CN218706195U

CN218706195U - A novel transfer chain, track subassembly and patrol and examine robot system that is used for conveying to patrol and examine robot's non-heavy burden

Info

Publication number: CN218706195U
Application number: CN202222085821.2U
Authority: CN
Inventors: 贾维银; 郭力
Original assignee: Anhui Ronds Science & Technology Inc Co
Current assignee: Anhui Ronds Science & Technology Inc Co
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2023-03-24
Anticipated expiration: 2032-08-09

Abstract

The utility model relates to a novel transfer chain, track subassembly and patrol and examine robot system that is used for conveying to patrol and examine the non-heavy burden of robot. A novel transfer chain that is used for conveying to patrol and examine non-heavy burden of robot includes: the device comprises a plurality of first chain segments, at least three first rollers are arranged on each first chain segment; and a plurality of second chain segments, each second chain segment being fitted with at least one second roller; wherein the plurality of first chain segments and the plurality of second chain segments are alternately and movably connected, and at least one first roller and at least one second roller on every two adjacent first chain segments and second chain segments are arranged to rotate around a first axis and a second axis which are orthogonal to each other respectively; and 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 first and second axes to have a straightened state and a tilted state relative to the first chain segment, thereby providing a novel conveyor chain.

Description

A novel transfer chain, track subassembly and patrol and examine robot system that is used for conveying to patrol and examine robot's non-heavy burden

Technical Field

The utility model relates to a track patrols and examines robot technical field, concretely relates to novel transfer chain and track subassembly of non-heavy burden for it advances to drive patrols and examines the robot.

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 an aspect of the present invention, there is provided a novel conveyor chain for conveying a non-load bearing robot, the novel conveyor chain comprising: the first chain segments are provided with at least three first rollers; a plurality of second chain segments, each of which is provided with at least one second roller; wherein the plurality of first chain segments and the plurality of second chain segments are alternately and movably connected, and at least one first roller and at least one second roller on each two adjacent first chain segments and second chain segments are arranged to rotate around first and second axes which are orthogonal to each other, respectively; and, in the first segment and the second segment connected to each other, the second segment is provided so as to be rotatable with respect to the first segment at least about an axis parallel to one of the first axis and the second axis to have a straightened state and a tilted state with respect to the first segment.

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

According to an embodiment, wherein, of adjacent first and second chain segments connected to each other, the second chain segment is arranged at said one end connected to each other to be rotatable with respect to the first chain segment about an axis parallel to one of the first and second axes, and the first chain segment is arranged at the other end connected to each other to be rotatable with respect to the second chain segment about an axis parallel to the other of the first and second axes.

According to an embodiment, the shape of the first and second segments comprises at least one of a rod shape, a plate shape, a barrel shape.

According to an embodiment, the first chain segment is a bracket extending longitudinally in the direction of the central longitudinal axis of the novel conveyor chain, a pair of first rollers are coaxially mounted on both sides of the bracket, and a further first roller is mounted on one or both sides of the bracket, the further first roller being arranged in tandem with the pair of first rollers in the longitudinal direction of the bracket.

According to an embodiment, the rotation axis of at least one of the further first rollers and the rotation axis of the pair of first rollers are orthogonal or parallel to each other.

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

a pair of first rollers are coaxially arranged on two sides of a first section of the single-plate type bracket of the first chain section, and one first roller is arranged on one side of a second section of the single-plate type bracket of the first chain section or a pair of first rollers are coaxially arranged on two sides of the first section of the single-plate type bracket;

a pair of first rollers are coaxially arranged on two sides of a first section of the single-plate type bracket of the first chain section, and one first roller or a pair of first rollers are coaxially arranged at an interval between two plates of a second section of the double-plate type bracket of the first chain section, or a pair of first rollers are coaxially arranged on two outer sides of the two plates; and

coaxially mounting a pair of first rollers on both sides of a first section of the single-plate type bracket of the first chain section, and mounting one first roller or coaxially mounting a pair of first rollers at an interval between two outer convex sheets which are symmetrically arranged and extend at intervals from each other on a second section of the first chain section;

a pair of first rollers are coaxially arranged at two outer sides or inner sides of a first section of the double-flat-plate type bracket of the first chain section, and one first roller is arranged at one side of a second section of the single-flat-plate type bracket of the first chain section or a pair of first rollers are coaxially arranged at two sides of the first section of the single-flat-plate type bracket;

