CN218659174U - Non-load-bearing tandem type conveying chain, track assembly and inspection robot system - Google Patents

Abstract

The utility model relates to a tandem transfer chain, track subassembly and the robot system that patrols and examines of non-heavy burden. The non-load bearing in-line conveyor chain comprises: a plurality of first chain segments each equipped with a single first roller and a single second roller arranged in series along the longitudinal extension direction of the conveyor chain; a plurality of second chain segments, each of which is provided with one or two rollers; the plurality of first chain segments and the plurality of second chain segments are alternately movably connected to form a non-load-bearing tandem type conveying chain; the rotation axes of the first roller and the second roller are orthogonal or parallel to each other, and the rotation axis of the first roller or the second roller on the first chain section and the rotation axis of one roller of the adjacent second chain section are orthogonal to each other; in the first segment and the second segment connected to each other, the second segment is arranged to be rotatable relative to the first segment at least about an axis parallel to one of the rotation axes orthogonal to each other to have a straight state and an inclined state relative to the first segment.

Description

Non-load-bearing tandem type conveying chain, track assembly and inspection robot system

Technical Field

The utility model relates to a robot technical field is patrolled and examined to the track, concretely relates to tandem type transfer chain, track subassembly and patrol and examine robot system for the robot is patrolled and examined in the conveying.

Background

The inspection work of long distance or complicated place such as piping lane, colliery is the foundation and the important guarantee of place safety. Due to the reasons of multiple monitoring projects, long lines and the like, particularly severe environmental conditions, strong closure, multiple structures and inconvenient communication of the overlong pipe gallery, 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 ensure.

Because the robot has basic characteristics of perception, decision, execution and the like, the robot can assist and even replace the dangerous, heavy and complex work of routing inspection, and the work efficiency and the quality are improved.

When the inspection robot works, the inspection robot usually moves on a track along a fixed running path by taking a track platform as a carrier, and monitors the environment needing to be inspected. With the technological progress and the increasing demand, rail inspection robots are also used in many places, such as factories, breeding plants, intelligent farms, municipal pipe galleries, underground coal mines and the like.

However, in the conventional track inspection robot system, a transmission chain and a track assembly related to a transmission mode of the robot have the conditions of complicated structure, difficult maintenance and high cost. The existing track inspection robot system also has the defects of derailment, slipping (commonly called as galloping), climbing difficulty and the like.

The utility model discloses the urgent need for the modified conveying chain and the track subassembly in patrolling and examining robot system to alleviate or eliminate above-mentioned technical defect and other technical shortcoming even.

The information included in this background section of the specification, including any references cited herein and any descriptions or discussions thereof, is included for technical reference purposes only and is not to be considered subject matter which would limit the scope of the present invention.

SUMMERY OF THE UTILITY MODEL

The present invention has been made in view of the above-mentioned and other more numerous concepts.

According to the utility model discloses an in addition aspect's design still provides a tandem transfer chain that is not heavy burden for the robot is patrolled and examined in the conveying, and this tandem transfer chain that is not heavy burden includes: a plurality of first chain segments, each of which has a single first roller and a single second roller mounted thereon, the first and second rollers being arranged in tandem along a longitudinal extension direction of the conveyor chain; a plurality of second chain segments, each of which is provided with one or two rollers; wherein the plurality of first chain segments and the plurality of second chain segments are alternately movably connected to form the non-load-bearing tandem conveyor chain; wherein the rotational axes of the first and second rollers are orthogonal or parallel to each other, and the rotational axis of the first or second roller on the first chain segment and the rotational axis of one of the rollers of the adjacent second chain segment are orthogonal to each other; wherein, in the first and second chain segments connected to each other, the second chain segment is arranged to be rotatable relative to the first chain segment at least about an axis parallel to one of the mutually orthogonal rotational axes to have a straightened state and a tilted state relative to the first chain segment.

According to an embodiment, the first and second segments are rigid segments.

