Curve track self-adaptive dual-drive inspection robot

Abstract

The invention discloses a curve track self-adaptive dual-drive inspection robot, and relates to the technical field of robots. The device comprises a base, two suspension mechanisms are rotationally connected to the tops of the two sides of the base, the two suspension mechanisms are arranged in a central symmetry mode with the center of the base as the symmetry center, and the two suspension mechanisms rotate relative to the base. When the device turns on the plane, the robot can achieve self-adaptive adjustment according to the shape of a curve track through the rotating pairs between the two suspension mechanisms and the base, and can be attached to the shape of the track to the maximum extent through the elastic suspension, so that the stability and flexibility of the robot running on the track are improved, and the robot can be used for carrying out self-adaptive adjustment on the track. In the running process, the vertical guide wheel can be extruded by the side face of the curve guide rail to move on the movable pin, at the moment, the side face pre-tightening compression spring can also be pressed, the vertical guide wheel abuts against the side face of the guide rail through the elasticity of the side face pre-tightening compression spring, and stability and smoothness of curve movement are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a curved track adaptive dual-drive inspection robot. Background Technology

[0002] In the industrial sector, track systems are widely used in material transportation, production equipment movement, and warehouse management. Traditional track inspection relies on manual checks, which is inefficient, prone to overlooking problems, and poses safety risks. Track inspection robots, as an intelligent solution, can automatically and in real-time perform comprehensive inspections of tracks within a factory, accurately identifying faults such as wear, cracks, and looseness. Through high-precision sensors and data analysis systems, inspection robots not only improve inspection efficiency but also provide timely warnings of potential risks, reducing production downtime and equipment maintenance costs, thereby ensuring the continuity and safety of factory production. With the advancement of industrial automation, track inspection robots will play an increasingly important role in the intelligent management of factories.

[0003] Existing patent (publication number: CN113043239) discloses a dual-drive walking device for a coal mine overhead rail inspection robot. This device includes a shell, a walking support, four sets of transverse auxiliary wheel assemblies, four sets of load-bearing wheel assemblies, two sets of drive wheel assemblies, two sets of longitudinal auxiliary wheel assemblies, a controller, two reducers, and two servo motors. This device cannot adapt to curved guide rails with varying curvatures and is inconvenient for turning on curved guide rails with different curvatures. Therefore, we provide an invention for a curved track adaptive dual-drive inspection robot.

[0004] The purpose of this invention is to provide an adaptive dual-drive inspection robot with curved tracks that can run on curves of different curvatures and ensure the stability and smoothness of the curve movement.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a curved track adaptive dual-drive inspection robot, comprising a base, characterized in that two suspension mechanisms are rotatably connected to the top of both sides of the base, the two suspension mechanisms are arranged symmetrically about the center of the base, and the two suspension mechanisms rotate relative to the base;

[0006] The suspension mechanism includes a support seat rotatably connected to the base. A first bracket and a second bracket are fixedly connected to the top two sides of the support seat, respectively. A wheel bracket is rotatably connected to the lower part of the first bracket, and a motor bracket is rotatably connected to the lower part of the second bracket. A drive wheel is rotatably connected between the wheel bracket and the motor bracket.

[0007] The top of the first bracket and the second bracket are both fixedly connected to the front extension bracket. The end of the front extension bracket is rotatably connected to the horizontal guide wheel. The first bracket and the second bracket are in the shape of an "arch". Two vertical guide wheel assemblies are installed in the "arch" groove on their side wall. The two vertical guide wheel assemblies are arranged facing each other and a gap is formed between the two vertical guide wheel assemblies.

[0008] An adjustment component is rotatably connected to the middle of both the wheel bracket and the motor bracket. The top of the adjustment component is rotatably connected to the forward support. The adjustment component is used to control the distance between the horizontal guide wheel and the drive wheel.

[0009] Furthermore, there are two support seats, and both support seats are rotatably connected to the base via bearings.

[0010] Furthermore, a first fixed shaft is fixedly connected to the middle of the first bracket and the second bracket, and a second fixed shaft is fixedly connected to the lower part of the first bracket and the second bracket, and both the first fixed shaft and the second fixed shaft pass through the first bracket and the second bracket.