coaxially installing a pair of first rollers at two outer sides or inner sides of a first section of the double-flat-plate type bracket of the first chain section, and installing one first roller or coaxially installing a pair of first rollers at an interval between two flat plates of a second section of the double-flat-plate type bracket of the first chain section, or coaxially installing a pair of first rollers at two outer sides of the two flat plates;

coaxially mounting a pair of first rollers at both outer sides or inner sides of a first segment of the double-plate type bracket of the first chain segment, and mounting one first roller or coaxially mounting a pair of first rollers at an interval between two outer convex sheets which are symmetrically arranged and extend at intervals from each other at a second segment of the first chain segment; and

and a pair of first rollers are coaxially arranged on two sides of a first section of single-plate type bracket of the first chain section, and one first roller is respectively arranged at the interval between two plates of a second section and a third section of double-plate type bracket which are arranged in series at two longitudinal ends of the first section of single-plate type bracket.

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

said second chain segment is a single flat plate extending in the direction of said central longitudinal axis, a pair of said second rollers being coaxially mounted on either side of said flat plate;

the main body of the second chain segment is composed of two flat plates which extend in parallel in the direction of the central longitudinal axis and are spaced from each other, and one second roller or a pair of second rollers is coaxially mounted at the space between the two flat plates, or a pair of second rollers is coaxially mounted at the two outer sides of the two flat plates; and

the main body of the second chain segment is composed of two outer convex sheets which are symmetrically arranged about the central longitudinal axis and extend at intervals, and one second roller or a pair of second rollers are coaxially mounted at the interval between the two outer convex sheets.

According to one embodiment, the main body of the second segment is formed by two outer lugs arranged symmetrically about the central longitudinal axis and extending at a distance from one another, one of the second rollers being mounted at the distance between the two outer lugs, the second roller having a widened roller surface.

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

a pair of second rollers are coaxially arranged on two sides of the first section of the single-plate type support of the second chain section, and one second roller is arranged on one side of the second section of the single-plate type support of the second chain section or a pair of second rollers are coaxially arranged on two sides of the second section of the single-plate type support of the second chain section;

a pair of second rollers are coaxially arranged on two sides of the first section of the single-plate type bracket of the second chain section, and one second roller or a pair of second rollers are coaxially arranged between two flat plates of the second section of the double-plate type bracket of the second chain section, or a pair of second rollers are coaxially arranged on two outer sides of the two flat plates; and

coaxially mounting a pair of second rollers on two sides of the first section of the single-plate type bracket of the second chain section, and mounting one second roller or coaxially mounting a pair of second rollers at an interval between two outer convex sheets which are symmetrically arranged and extend at intervals from each other on the second section of the second chain section;

a pair of second rollers are coaxially arranged at two outer sides or inner sides of the first section of the double-plate type support of the second chain section, and one second roller is arranged at one side of the second section of the single-plate type support of the second chain section or a pair of second rollers are coaxially arranged at two sides of the second section of the single-plate type support of the second chain section;

a pair of second rollers are coaxially arranged at two outer sides or inner sides of the first section of the double-flat-plate type bracket of the second chain section, one second roller is arranged at an interval between two flat plates of the second section of the double-flat-plate type bracket of the second chain section, or a pair of second rollers is coaxially arranged at two outer sides of the two flat plates;

coaxially mounting a pair of second rollers at both outer sides or inner sides of the first segment of the double-plate type stent of the second segment, and mounting one of the second rollers or coaxially mounting a pair of the second rollers at an interval between two outer tabs symmetrically arranged and extending apart from each other in the second segment of the second segment; and

and a pair of second rollers are coaxially arranged on two sides of the first section of the single-plate type bracket of the second chain section, and one second roller is respectively arranged at the interval between two flat plates of the second section of the single-plate type bracket and the third section of the double-plate type bracket which are arranged in series at two longitudinal ends of the first section of the single-plate type bracket.

According to one embodiment, the first and second segments are integrally formed stents.

According to an embodiment, the first and second chain segments have the same configuration and the first and second rollers have the same arrangement on the respective chain segments.

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

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 one embodiment, the distance between every two adjacent first rollers and second rollers 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.

The utility model discloses an other aspect still provides a track subassembly, include: the novel conveyor chain as described above, which is not weight bearing; the track comprises an inner cavity, and the cross section of the inner cavity is square; wherein the novel non-load bearing conveyor chain is disposed in the interior cavity such that the first roller is capable of being in rolling contact with either of two opposing sides of the interior cavity and the second roller is capable of being in rolling contact with either of the other two opposing sides of the interior cavity.