According to an embodiment, the first chain segment and the first and second rollers mounted thereon are selected from at least one of the following combinations:

the main body of the first chain segment is integrally composed of a first plate bracket and a second plate bracket which are orthogonal or parallel to each other and are arranged in series along the longitudinal direction of the conveyor chain, the first roller is installed at the interval between the two plates of the first plate bracket, the second roller is installed at the interval between the two plates of the second plate bracket, and the rotation axes of the first and second rollers are orthogonal or parallel to each other; and

the main body of the first chain segment is integrally composed of a first outer convex sheet bracket and a second outer convex sheet bracket which are orthogonal or parallel to each other and are arranged in series along the longitudinal direction of the conveying chain, the first roller is installed at the interval between the two outer convex sheets of the first outer convex sheet bracket, the second roller is installed at the interval between the two outer convex sheets of the second outer convex sheet bracket, and the rotating axes of the first roller and the second roller are orthogonal or parallel to each other.

According to an embodiment, one or both of the first and second rollers have a widened roller face.

According to one embodiment, the second chain segment and the roller mounted thereon are selected from at least one of the following combinations:

the main body of the second chain segment is integrally composed of a third flat plate bracket and a fourth flat plate bracket which are orthogonal to each other and are arranged in series along the longitudinal direction of the conveyor chain, a third roller is installed at the interval between the two flat plates of the third flat plate bracket, a fourth roller is installed at the interval between the two flat plates of the fourth flat plate bracket, and the rotation axes of the third and fourth rollers are orthogonal to each other or parallel to each other;

the main body of the second chain segment is integrally formed by a third outer convex sheet bracket and a fourth outer convex sheet bracket which are orthogonal to each other and are arranged in series along the longitudinal direction of the conveying chain, a third roller is installed at the interval between the two outer convex sheets of the third outer convex sheet bracket, a fourth roller is installed at the interval between the two outer convex sheets of the fourth outer convex sheet bracket, and the rotating axes of the third roller and the fourth roller are orthogonal to each other or parallel to each other;

the main body of the second chain segment is composed of two outer lugs or two flat plates which extend in parallel in the longitudinal direction of the conveyor chain and are spaced apart from each other, and a roller is mounted at the space between the two outer lugs or the two flat plates or a roller is mounted on each of the two outer sides of the two outer lugs or the two flat plates;

the second chain segment is a single plate extending in the longitudinal direction of the conveyor chain, on both sides of which two rollers are coaxially mounted, or on one side of which a single roller is mounted.

According to one embodiment, the construction and arrangement of the first chain segment and the rollers thereon is the same as the construction and arrangement of the adjacent second chain segment and the rollers thereon.

According to one embodiment, the first chain segment is vertically connected with the rotating shafts of the first roller and the second roller; the second chain segment is vertically connected with a rotating shaft of the roller.

According to one embodiment, every two adjacent first chain segments and second chain segments are movably connected by a movable joint, wherein the first chain segments are movably connected with the first end of the joint by a first pivot shaft, and the first pivot shaft vertically penetrates through the first chain segments; the second chain segment is movably connected to the second end of the joint by a second pivot that extends perpendicularly through the second chain segment, wherein the first pivot is substantially perpendicular to the second pivot.

According to an embodiment, the distance between every two adjacent first chain segments is fixed and equal.

According to an embodiment, the plurality of first segments and the plurality of second segments are alternately connected to form a closed loop.

According to the utility model discloses an on the other hand's conception still provides a track subassembly, include: a non-load bearing tandem conveyor chain as described above; the track comprises an inner cavity, and the cross section of the inner cavity is square; wherein the non-load bearing in-line conveyor chain is disposed in and runs within the interior cavity of the track.

An inspection robot system is also provided, which comprises the track assembly and an inspection robot driven to move along the track assembly.

Further embodiments of the present invention are also capable of achieving other advantageous technical effects not listed, which other technical effects may be described in part hereinafter, and which are anticipated and understood by those skilled in the art upon reading the present invention.

Drawings

The above features and advantages 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 structural view of a part of a tandem transmission chain according to a first embodiment of the present invention.

Fig. 2 is a schematic structural view of a part of a tandem transmission chain according to a second embodiment of the present invention.