[0011] Furthermore, both the first bracket and the second bracket have a strip-shaped through groove at their bottom, and the second fixed shaft passes through the strip-shaped through groove. The wheel bracket and the motor bracket are rotatably connected to the second fixed shaft, and the wheel bracket and the motor bracket are located inside the strip-shaped through groove.

[0012] Furthermore, a drive motor is fixedly connected to the side wall of the motor bracket, and the output end of the drive motor passes through the motor bracket and is fixedly connected to the drive wheel.

[0013] Furthermore, all the forward extension brackets are configured to be bent, and a fan-shaped plate is fixedly connected to the bent position.

[0014] Furthermore, the vertical guide wheel assembly includes a roller shaft fixedly connected to the first bracket or the second bracket, a vertical guide wheel rotatably connected to the center position of the roller shaft, and movable pins slidably connected to both ends of the roller shaft, with a side preload spring sleeved on the outer surface of the movable pin.

[0015] Furthermore, the adjustment assembly includes a lower connecting rod rotatably connected to the motor bracket and the wheel bracket, the upper end of the lower connecting rod being rotatably connected to a movable shaft, an upper connecting rod being rotatably connected to the movable shaft, and the top end of the upper connecting rod being rotatably connected to the sector plate position of the forward extension bracket.

[0016] Furthermore, suspension damping springs are connected to both ends of the movable shaft, and the other end of the suspension damping springs is connected to the first fixed shaft via a hook.

[0017] Furthermore, retaining rings are installed on both sides of the vertical guide wheel.

[0018] This invention has at least the following beneficial effects:

[0019] 1. When the device in this invention turns on a plane, the two suspension mechanisms can adaptively adjust to the shape of the curve due to the rotational pair between the two suspension mechanisms and the base, which facilitates operation on curves with different curvatures. During operation, the vertical guide wheel will be squeezed by the side of the curved guide rail and move on the movable pin. At the same time, the side preload spring will also be under pressure and use its own elasticity to make the vertical guide wheel press against the side of the guide rail, ensuring the stability and smoothness of the curve movement.

[0020] 2. This invention, through the coordinated arrangement of suspension damping springs, upper connecting rods, lower connecting rods, and movable shafts, can adjust the distance between the drive wheel and the horizontal guide wheel, ensuring that the drive wheel and the horizontal guide wheel always press against the guide rail surface, thus improving operational stability. Furthermore, it can adapt to guide rails of different thicknesses, enhancing the device's practicality. The two suspension mechanisms are independent of each other and can independently adjust their motion according to the actual contact with the track, increasing the robot's stability during climbing and obstacle crossing.

[0021] 3. The present invention adopts a dual-motor drive, which can provide sufficient driving force for the robot to complete the climbing motion at a large angle. During the climbing process, the adaptive deformation and clamping of the suspension mechanism also provide the robot with good clamping and contact force.

[0022] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a side view of the overall structure of the present invention;

[0025] Figure 3 This is a top view of the overall structure of the present invention;

[0026] Figure 4 This is a three-dimensional schematic diagram of the suspension mechanism of the present invention;

[0027] Figure 5 This is a front view schematic diagram of the vertical guide wheel assembly of the present invention;

[0028] Figure 6 This is a side view of the vertical guide wheel assembly of the present invention;

[0029] Figure 7 This is a front view schematic diagram of the present invention in its installed state;

[0030] Figure 8This is a top view schematic diagram of the curved track operation state of the present invention;

[0031] Figure 9 This is a front view schematic diagram of the suspension mechanism of the present invention in the state of spring tension;

[0032] Figure 10 This is a front view schematic diagram of the suspension mechanism of the present invention in the spring-contracted state;

[0033] Figure 11 This is a schematic diagram illustrating the spacing adjustment principle of the suspension mechanism of the present invention.

