the conveyor chain is a conveyor chain for a carrier tape inspection robot.

17. A roller assembly, comprising:

a support frame; and

at least one roller, each roller is rotatably installed on the support frame around a rotating shaft;

at least one end of the support frame is connected with a chain segment, the chain segment is any one of a flexible segment and a rigid segment, and the chain segment is connected with the support frame in a detachable connection or permanent connection mode.

18. The roller assembly of claim 17, wherein the flexible segment is selected from at least one of a metal cable, a steel wire, an iron wire, a metal chain, a cable; and is also provided with

Wherein the rigid segments are selected from at least one of metal rods, metal strips, nylon rods, composite rods.