Fig. 3 is a schematic structural view of a part of a tandem transmission chain according to a third embodiment of the present invention.

Fig. 4 is a schematic structural view of a portion where a conveyor chain and a rail according to a fourth embodiment of the present invention are assembled together.

Fig. 5 is a schematic structural view of a part of a conveyor chain according to a fifth embodiment of the present invention.

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 embodiments illustrated and described 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 following drawings. The illustrated embodiments are capable of other embodiments and of being practiced or of being carried out in various ways. Examples are provided by way of explanation of the disclosed embodiments, not limitation. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the scope or spirit of the disclosure. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. Accordingly, the present disclosure covers such modifications and variations as come 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 otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may include, for example, fixed and removable connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated and defined, the term "load bearing" is to be understood in a narrow sense, meaning in the present invention that the conveyor chain is purposefully designed to carry and convey heavy objects, such as goods, articles, machines, parts, etc., during operation, where "heavy objects" does not include light inspection equipment, devices, etc., such as inspection robots, cameras, sensing devices, and mounting brackets or platforms therefor. By "weighted" conveyor chain is meant that the conveyor chain is purposefully designed to carry and transport such "heavy" loads, and therefore its chain segments, rollers, and their size and configuration are designed to take this into account. The term "non-load bearing" conveyor chain means that the conveyor chain is purposefully designed to take into account only light objects such as carrier tapes and conveying inspection robots, and not the "weight" load factor, so that the structure and size of the conveyor chain can be designed to achieve the advantages of light weight, simplicity, less impact and noise during operation, low cost, zero load or extremely low load design, and the like.

The present invention will now be described in more detail with reference to a number of specific embodiments thereof.

In general, inspection robot systems, as described by the present inventors in previous patents, may generally include an endless track, an inspection robot platform, a conveyor chain and drive means, and the like. The conveying chains are generally connected into a closed ring shape and are arranged in the ring-shaped track; the driving device is fixedly arranged at a certain position relative to the annular track and is used for driving the transmission chain to rotate circularly in the annular track; the inspection robot platform is connected with the transmission chain and is arranged to move along the annular track; the inspection robot is installed on the inspection robot platform to move together with the inspection robot platform.

According to the utility model discloses a transfer chain be used for the carrier band to patrol and examine the transfer chain of robot. Inspection robots are lightweight devices compared to prior art techniques for carrying heavy objects such as goods, equipment, devices, etc., so inspection robot conveyor chains can be relatively simple, lightweight, and less expensive to design, as further described below.

First embodiment

As shown in fig. 1, fig. 1 is a schematic structural diagram of a part of a serial transmission chain according to a first embodiment of the present invention.

As shown in fig. 1, the conveyor chain of this embodiment includes a plurality of alternating and movably connected first and second segments. On a first chain segment in the form of a double plate support consisting of two juxtaposed plates, there are provided two first rollers 210A and 110B arranged in series along the longitudinal direction of the conveyor chain. The first rollers 110A and 110B are each movably connected to the first chain segment by a shaft passing vertically through the dual plate carrier and are rotatable about first and second axes of rotation A1 and A2, respectively. The first and second axes of rotation A1 and A2 are parallel to each other.

On a second chain segment, for example in the form of a double plate carrier, two second rollers 120A and 120B are mounted, arranged in series along the longitudinal direction of the conveyor chain. The second rollers 120A and 120B are each movably connected to the second chain segment by a pivot shaft passing perpendicularly through the dual plate carrier and are rotatable about third and fourth axes of rotation A3 and A4, respectively. The third and fourth axes of rotation A3 and A4 are orthogonal to each other. The second roller 120B may have a widened roller face as shown.

As shown in fig. 1, adjacent first chain segments and second chain segments may be movably connected by a movable joint 130. At an end of the articulation 130 near the first chain segment, a first pivot 112 is provided, the pivot axis of which first pivot 112 may be parallel to the first axis of rotation A1. At the other end of the articulation 130 near the second chain segment, a second pivot 122 is provided, the pivot axis of which second pivot 122 may be parallel to the third axis of rotation A3. The first pivot 112 and the second pivot 122 may be rivet structures, so that the connection of the two components and the relative pivoting between the two components can be realized. In this way, when these components are assembled, not only is it naturally possible to achieve that the first rollers at both ends of the articulated joint 130 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segment is rotated relative to the first chain segment at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that the adjacent first chain segment and second chain segment can assume a straightened state and an inclined state relative to each other, so that a smooth passage of the conveyor chain on the horizontally curved track section and the vertically curved track section of the endless track is achieved.

