Curved track adaptive dual-drive inspection robot

Abstract

The application discloses a curve track adaptive double-driving inspection robot, and relates to the technical field of robots.The application comprises a base, two suspension mechanisms are rotationally connected to the top of the two sides of the base, the two suspension mechanisms are symmetrically arranged with the base center as the symmetry center, and the two suspension mechanisms rotate relative to the base.In the application, when the device turns on a plane, the robot can realize adaptive adjustment according to the shape of the curve track through the rotation pair between the two suspension mechanisms and the base, and can maximally adhere to the track shape through the elastic suspension, so that the stability and flexibility of the robot in track operation are improved, and in the operation process, the vertical guide wheel is extruded by the side surface of the curve guide rail and moves on the movable pin, at this time, the side surface pre-tightening spring is also subjected to pressure and utilizes the elastic force of the side surface pre-tightening spring to make the vertical guide wheel abut against the side surface of the guide rail, so that the stability and smoothness of the curve movement are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a curve track adaptive double-drive inspection robot. BACKGROUND

[0002] In the industrial field, track systems are widely used in material transportation, production equipment movement, and warehouse management. Traditional track inspection relies on manual inspection, which has low efficiency, is prone to missing problems, and has safety risks. As an intelligent solution, track inspection robots can automatically and in real time detect the tracks in the factory, accurately identify track wear, cracks, looseness, and other faults. Through high-precision sensors and data analysis systems, the inspection robot not only improves the inspection efficiency, but also can timely warn potential risks, reduce production downtime and equipment maintenance costs, and ensure 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] The existing patent (publication number: CN113043239) discloses a double-machine drive walking device for coal mine overhead rail inspection robot, which includes a shell, a walking support, 4 groups of transverse auxiliary wheel assemblies, 4 groups of load-bearing wheel assemblies, 2 groups of drive wheel assemblies, 2 groups of longitudinal auxiliary wheel assemblies, 1 controller, 2 reducers, and 2 servo motors. The device cannot adapt to curved and variable guide rails, making it inconvenient to turn on curve guide rails of different curvatures. Therefore, we provide a curve track adaptive double-drive inspection robot invention content

[0004] The purpose of the present application is to provide a curve track adaptive double-drive inspection robot that can run on curved tracks of different curvatures and ensure the stability and smoothness of curved track movement.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a curve track adaptive double-drive inspection robot, comprising a base, characterized in that two suspension mechanisms are rotatably connected to the top of the base on both sides, the two suspension mechanisms are centrally symmetrically arranged with the center of the base as the center of symmetry, and the two suspension mechanisms rotate relative to the base;

[0006] The suspension mechanism comprises a support seat rotatably connected to the base, the top of the support seat is fixedly connected with a first support and a second support on both sides, the lower part of the first support is rotatably connected with a wheel support, the lower part of the second support is rotatably connected with a motor support, and the wheel support and the motor support are rotatably connected with a driving wheel therebetween;

[0007] The top end of the first support and the second support is fixedly connected with a front support, the end of the front support is rotatably connected with a horizontal guide wheel, and the first support and the second support are in the shape of a 'bow', two vertical guide wheel assemblies are mounted in the side wall 'bow' slot, the two vertical guide wheel assemblies are oppositely arranged, and a gap is formed between the two vertical guide wheel assemblies.

[0008] The middle part of the wheel support and the motor support is rotatably connected with an adjusting assembly, the top end of the adjusting assembly is rotatably connected to the front support, and the adjusting assembly is used for controlling the distance between the horizontal guide wheel and the driving wheel.

[0009] Further, the number of support seats is two, and the two support seats are rotatably connected with the base through bearings.

[0010] Further, the middle part of the first support and the second support is fixedly connected with a first fixed shaft, the lower part of the first support and the second support is fixedly connected with a second fixed shaft, and the first fixed shaft and the second fixed shaft penetrate the first support and the second support.

[0011] Further, a strip-shaped through slot is formed in the lower part of the first support and the second support, the second fixed shaft penetrates the strip-shaped through slot, the wheel support and the motor support are rotatably connected to the second fixed shaft, and the wheel support and the motor support are located in the strip-shaped through slot.