Another aspect of the present invention provides an inspection robot system, including the track assembly as described above, and an inspection robot driven to follow the track assembly.

According to one embodiment, the spacing between each two adjacent first and second roller sets is substantially the same.

According to an embodiment, the track assembly is a track assembly for travel by an inspection robot arranged according to one of: arranged along a straight line; arranged along a curve; a combination of a straight arrangement and a curved arrangement.

According to one embodiment, every two adjacent first and second chain segments are connected by a living joint.

According to one embodiment, the spacing between each two adjacent first and second roller pairs is substantially fixed.

According to an embodiment, the conveyor chain is a conveyor chain for carrying a particularly lightweight inspection robot.

According to one embodiment, the cross-section of the lumen is generally square or rectangular.

According to an embodiment, at least one face of the rail is at least partially grooved along its extension.

According to an embodiment, the bottom or top surface of the rail is at least partially grooved along its extension.

According to one embodiment, the rail assembly is a rail assembly for the inspection robot to travel, which in principle does not carry other heavy objects or goods than the inspection robot.

Through the arrangement of the roller, the roller can roll relative to the wall of the inner cavity, so that friction and motion resistance are reduced. The utility model discloses a simple structure, light, the convenient arrangement of transfer chain, with low costs, the impact and the noise that a plurality of embodiments all improved and when moving reduce as far as possible in reliability, stationarity when the operation.

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 conveyor chain according to a first embodiment of the invention;

fig. 2 is a schematic structural view of a portion of a conveyor chain according to a first embodiment of the present invention assembled with a track;

fig. 3 is a schematic structural view of a part of a conveyor chain according to a second embodiment of the invention;

fig. 4 is a schematic structural view of a part of a conveyor chain according to a third embodiment of the invention;

fig. 5 is a schematic structural view of a part of a conveyor chain according to a fourth embodiment of the invention;

fig. 6 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 only take into account the light weight objects such as carrying and conveying inspection robots, and not to take into account the "heavy" 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 be described in more detail below with reference to a number of specific embodiments of the invention.

In general, as described in the previous series of patents by the present inventor, an inspection robot system may generally include an endless track, an inspection robot platform, a transfer chain and a driving device, and the like. The transmission chain is generally connected into a ring shape and 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 the transfer chain be the transfer chain that is used for the carrier band to patrol and examine the 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 and 2, fig. 1 is a schematic structural view of a part of a novel conveyor chain for conveying a non-load of an inspection robot according to a first embodiment of the present invention, and fig. 2 is a schematic structural view of a part of the conveyor chain assembled with a rail according to the first embodiment of the present invention.

As shown in fig. 1, the conveyor chain of this first embodiment comprises a plurality of first chain segments 14 and second chain segments 23 that are alternately and movably connected. On the first chain segment 14, there are provided a pair of

first rollers

10A and 10B disposed on both sides of the single plate segment of the first chain segment 14, and a first roller 10C disposed in series in the longitudinal direction of the conveyor chain in the space between the double plate segments of the first chain segment 14. The pair of

rollers

10A and 10B are rotatably connected to the single plate section by a shaft 11 passing vertically through the single plate section and are rotatable about a first axis of rotation A1, and the other roller 10C is rotatably connected to the double plate section by a shaft 13 passing vertically through the double plate section and is rotatable about a second axis of rotation A2.

On a second chain segment 23 in the form of a plate holder, a single second roller 20 is mounted. The single second roller 20 is rotatably connected to the second chain segment 23 by a shaft 21 extending perpendicularly through the plate holder 23 about a third axis of rotation A3.

As shown in fig. 1-2, adjacent first and

second chain segments

14, 23 may be movably connected by a living joint 30. At the end of the articulation 30 adjacent to the first chain segment 14, a first pivot 12 is provided, the pivot axis of which first pivot 12 may be parallel to the first axis of rotation A1. At the other end of the articulation 30, close to the second chain segment 23, a second pivot 22 is provided, the pivot axis of which second pivot 22 may be parallel to the third rotation axis A3. The first pivot 12 and the second pivot 22 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 30 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segments 23 are rotated relative to the first chain segments 14 at least in two directions orthogonal to each other, for example in a horizontal plane and in a vertical plane, so that adjacent first 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 and vertically curved track segments of the endless track is achieved.

Second embodiment

As shown in fig. 3, fig. 3 is a schematic structural diagram of a part of a novel conveyor chain for conveying non-load of an inspection robot according to a second embodiment of the present invention.