Second embodiment

As shown in fig. 2, fig. 2 is a schematic structural diagram of a part of a serial transmission chain according to a second embodiment of the present invention. The embodiment of FIG. 2 is generally similar to the embodiment of FIG. 1, except that the second segment is connected to the first segment at an opposite end from the embodiment of FIG. 1.

As shown in fig. 2, the conveyor chain of this embodiment includes a plurality of first and second segments that are alternately and movably connected. On a first chain segment in the form of a double plate support consisting of two juxtaposed plates, there are provided two first rollers 210A and 210B arranged in series along the longitudinal direction of the conveyor chain. The first rollers 210A and 210B are each movably connected to the first chain segment by a pivot shaft passing perpendicularly through the dual plate carrier to rotate about first and second axes of rotation A1 and A2, respectively. The first and second axes of rotation A1 and A2 are parallel to each other.

On a second chain segment, for example in the form of a double plate carrier, two second rollers 220A and 220B are mounted, arranged in series along the longitudinal direction of the conveyor chain. The second rollers 220A and 220B are each movably connected to the second chain segment by a pivot shaft passing perpendicularly through the dual plate carrier and are rotatable about third and fourth axes of rotation A3 and A4, respectively. The third and fourth axes of rotation A3 and A4 are orthogonal to each other. The second roller 220B may have a widened roller face as shown.

As shown in fig. 2, adjacent first chain segments and second chain segments may be movably connected by a movable joint 230. At an end of the articulation joint 230 near the first chain segment, a first pivot 212 is provided, and a pivot axis of the first pivot 212 may be parallel to the first rotation axis A1. At the other end of the articulation joint 230 near the second chain segment, a second pivot 222 is provided, the pivot axis of which second pivot 222 may be parallel to the fourth axis of rotation A4. The first pivot 212 and the second pivot 222 can each be a rivet structure, thereby enabling both the connection of the two components and the relative pivoting between the two components. In this way, when these components are assembled, not only is it naturally possible to achieve that the first rollers at both ends of the articulated joint 230 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segments are rotated relative to the first chain segments at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that adjacent first chain segments and second chain segments can assume a straightened state and an inclined state relative to each other, so that a smooth passage of the conveyor chain over horizontally curved track segments and vertically curved track segments of the endless track is achieved.

Third embodiment

As shown in fig. 3, fig. 3 is a schematic structural diagram of a part of a conveyor chain according to a third embodiment of the present invention.

As shown in FIG. 3, the conveyor chain of this embodiment includes a plurality of alternating and movably connected first and second chain segments 314A-314B, 324A-324B. On a first chain segment 314A-314B in the form of a double plate carrier consisting of two juxtaposed plates, there are provided two first rollers 310 and 312 arranged in series along the longitudinal direction of the conveyor chain. The first rollers 310 and 312 are each movably connected to the first chain segment by spindles 311 and 313 vertically penetrating the dual plate holder to be rotatable about first and second rotation axes A1 and A2, respectively. The first and second axes of rotation A1 and A2 are parallel to each other.

On the second chain segments 324A-324B, for example in the form of double plate carriers, two second rollers 320 and 322 are mounted, arranged in series along the longitudinal direction of the conveyor chain. The second rollers 320 and 322 are each movably connected to the second chain segment by shafts 321 and 323 passing perpendicularly through the dual plate holder, and are rotatable about third and fourth axes of rotation A3 and A4, respectively. The third and fourth axes of rotation A3 and A4 are parallel to each other. The second rollers 320 and 322 may have widened roller faces as shown.