[0034] Figure label:

[0035] 1. Base; 2. Suspension mechanism; 3. Support seat; 4. First bracket; 5. Second bracket; 6. Wheel bracket; 7. Motor bracket; 8. Drive wheel; 9. Forward extension bracket; 10. Horizontal guide wheel; 11. Vertical guide wheel assembly; 111. Roller shaft; 112. Vertical guide wheel; 113. Movable pin; 114. Side preload spring; 12. Adjustment assembly; 121. Lower connecting rod; 122. Movable shaft; 123. Upper connecting rod; 124. Suspension shock absorber spring; 13. First fixed shaft; 14. Second fixed shaft; 15. Strip groove; 16. Drive motor; 17. Sector plate. Detailed Implementation

[0036] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0037] Please see Figures 1-11 The present invention provides a technical solution: a curved track adaptive dual-drive inspection robot, including a base 1, with two suspension mechanisms 2 rotatably connected to the top of both sides of the base 1. The two suspension mechanisms 2 are arranged in a centrally symmetrical manner with respect to the center of the base 1, and the two suspension mechanisms 2 rotate relative to the base 1.

[0038] The suspension mechanism 2 includes a support seat 3 rotatably connected to the base 1. A first bracket 4 and a second bracket 5 are fixedly connected to the top two sides of the support seat 3 respectively. A wheel bracket 6 is rotatably connected to the lower part of the first bracket 4. A motor bracket 7 is rotatably connected to the lower part of the second bracket 5. A drive wheel 8 is rotatably connected between the wheel bracket 6 and the motor bracket 7.

[0039] The top ends of the first bracket 4 and the second bracket 5 are both fixedly connected to the forward bracket 9. The end of the forward bracket 9 is rotatably connected to the horizontal guide wheel 10. Two vertical guide wheel assemblies 11 are installed on the side walls of the first bracket 4 and the second bracket 5. The two vertical guide wheel assemblies 11 are arranged facing each other, and a gap is formed between the two vertical guide wheel assemblies 11.

[0040] Adjustment components 12 are rotatably connected to the middle of both the wheel bracket 6 and the motor bracket 7. The top of the adjustment component 12 is rotatably connected to the forward extension bracket 9. The adjustment component 12 is used to control the distance between the horizontal guide wheel 10 and the drive wheel 8. Figure 11 This is a schematic diagram illustrating the principle of adjusting the distance between the horizontal guide wheel 10 and the drive wheel 8 in the suspension mechanism 2.

[0041] In this embodiment, there are two support seats 3. Both support seats 3 are rotatably connected to the base 1 through bearings. When moving on a curved track, the two suspension drive mechanisms can be passively rotated through the bearings under the action of the curved track, thereby adapting to the track and completing the curved movement.

[0042] Regarding the technical solution of this embodiment, the first bracket 4 and the second bracket 5 are both installed on the support base 3 by screws, and the first bracket 4 and the second bracket 5 are symmetrically arranged with the center line of the support base 3 as the axis of symmetry. The first fixing shaft 13 is fixedly connected to the middle of the first bracket 4 and the second bracket 5, and the second fixing shaft 14 is fixedly connected to the lower part of the first bracket 4 and the second bracket 5. The first fixing shaft 13 and the second fixing shaft 14 both pass through the first bracket 4 and the second bracket 5.

[0043] Regarding the technical solution of this embodiment, both the first bracket 4 and the second bracket 5 have a strip-shaped through groove 15 at their bottom. The second fixed shaft 14 passes through the strip-shaped through groove 15. The wheel bracket 6 and the motor bracket 7 are rotatably connected to the second fixed shaft 14, and the wheel bracket 6 and the motor bracket 7 are located within the strip-shaped through groove 15. Through the arrangement of the second fixed shaft 14 and the strip-shaped through groove 15, the wheel bracket 6 and the motor bracket 7 can rotate around the second fixed shaft 14, thereby increasing the space between the drive wheel 8 and the horizontal guide wheel 10. Figure 9 As shown, conversely, under the action of the suspension damping spring 124, the space between the drive wheel 8 and the horizontal guide wheel 10 is reduced, as... Figure 10 As shown.

[0044] Regarding the technical solution of this embodiment, a drive motor 16 is fixedly connected to the side wall of the motor bracket 7. The output end of the drive motor 16 passes through the motor bracket 7 and is fixedly connected to the drive wheel 8. Starting the drive motor 16 drives the drive wheel 8 to rotate, which can drive the entire device. It should be noted that there are two drive wheels 8, and the two drive wheels 8 move in the same direction when the whole device is driven.