As shown in fig. 3, the transmission chain of this second embodiment comprises a plurality of first chain segments 114 and second chain segments 123 that are alternately and movably connected. On the first chain segment 114, there are provided a pair of

first rollers

110A and 110B disposed on both sides of the single plate segment of the first chain segment 114, and a first roller 110C disposed in series on the other single plate segment of the first chain segment 114 in the longitudinal direction of the conveyor chain. The pair of

rollers

110A and 110B are pivotally connected to the first chain segment 114 by a pivot 113 extending perpendicularly through the single plate segment and are rotatable about the second axis of rotation A2, and the other roller 110C is pivotally connected to the first chain segment 114 by a pivot 111 extending perpendicularly through the single plate segment and is rotatable about the first axis of rotation A1.

On the second chain segment 123, in the form of a single plate holder, a pair of

second rollers

120A and 120B are mounted, arranged on both sides of the single plate holder. The pair of

second rollers

120A and 120B are movably connected to the second chain segment 123 by a rotation shaft 121 vertically passing through the plate holder 123, and are rotatable about a third rotation axis A3.

As shown in fig. 3, the adjacent first chain segment 114 and the second chain segment 123 can be movably connected by a movable joint 130. At an end of the articulation 130 adjacent to the first chain segment 114, a first pivot 112 is provided, and a pivot axis of the first pivot 112 may be parallel to the first rotation axis A1. At the other end of the articulation 130 near the second chain segment 123, a second pivot 122 is provided, the pivot axis of which second pivot 122 may be parallel to the third rotation axis A3. The first pivot 112 and the second pivot 122 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 130 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segment 123 is rotated relative to the first chain segment 114 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 can be achieved.

Third embodiment

As shown in fig. 4, fig. 4 is a schematic structural diagram of a part of a novel conveyor chain for conveying a non-load of an inspection robot according to a third embodiment of the present invention.

As shown in fig. 4, the conveyor chain of this third embodiment comprises a plurality of first chain segments 214 and second chain segments 223 that are alternately and movably connected. The configuration of the first chain segment 214 and the arrangement of the three rollers 210A-210C thereon are the same as the configuration of the first chain segment 114 and the arrangement of the three rollers 110A-110C thereon in the second embodiment, and therefore, the description thereof is omitted. Moreover, the configuration of the second chain segment 223 and the arrangement of the three rollers 220A-220C thereon are the same as the configuration of the first chain segment 114 and the arrangement of the three rollers 110A-110C thereon, and therefore, the description thereof is omitted.

As shown in fig. 4, adjacent first chain segments 214 and second chain segments 223 may be movably connected by a movable joint 230. At an end of the articulation joint 230 proximate the first chain segment 214, a first pivot 212 is provided, and a pivot axis of the first pivot 212 may be parallel to the first axis of rotation A1. At the other end of the articulation joint 230, near the second chain segment 223, a second pivot 222 is provided, the pivot axis of which second pivot 222 may be parallel to the fourth axis of rotation A4, i.e. the axis of rotation of the pair of rollers 220A-220B on the second chain segment 223. The first pivot 212 and the second pivot 222 can 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 230 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segment 223 is rotated relative to the first chain segment 214 at least in two directions orthogonal to each other, for example in a horizontal plane and 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 can be achieved.

Fourth embodiment

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

As shown in fig. 5, the conveyor chain of this fourth embodiment comprises a plurality of alternating and articulated first and second chain segments 314, 323. On the first chain section 314, there are provided a pair of

first rollers

310A and 310B arranged in the space between the double plates of the double plate segment of the first chain section 314, and a first roller 310C arranged in the space between the double plate segments of the first chain section 314 in tandem along the longitudinal direction of the conveyor chain. The pair of

rollers

310A and 310B are pivotally connected to the first chain segment 314 by a pivot 313 extending perpendicularly through the dual plate segment and are rotatable about the second axis of rotation A2, and the other roller 310C is pivotally connected to the first chain segment 314 by a pivot 313 extending perpendicularly through the other dual plate segment and is rotatable about the first axis of rotation A1.

The configuration of the second chain segment 323 and the arrangement of the three rollers 320A-320C thereon is the same as the configuration of the first chain segment 314 and the arrangement of the three rollers 310A-310C thereon, and therefore, the description thereof is omitted.