As shown in FIG. 3, adjacent first chain segments 314A-314B and second chain segments 324A-324B may be movably connected by a living joint 330. At an end of the articulation joint 330 proximate the first chain segments 314A-314B, a first pivot shaft 315 is provided, and the pivot axis of the first pivot shaft 315 may be parallel to the first axis of rotation A1. At the other end of the articulation joint 330, adjacent to the second chain segments 324A-324B, a second pivot 325 is provided, the pivot axis of which second pivot 325 may be parallel to the third axis of rotation A3. The first pivot 315 and the second pivot 325 may each be a rivet structure, thereby enabling both the connection of the two components to which they are respectively connected and the relative pivoting between the two components. In this way, when these components are assembled, not only is it naturally possible to achieve that the first rollers at both ends of the articulated joint 330 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segments 324A-324B are rotated relative to the first chain segments 314A-314B at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that adjacent first chain segments and second chain segments can assume a straightened state and an inclined state relative to each other, so that a smooth passage of the conveyor chain over horizontally curved track segments and vertically curved track segments of the endless track is achieved.

Fourth embodiment

As shown in fig. 4, fig. 4 is a schematic structural view of a part of a tandem transmission chain according to a fourth embodiment of the present invention assembled with a rail 440.

More specifically, the conveyor chain shown in FIG. 4 includes a plurality of alternating and articulated first segments 414A-414B and second segments 424A-424B. The first chain segments 414A-414B are first chain segments formed integrally (or may be fixedly attached or assembled) from two dual plate carriers 414A and 414B that are orthogonal to each other and are oriented in tandem along the longitudinal direction. The first roller 410 is positioned substantially symmetrically about a longitudinal center line of symmetry (not shown) in the space between the first double plate carrier 414A on the left side of the first chain segment 414A-414B as viewed in fig. 4, which facilitates counterweight balancing and smooth travel of the conveyor chain. The first roller 410 has a widened roller face, for example two juxtaposed roller faces 413A and 413B as shown in figure 4, so that its roller faces 413A-413B are widened relative to the general roller face, but the roller is a roller rather than two juxtaposed rollers, which facilitates a balanced arrangement of the entire first segment after installation. The roller 410 is pivotally connected to the left side of the first chain segments 414A-414B by a pivot 411 extending perpendicularly through the first dual plate bracket 414A and is rotatable about a second axis of rotation A2.

In the space in the middle of the second double plate support 414B, also in the form of a double plate support, on the right side of the first chain section 414A-414B in fig. 4, a second roller 415 is positioned substantially symmetrically about a longitudinal centre line of symmetry (not shown in the figures), the second roller 415 being arranged in the space in the middle of the second double plate support 414B and being positioned substantially symmetrically about the longitudinal centre line of symmetry, facilitating counterweight balancing and smooth running of the conveyor chain. The single second roller 415 is movably connected to the second chain segment by a shaft 412 passing vertically through the second dual flat bracket 414B and is rotatable about a second axis of rotation A2. The second axis of rotation A2 and the second axis of rotation A2 are orthogonal to each other, and thus, in the first chain segments 414A-414B, the dual plate supports 414A and 414B are positioned orthogonal to each other, and the first and second rollers 410 and 415 are positioned orthogonal to each other.

The configuration of the second chain segments 424A-424B and the configuration and mounting orientation of the second rollers 420 and 425 thereon are the same as the configuration of the first chain segments and the configuration and mounting orientation of the rollers thereon, and thus are not described in detail. Specifically, in the second chain segments 424A-424B, the dual plate holders 424A and 424B are positioned orthogonally to each other and on which the third and fourth rollers 420 and 425 are mounted by the turning shafts 421 and 421, respectively, and the third and fourth rollers 420 and 425 are positioned orthogonally to each other, the fourth rotation axis A4 and the third rotation axis A3 being orthogonal to each other.

The conveyor chain formed by the alternating and articulating first segments 414A-414B and second segments 424A-424B with one another is mounted to travel in a substantially closed track 440.