[0012] Further, a driving motor is fixedly connected to the side wall of the motor support, and the output end of the driving motor is fixedly connected to the driving wheel through the motor support.

[0013] Further, the front support is in the shape of a bend, and a sector plate is further fixedly connected to the bending position.

[0014] Further, the vertical guide wheel assembly comprises a roller shaft fixedly connected to the first support or the second support, a vertical guide wheel is rotatably connected to the center position of the roller shaft, and movable pins are slidably connected to the two ends of the roller shaft, and side pre-tightening springs are sleeved on the outer surfaces of the movable pins.

[0015] Further, the adjusting assembly comprises a lower connecting rod rotatably connected to the motor support and the wheel support, a movable shaft is rotatably connected to the upper end of the lower connecting rod, an upper connecting rod is rotatably connected to the movable shaft, and the top end of the upper connecting rod is rotatably connected to the sector plate position of the front support.

[0016] Further, suspension shock springs are connected to the two ends of the movable shaft, and the other ends of the suspension shock springs are connected to the first fixed shaft through hooks.

[0017] Further, clamping springs are mounted on the two sides of the vertical guide wheel.

[0018] The application has at least the following advantages:

[0019] 1. When the device turns on the plane, the two suspension mechanisms can be self-adaptively adjusted according to the shape of the curve, so as to run on the curve with different curvatures, and in the running process, the vertical guide wheel is pressed on the movable pin by the side of the curve guide rail, and at this time, the side pre-tightening spring is also pressed and uses its own elastic force to make the vertical guide wheel tightly contact the side of the guide rail, so as to ensure the stability and smoothness of the curve movement.

[0020] 2. The mutual cooperation of the suspension shock-absorbing spring, the upper connecting rod, the lower connecting rod and the movable shaft can adjust the distance between the driving wheel and the horizontal guide wheel, so that the driving wheel and the horizontal guide wheel can always press on the surface of the guide rail, improve the stability during running, and can also adapt to guide rails with different thicknesses, improve the practicability of the device, and the two suspension mechanisms are independent of each other, can independently adjust the movement form according to the actual contact with the track, and increase the stability of the robot in climbing and obstacle crossing.

[0021] 3. The front and rear double-motor driving can provide sufficient driving force for the robot to complete the climbing movement with a large angle, and the adaptive deformation and clamping of the suspension mechanism also provide good clamping and contact force for the robot during climbing.

[0022] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a perspective view of the overall structure of the application;

[0024] Figure 2 It is a side view of the overall structure of the application;

[0025] Figure 3 It is a top view of the overall structure of the application;

[0026] Figure 4 It is a perspective view of the suspension mechanism of the application;

[0027] Figure 5 It is a front view of the vertical guide wheel assembly of the application;

[0028] Figure 6 It is a side view of the vertical guide wheel assembly of the application;

[0029] Figure 7 It is a front view of the installation state of the application;

[0030] Figure 8It is a top view schematic diagram of the curved track running state of the present application;

[0031] Figure 9 It is a front view schematic diagram of the suspension mechanism spring stretching state of the present application;

[0032] Figure 10 It is a front view schematic diagram of the suspension mechanism spring contraction state of the present application;

[0033] Figure 11 It is a spacing adjustment principle schematic diagram of the suspension mechanism of the present application.

[0034] Reference signs:

[0035] 1, base; 2, suspension mechanism; 3, support seat; 4, first support; 5, second support; 6, wheel support; 7, motor support; 8, driving wheel; 9, front extension support; 10, horizontal guide wheel; 11, vertical guide wheel assembly; 111, roller shaft; 112, vertical guide wheel; 113, movable pin; 114, side pre-tightening spring; 12, adjustment assembly; 121, lower connecting rod; 122, movable shaft; 123, upper connecting rod; 124, suspension damping spring; 13, first fixed shaft; 14, second fixed shaft; 15, strip-shaped through slot; 16, driving motor; 17, sector plate. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0037] Please refer to Figures 1-11 The present application provides a technical solution: a curved track self-adaptive double-drive inspection robot, comprising a base 1, two suspension mechanisms 2 are rotatably connected to the top of both sides of the base 1, the two suspension mechanisms 2 are symmetrically arranged with the center of the base 1 as the center of symmetry, and the two suspension mechanisms 2 rotate relative to the base 1;