[0045] In this embodiment, the forward support 9 is bent, and a fan-shaped plate 17 is fixedly connected to the bent position. The forward support 9 is used to support the horizontal guide wheel 10.

[0046] Regarding the technical solution of this embodiment, the vertical guide wheel assembly 11 includes a roller shaft 111 fixedly connected to the first bracket 4 or the second bracket 5. A vertical guide wheel 112 is rotatably connected to the center position of the roller shaft 111. Snap rings are installed on both sides of the vertical guide wheel 112 to limit its movement. Movable pins 113 are slidably connected to both ends of the roller shaft 111, and a side preload spring 114 is sleeved on the outer surface of the movable pin 113. During installation, the vertical guide wheel 112 is squeezed by the side of the curved guide rail. At this time, the side preload spring 114 is under pressure, and the roller shaft 111 also drives the vertical guide wheel 112 to move on the movable pin 113, thereby making the vertical guide wheel 112 press against the side of the guide rail, which facilitates the overall guidance of the device during movement.

[0047] Regarding the technical solution of this embodiment, the adjustment component 12 includes a lower connecting rod 121 rotatably connected to the motor bracket 7 and the wheel bracket 6. A movable shaft 122 is rotatably connected to the upper end of the lower connecting rod 121. An upper connecting rod 123 is rotatably connected to the movable shaft 122. The top end of the upper connecting rod 123 is rotatably connected to the fan-shaped plate 17 of the forward extension bracket 9. Suspension damping springs 124 are connected to both ends of the movable shaft 122. The other end of the suspension damping spring 124 is connected to the first fixed shaft 13 via a hook. When the suspension damping spring is pulled... When spring 124 is in motion, the movable shaft 122 will move along the stretching direction of the suspension damping spring 124. At this time, the upper connecting rod 123 and the lower connecting rod 121 will also deflect along the stretching direction of the suspension damping spring 124. Since the forward extension bracket 9 is fixedly installed on the first bracket 4 and the second bracket 5, when the upper connecting rod 123 and the lower connecting rod 121 deflect, it will drive the wheel bracket 6 and the motor bracket 7 to deflect downward around the second fixed shaft 14, thereby increasing the distance between the horizontal guide wheel 10 and the drive wheel 8. Figure 9 As shown, this allows the device to be easily installed on guide rails of different thicknesses, enabling it to adapt to different guide rails.

[0048] The operating principle and process of this invention are as follows: When the device is needed for inspection, the robot is moved to the end of the track, and the gap between the drive wheel 8 and the horizontal guide wheel 10 is aligned with the track. At this time, with the help of external tooling fixtures, the motor bracket 7, along with the drive motor 16 and the drive wheel 8, is moved a certain distance towards the base. At this time, the movable pin 113 between the upper connecting rod 123 and the lower connecting rod 121 will move a certain distance away from the second bracket 5, and the suspension damping spring 124 will be stretched. At this time, the distance between the drive wheel 8 and the horizontal guide wheel 10 is expanded to the size that allows passage through the guide rail. The two suspension mechanisms 2 of the robot are passed through the guide rail in sequence. After the tooling is removed, under the tension of the suspension damping spring 124, the drive wheel 8 has an upward tendency to move. The guide rail is pressed against the drive wheel 8 and the horizontal guide wheel 10. Then, the drive motor 16 is started to drive the drive wheel 8 to rotate, so that the whole device can start to move on the guide rail. At this time, the horizontal guide wheel 10 not only provides pressure, but also provides support and guidance as a driven wheel. When moving on a curved track, the vertical guide wheel 112 will be squeezed by the side of the guide rail. At this time, the side preload spring 114 will be under pressure, and the roller shaft 111 will also drive the vertical guide wheel 112 to move on the movable pin 113, so that the vertical guide wheel 112 is pressed against the side of the guide rail, which facilitates the guidance of the whole device when moving. When moving on a curved track, the two suspension mechanisms 2 can adaptively rotate around the base 1, thus ensuring the stability and smoothness of the curve movement.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0050] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0051] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0052] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A curved track adaptive dual-drive inspection robot, comprising a base (1), characterized in that: Two suspension mechanisms (2) are rotatably connected to the tops of both sides of the base (1); the two suspension mechanisms (2) are arranged symmetrically with the center of the base (1) as the center, and the two suspension mechanisms (2) rotate relative to the base (1); The suspension mechanism (2) comprises a support seat (3) rotatably connected to the base (1); a first bracket (4) and a second bracket (5) are respectively fixedly connected to the top two sides of the support seat (3); a wheel bracket (6) is rotatably connected to the lower part of the first bracket (4); a motor bracket (7) is rotatably connected to the lower part of the second bracket (5); and a driving wheel (8) is rotatably connected between the wheel bracket (6) and the motor bracket (7); The top ends of the first bracket (4) and the second bracket (5) are both fixedly connected to a forward bracket (9), the end of the forward bracket (9) is rotatably connected to a horizontal guide wheel (10), and the first bracket (4) and the second bracket (5) are in a "bow" shape, and two vertical guide wheel assemblies (11) are installed in the "bow" groove of the side wall, the two vertical guide wheel assemblies (11) are arranged facing each other, and a gap is formed between the two vertical guide wheel assemblies (11); The middle positions of the wheel bracket (6) and the motor bracket (7) are both rotatably connected to an adjustment component (12), the top end of the adjustment component (12) is rotatably connected to the front extension bracket (9), and the adjustment component (12) is used to control the spacing between the horizontal guide wheel (10) and the driving wheel (8).