As shown in FIG. 4, adjacent first segments 414A-414B and second segments 424A-424B may be movably connected by a living joint 430. At an end of the articulation joint 430 proximate to the first links 414A-414B, a first pivot 416 is provided, and the pivot axis of the first pivot 416 may be parallel to the second axis of rotation A2. At the other end of the articulation joint 430, proximate the second chain segments 424A-424B, is a second pivot 426, the pivot axis of which second pivot 426 may be parallel to the third axis of rotation A3. Both the first pivot 416 and the second pivot 426 may be rivet structures to enable both the connection of the two components and the relative pivoting between the two components. In this way, when these components are assembled, not only is it naturally possible to achieve that the first rollers at both ends of the articulated joint 430 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segments 424A-424B are rotated relative to the first chain segments 414A-414B at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that adjacent first chain segments and second chain segments can assume a straightened state and an inclined state relative to each other, so that a smooth passage of the conveyor chain over horizontally curved track segments and vertically curved track segments of the endless track is achieved.

Although the axes of rotation of the two rollers in the first and/or second chain segments are shown in fig. 4 as being orthogonal to each other, the two rollers in the first and/or second chain segments may be otherwise oriented, such as with the axes of rotation parallel to each other, or may share a common axis of rotation, but preferably adjacent rollers in adjacent chain segments are orthogonal to each other to facilitate overall balance and smooth operation of the conveyor chain. In addition, although the first roller 410 shown in FIG. 4 has a widened roller face, the first roller may also be a conventional roller, i.e., it is also possible to have no intentionally widened roller face. Although the second chain segments are shown in fig. 4 as being configured identically to the first chain segments 414A-414B, i.e., having the same configuration and the same number and configuration of rollers, the second chain segments may take other configurations of rollers other than 414A-414B, such as only one roller, or two rollers side-by-side, or two rollers in series with their axes of rotation parallel to each other, etc. The double plate holder shown in fig. 4 may also take the form of a double outer convex holder, etc. As would be understood and appreciated by those skilled in the art.

Fifth embodiment

As shown in fig. 5, fig. 5 is a schematic structural diagram of a part of a tandem transmission chain according to a fifth embodiment of the present invention.

As shown in FIG. 5, the conveyor chain of this embodiment includes a plurality of alternating and articulated first chain segments 514A-514B and second chain segments 524. On a first chain segment 514A-514B in the form of a double plate carrier, which chain segment 514A-514B is formed by two juxtaposed longitudinally extending plates 514A and 514B, there are provided two first and second rollers 510 and 512 arranged in series along the longitudinal extension of the carrier/conveyor chain, which are each mounted in a space positioned in between the double plate carriers 514A and 514B. The roller 510 is pivotally connected to the first chain segment by a pivot 511 extending vertically through the dual plate brackets 514A-514B and is rotatable about a first axis of rotation A1. The roller 512 is pivotally connected to the first chain segment by a pivot 513 extending vertically through the dual plate support 514A-514B and is rotatable about a second axis of rotation A2. The first rotation axis A1 rotates and the second rotation axis A2 is parallel to each other.

On the second chain section 524 in the form of a single plate holder, a pair of rollers, i.e., third and fourth rollers 520 and 522 are coaxially mounted, the third and fourth rollers 520 and 522 are coaxially mounted and positioned at both sides of the single plate holder 524 by a rotating shaft 521 perpendicularly passing through the single plate holder 524, being movably connected to the second chain section, and both the third and fourth rollers 520 and 522 are rotatable about a third rotation axis A3, which arrangement contributes to the counterweight balance and smooth operation of the conveyor chain. The first rotation axis A1 rotates orthogonal to the third rotation axis A3.

As shown in FIG. 5, adjacent first chain segments 514A-514B and second chain segment 524 may be movably connected by a living joint 530. At an end of the articulation joint 530 proximate the first chain segments 514A-514B, a first pivot 515 is provided, and a pivot axis of the first pivot 515 may be parallel to the first axis of rotation A1. At the other end of the movable joint 530 near the second chain segment 524, a second pivot 525 may be provided, and the pivot axis of the second pivot 525 may be parallel to the third rotation axis A3. The first pivot 515 and the second pivot 525 may each be a rivet structure to enable both the connection of the two components and the relative pivoting between the two components. In this way, when these components are assembled, not only is it naturally possible to achieve that the first rollers at both ends of the articulated joint 530 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segment 524 is rotated relative to the first chain segments 514A-514B at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that the adjacent first chain segment and second chain segment can assume a straightened state and an inclined state relative to each other, so that a smooth passage of the conveyor chain over the horizontally curved track segments and the vertically curved track segments of the endless track is achieved.