As shown in fig. 5, adjacent first chain segments 314 and second chain segments 323 can be movably connected by a movable joint 330. At an end of the articulation joint 330 proximate to the first chain segment 314, a first pivot 312 is provided, and a pivot axis of the first pivot 312 may be parallel to the first axis of rotation A1. At the other end of the articulating head 330 adjacent the second chain segment 323, a second pivot 322 is provided, the pivot axis of which second pivot 322 may be parallel to the fourth axis of rotation A4, i.e., the axis of rotation of the pair of rollers 320A-320B on the second chain segment 323. The first pivot 312 and the second pivot 322 may 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 330 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain section 323 is rotated relative to the first chain section 314 at least in two directions orthogonal to each other, for example in a horizontal plane and a vertical plane, so that the adjacent first chain section and second chain section can assume a straight state and an inclined state relative to each other, so that a smooth passage of the conveyor chain over the horizontally curved track sections and the vertically curved track sections of the endless track can be achieved.

Fifth embodiment

As shown in fig. 6, fig. 6 is a schematic structural diagram of a part of a conveyor chain according to a fifth embodiment of the present invention.

As shown in fig. 6, the conveyor chain of this second embodiment includes a plurality of alternating and articulated first segments 414 and second segments 423. Two pairs of rollers 410A to 410B and 410C to 410D, each arranged on both sides of a first chain segment 414 in the form of a single plate carrier, are mounted in series on the first chain segment 414 in the longitudinal extension direction of the conveyor chain. One pair of rollers 410A-410B is movably connected to the first chain segment 414 by a shaft 411B passing perpendicularly through the first chain segment 414 in the form of a plate bracket and is rotatable about a second axis of rotation A2. An additional pair of rollers 410C-410D are movably connected to the first chain segment 414 by another pivot shaft 411A passing perpendicularly through the first chain segment 414 in the form of a plate bracket and are rotatable about a first axis of rotation A1.

On the second chain segment 424 in the form of a single plate bracket, there are provided a pair of

second rollers

420A and 420B arranged on both sides of the single plate segment of the second chain segment 424, and a second roller 420C arranged in series on the other single plate segment of the second chain segment 424 in the longitudinal direction of the conveyor chain. The pair of

second rollers

420A and 420B are pivotally connected to the second chain segment 424 by a pivot 421A passing vertically through the single plate segment and are rotatable about a third rotational axis A3, and the other roller 420C is pivotally connected to the second chain segment 424 by a pivot 421B passing vertically through the single plate segment and is rotatable about a fourth rotational axis A4.

As shown in fig. 6, adjacent first chain segments 414 and second chain segments 423 may be movably connected by a movable joint 430. At an end of the articulation joint 430 proximate to the first chain segment 414, a first pivot 412 is provided, and a pivot axis of the first pivot 412 may be parallel to the first axis of rotation A1. At the other end of the articulation joint 430, near the second chain segment 424, a second pivot 422 is provided, the pivot axis of which second pivot 422 may be parallel to the third axis of rotation A3. The first pivot 412 and the second pivot 422 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 430 are arranged orthogonally to the second rollers, but it is also possible to achieve that the second chain segment 424 is rotated relative to the first chain segment 414 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.

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 may be turned in any direction relative to the second segment, thereby accommodating a more varied track shape to smoothly travel in the track.

An annular track, such as the annular track 40 of the first embodiment, 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 loop. 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

1. A novel conveyor chain that is used for conveying to patrol and examine non-heavy burden of robot, its characterized in that, novel conveyor chain that is not heavy burden includes:

the first chain segments are provided with at least three first rollers; and

a plurality of second chain segments, each of which is provided with at least one second roller;

wherein the plurality of first chain segments and the plurality of second chain segments are alternately and movably connected, and at least one first roller and at least one second roller on each two adjacent first chain segments and second chain segments are arranged to rotate around first and second axes which are orthogonal to each other, respectively; and is

Wherein, in the first segment and the second segment connected to each other, the second segment is provided so as to be rotatable relative to the first segment at least about an axis parallel to one of the first axis and the second axis to have a straightened state and a tilted state relative to the first segment.

2. The novel conveyor chain without load bearing according to claim 1, wherein said first chain segment and said second chain segment are rigid segments.

3. The novel conveyor chain without load bearing according to claim 1, wherein the first chain segment is a bracket extending longitudinally in the direction of the central longitudinal axis of the novel conveyor chain, a pair of first rollers being coaxially mounted on both sides of the bracket, and further first rollers being mounted on one or both sides of the bracket, the further first rollers being arranged in tandem with the pair of first rollers in the longitudinal direction of the bracket.