2. The curved track adaptive dual-drive inspection robot according to claim 1, characterized in that: There are two support seats (3), and the two support seats (3) are rotatably connected to the base (1) via bearings.

3. The curved track adaptive dual-drive inspection robot according to claim 2, characterized in that: A first fixed shaft (13) is fixedly connected between the middle parts of the first bracket (4) and the second bracket (5), a second fixed shaft (14) is fixedly connected between the lower parts of the first bracket (4) and the second bracket (5), and both the first fixed shaft (13) and the second fixed shaft (14) pass through the first bracket (4) and the second bracket (5).

4. The curved track adaptive dual-drive inspection robot according to claim 2, characterized in that: A strip-shaped through slot (15) is provided below the first bracket (4) and the second bracket (5); the second fixed shaft (14) passes through the strip-shaped through slot (15); the wheel bracket (6) and the motor bracket (7) are rotatably connected to the second fixed shaft (14); and the wheel bracket (6) and the motor bracket (7) are located in the strip-shaped through slot (15).

5. The curved track adaptive dual-drive inspection robot according to claim 4, characterized in that: A driving motor (16) is fixedly connected to the side wall of the motor bracket (7), and an output end of the driving motor (16) passes through the motor bracket (7) and is fixedly connected to the driving wheel (8).

6. The curved track adaptive dual-drive inspection robot according to claim 5, characterized in that: The forward extension brackets (9) are all arranged in a bent shape, and a fan-shaped plate (17) is fixedly connected to the bent position.

7. The curved track adaptive dual-drive inspection robot according to claim 6, characterized in that: The vertical guide wheel assembly (11) comprises a roller shaft (111) fixedly connected to the first bracket (4) or the second bracket (5); a vertical guide wheel (112) is rotatably connected to the center of the roller shaft (111); movable pins (113) are slidably connected to both ends of the roller shaft (111); and a side preload spring (114) is sleeved on the outer surface of the movable pin (113).

8. The curved track adaptive dual-drive inspection robot according to claim 7, characterized in that: The adjustment assembly (12) comprises a lower connecting rod (121) rotatably connected to the motor bracket (7) and the wheel bracket (6); the upper end of the lower connecting rod (121) is rotatably connected to a movable shaft (122); the movable shaft (122) is rotatably connected to an upper connecting rod (123); the top end of the upper connecting rod (123) is rotatably connected to the position of the fan-shaped plate (17) of the forward extension bracket (9).

9. The curved track adaptive dual-drive inspection robot according to claim 8, characterized in that: Both ends of the movable shaft (122) are connected to a suspension damping spring (124), and the other end of the suspension damping spring (124) is connected to the first fixed shaft (13) via a hook.

10. The curved track adaptive dual-drive inspection robot according to claim 8, characterized in that: Circlips are installed on both sides of the vertical guide wheel (112).

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