It will be understood and appreciated by those skilled in the art that the first and second segments of the various embodiments described above, as well as the respective numbers and configurations of the rollers on those segments, may be used interchangeably and still practice the present invention, as desired for the application.

In the embodiments described above, each two adjacent first chain segments and second chain segments may also be connected by other forms of movable joints, such as universal joints. The universal joint is a joint for connecting two rod pieces and can be composed of a pair of common hinges with 90 degrees relative directions, so that the lever can be turned to any direction; the universal joints may also include single-joint universal joints, double-joint universal joints, and the like. In this way, the first segment in the present application can be turned in any direction relative to the second segment, and thus can accommodate more varied track shapes to smoothly travel in the track.

The circular tracks, such as the circular tracks 40-540 of the first to seventh embodiments, may be made of aluminum, stainless steel, etc., and may be formed by splicing a plurality of sections including straight sections and curved sections to form a closed circular shape. The substantially square interior of the endless track extends throughout the interior of the endless track in a longitudinally extending direction to provide a passage within which the conveyor chain circulates. The conveyor chain of the above embodiments may travel in the inner channel of the endless track, wherein the rollers may be in rolling contact with the contact surface of the inner channel. For example, the first roller can be in rolling contact with one of two opposing sides of the interior cavity, and the second roller can be in rolling contact with one of the other two opposing sides of the interior cavity.

Although the first and second segments are rigid structures in the form of single plates or parallel double plates in the above embodiments, in further embodiments, the first and second segments may also be rigid segments made of a single integral metal strip or even a metal rod, so that they have a suitably high structural strength and a suitably high moment of resistance against bending, twisting and the like, while ensuring the advantages of easy processing, easy maintenance and replacement, simple structure, relative lightness, high reliability and low cost of the segments, which is very important and an advantageous consideration in mass production for the conveyor chain, especially in the case of a long conveyor chain.

As described above and shown in the embodiments, the first and second chain segments may have the same configuration and the same number and arrangement of rollers, or may have different configurations and arrangements of rollers, depending on the application. Of course, it will be appreciated by those skilled in the art that the same configuration of the first and second segments can reduce the cost of the overall conveyor chain, as well as the complexity of manufacturing, installation and maintenance.

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

The first rollers may have different or preferably the same diameter. The second rollers may also have different or preferably the same diameter.

The basic idea of the invention has been described above in connection with embodiments. It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions without departing from the scope of the invention.

Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (12)

1. A non-load bearing, in-line conveyor chain for conveying inspection robots, the non-load bearing, in-line conveyor chain comprising:

a plurality of first chain segments, each of which has a single first roller and a single second roller mounted thereon, the first and second rollers being arranged in tandem along a longitudinal extension direction of the conveyor chain; and

a plurality of second chain segments, each of which is provided with one or two rollers; and

wherein the plurality of first chain segments and the plurality of second chain segments are alternately movably connected to form the non-load-bearing tandem conveyor chain;

wherein the rotational axes of the first and second rollers are orthogonal or parallel to each other, and the rotational axis of the first or second roller on the first chain segment and the rotational axis of one of the rollers of the adjacent second chain segment are orthogonal to each other; and is

Wherein, in the first and second chain segments connected to each other, the second chain segment is arranged to be rotatable relative to the first chain segment at least about an axis parallel to one of the mutually orthogonal rotational axes to have a straightened state and a tilted state relative to the first chain segment.

2. The non-load bearing, in-line conveyor chain of claim 1, wherein the first and second chain segments are rigid segments.