4. A novel non-weight bearing conveyor chain as in claim 3 wherein the axis of rotation of at least one of the other first rollers and the axis of rotation of the pair of first rollers are orthogonal or parallel to each other.

5. The non-weight bearing novel conveyor chain according to claim 4, wherein said first chain segment and at least three first rollers mounted thereon are selected from at least one of the following combinations:

a pair of first rollers are coaxially arranged on two sides of a first section of single-plate type support of the first chain section, and one first roller is arranged on one side of a second section of single-plate type support of the first chain section or a pair of first rollers are coaxially arranged on two sides of the first section of single-plate type support;

coaxially mounting a pair of first rollers on two sides of a first section of the single-plate type bracket of the first chain section, and mounting one first roller or coaxially mounting a pair of first rollers at intervals between two outer convex sheets which are symmetrically arranged and extend at intervals from each other on a second section of the first chain section;

a pair of first rollers are coaxially arranged at two outer sides or inner sides of a first section of double-plate type support of the first chain section, and one first roller is arranged at one side of a second section of single-plate type support of the first chain section or a pair of first rollers are coaxially arranged at two sides of the first section of single-plate type support;

6. The novel conveyor chain without load bearing according to claim 5, wherein said second chain segment and said second roller mounted thereon are selected from at least one of the following combinations:

the main body of the second chain segment is composed of two outer tabs which are symmetrically arranged about the central longitudinal axis and extend at intervals, and one second roller or a pair of second rollers are coaxially mounted at the interval between the two outer tabs.

7. Novel conveyor chain without load bearing according to claim 6, characterized in that the body of the second chain segment is constituted by two outer lugs arranged symmetrically with respect to the central longitudinal axis and extending at a distance from each other, one of the second rollers being mounted at the space between the two outer lugs, the second roller having a widened roller surface.

8. The novel conveyor chain without load bearing according to claim 5, wherein said second chain segment and second rollers mounted thereon are selected from at least one of the following combinations:

a pair of second rollers are coaxially arranged on two sides of the first section of the single-plate type bracket of the second chain section, and one second roller is arranged on one side of the second section of the single-plate type bracket of the second chain section or a pair of second rollers is coaxially arranged on two sides of the second section of the single-plate type bracket;

a pair of second rollers are coaxially arranged at two outer sides or inner sides of the first section of the double-flat-plate type bracket of the second chain section, and one second roller is arranged at one side of the second section of the single-flat-plate type bracket of the second chain section or a pair of second rollers is coaxially arranged at two sides of the second section of the single-flat-plate type bracket of the second chain section;

coaxially mounting a pair of second rollers at two outer sides or inner sides of the first section of the double-plate type bracket of the second section, and mounting one second roller or coaxially mounting a pair of second rollers at an interval between two outer convex sheets which are symmetrically arranged and extend at intervals from each other at the second section of the second section; and

9. The novel conveyor chain without load bearing according to any of claims 1 to 8, wherein said first and second chain segments are integrally formed brackets.

10. The novel conveyor chain without load bearing according to any of claims 1 to 8, characterized in that said first and second chain segments have the same configuration and said first and second rollers have the same arrangement on the respective chain segments.

11. The new conveyor chain without load bearing according to any of claims 1 to 8, characterized in that said first chain segment is perpendicularly connected to the first axis of rotation of the first roller above it; the second chain segment is vertically connected with a second rotating shaft of a second roller on the second chain segment.

12. Novel conveyor chain without load bearing according to claim 11,

every two adjacent first chain segments and second chain segments are movably connected through a movable joint, wherein the first chain segments are movably connected with the first end of the joint through first pivots, and the first pivots vertically penetrate 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.

13. Novel conveyor chain without load bearing according to any of claims 1 to 8, characterized in that the spacing between every two adjacent first and second rollers is fixed and equal.

14. The novel non-load bearing conveyor chain according to any one of claims 1 to 8, wherein said first plurality of segments and said second plurality of segments are alternately connected to form a closed loop.

15. A track assembly, comprising:

a novel non-weight bearing conveyor chain according to any one of claims 1 to 14; and

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

wherein the novel non-load bearing conveyor chain is disposed in the interior cavity such that the first roller is capable of being in rolling contact with either of two opposing sides of the interior cavity and the second roller is capable of being in rolling contact with either of the other two opposing sides of the interior cavity.

16. An inspection robot system, comprising the rail assembly according to claim 15, and an inspection robot driven to travel along the rail assembly.