3. The non-load bearing, in-line conveyor chain of claim 1, wherein the first chain segment and the first and second rollers mounted thereon are selected from at least one of the following combinations:

the main body of the first chain segment is integrally composed of a first plate bracket and a second plate bracket which are orthogonal or parallel to each other and are arranged in series along the longitudinal direction of the conveyor chain, the first roller is installed at the interval between the two plates of the first plate bracket, the second roller is installed at the interval between the two plates of the second plate bracket, and the rotation axes of the first and second rollers are orthogonal or parallel to each other; and

the main body of the first chain segment is integrally composed of a first outer convex sheet bracket and a second outer convex sheet bracket which are orthogonal or parallel to each other and are arranged in series along the longitudinal direction of the conveying chain, the first roller is installed at the interval between the two outer convex sheets of the first outer convex sheet bracket, the second roller is installed at the interval between the two outer convex sheets of the second outer convex sheet bracket, and the rotating axes of the first roller and the second roller are orthogonal or parallel to each other.

4. A non-load bearing in-line conveyor chain as in claim 3 wherein one or both of the first and second rollers has a widened roller face.

5. The non-load bearing, in-line conveyor chain of claim 3, wherein the second segment and the rollers mounted thereon are selected from at least one of the following combinations:

the main body of the second chain segment is integrally composed of a third flat plate bracket and a fourth flat plate bracket which are orthogonal to each other and are arranged in series along the longitudinal direction of the conveyor chain, a third roller is installed at the interval between the two flat plates of the third flat plate bracket, a fourth roller is installed at the interval between the two flat plates of the fourth flat plate bracket, and the rotation axes of the third and fourth rollers are orthogonal to each other or parallel to each other;

the main body of the second chain segment is integrally formed by a third outer convex sheet bracket and a fourth outer convex sheet bracket which are orthogonal to each other and are arranged in series along the longitudinal direction of the conveying chain, a third roller is installed at the interval between the two outer convex sheets of the third outer convex sheet bracket, a fourth roller is installed at the interval between the two outer convex sheets of the fourth outer convex sheet bracket, and the rotating axes of the third roller and the fourth roller are orthogonal to each other or parallel to each other;

the main body of the second chain segment is composed of two outer lugs or two flat plates which extend in parallel in the longitudinal direction of the conveyor chain and are spaced apart from each other, and a roller is mounted at the space between the two outer lugs or the two flat plates or a roller is mounted on each of the two outer sides of the two outer lugs or the two flat plates; and

the second chain segment is a single plate extending in the longitudinal direction of the conveyor chain, on both sides of which two rollers are coaxially mounted, or on one side of which a single roller is mounted.

6. The non-load bearing, in-line conveyor chain of any of claims 1-5, wherein the configuration and arrangement of the rollers on the first chain segment and thereon is the same as the configuration and arrangement of the rollers on the adjacent second chain segment and thereon.

7. The non-load bearing, in-line conveyor chain of any of claims 1-5, wherein the first chain segment is connected perpendicular to the axes of rotation of the first and second rollers thereon; the second chain segment is vertically connected with a rotating shaft of the roller.

8. The non-load bearing, in-line conveyor chain of any of claims 1-5, wherein each two adjacent first and second chain segments are movably connected by a living joint, wherein the first chain segment is movably connected to the first end of the joint by a first pivot axis that extends perpendicularly through the first chain segment; the second chain segment is movably connected with the second end of the joint through a second pivot, the second pivot vertically penetrates through the second chain segment, and the first pivot is perpendicular to the second pivot.

9. A non-load bearing, in-line conveyor chain according to any of claims 1 to 5, wherein the spacing between each two adjacent first chain segments is fixed and equal.

10. The non-load bearing, in-line conveyor chain of any of claims 1-5, wherein the plurality of first chain segments and the plurality of second chain segments are alternately connected to form a closed loop.

11. A track assembly, comprising:

a non-load bearing, in-line conveyor chain according to any of claims 1-10; and

the track comprises an inner cavity, and the cross section of the inner cavity is square;

wherein the non-load bearing in-line conveyor chain is disposed in and runs within the interior cavity of the track.

12. An inspection robot system, characterized in that it comprises a rail assembly according to claim 11, and an inspection robot driven to travel along the rail assembly.

Images