[0038] The suspension mechanism 2 comprises a support seat 3 rotatably connected to the base 1, the top of both sides of the support seat 3 is fixedly connected with a first support 4 and a second support 5 respectively, the lower part of the first support 4 is rotatably connected with a wheel support 6, the lower part of the second support 5 is rotatably connected with a motor support 7, and a driving wheel 8 is rotatably connected between the wheel support 6 and the motor support 7;

[0039] The top end of the first support 4 and the second support 5 is fixedly connected with a front support 9, the end of the front support 9 is rotatably connected with a horizontal guide wheel 10, and two vertical guide wheel assemblies 11 are installed on the side wall of the first support 4 and the second support 5, the two vertical guide wheel assemblies 11 are oppositely arranged, and a gap is formed between the two vertical guide wheel assemblies 11;

[0040] The middle part of the wheel support 6 and the motor support 7 is rotatably connected with an adjusting assembly 12, the top end of the adjusting assembly 12 is rotatably connected with the front support 9, and the adjusting assembly 12 is used for controlling the distance between the horizontal guide wheel 10 and the driving wheel 8, as shown in Figure 11 It is a schematic view of the distance adjusting principle between the horizontal guide wheel 10 and the driving wheel 8 in the suspension mechanism 2.

[0041] According to the technical scheme of the embodiment, the number of the support seats 3 is two, and the two support seats 3 are rotatably connected with the base 1 through bearings, when moving on a curved track, the two suspension driving mechanisms can be passively rotated through the bearings under the action of the curved track, so as to adapt to the track and complete the curved motion.

[0042] According to the technical scheme of the embodiment, the first support 4 and the second support 5 are installed on the support seat 3 through screws, and the first support 4 and the second support 5 are symmetrically arranged with the center line of the support seat 3 as the axis of symmetry, the middle part of the first support 4 and the second support 5 is fixedly connected with a first fixed shaft 13, the lower part of the first support 4 and the second support 5 is fixedly connected with a second fixed shaft 14, and the first fixed shaft 13 and the second fixed shaft 14 penetrate the first support 4 and the second support 5.

[0043] According to the technical scheme of the embodiment, a strip-shaped through slot 15 is formed below the first support 4 and the second support 5, the second fixed shaft 14 penetrates the strip-shaped through slot 15, the wheel support 6 and the motor support 7 are rotatably connected with the second fixed shaft 14, and the wheel support 6 and the motor support 7 are located in the strip-shaped through slot 15, the second fixed shaft 14 and the strip-shaped through slot 15 can make the wheel support 6 and the motor support 7 rotate around the second fixed shaft 14, so as to increase the space between the driving wheel 8 and the horizontal guide wheel 10, as shown in Figure 9 On the contrary, under the action of the suspension damping spring 124, the space between the driving wheel 8 and the horizontal guide wheel 10 is reduced, as shown in Figure 10 .

[0044] According to the technical scheme of the embodiment, the side wall of the motor support 7 is fixedly connected with a driving motor 16, the output end of the driving motor 16 penetrates the motor support 7 and is fixedly connected with the driving wheel 8, starting the driving motor 16 to drive the driving wheel 8 to rotate can drive the whole device, it should be noted that the number of the driving wheel 8 is two, and the movement directions of the two driving wheels 8 are consistent when the whole device is driven.

[0045] According to the technical scheme of the embodiment, the front support 9 is arranged in a bent shape, and the bent position is fixedly connected with the sector plate 17, and the front support 9 is arranged to facilitate supporting the horizontal guide wheel 10.

[0046] According to the technical scheme of the embodiment, the vertical guide wheel assembly 11 comprises a roller shaft 111 fixedly connected to the first support 4 or the second support 5, the center position of the roller shaft 111 is rotatably connected with a vertical guide wheel 112, the two sides of the vertical guide wheel 112 are provided with a clamping spring for limiting the vertical guide wheel 112, the two ends of the roller shaft 111 are slidably connected with a movable pin 113, and the outer surface of the movable pin 113 is sleeved with a side pre-tightening spring 114. When installing, the vertical guide wheel 112 will be pressed by the side of the curved guide rail, at this time the side pre-tightening spring 114 will be pressed, 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 abuts against the side of the guide rail, facilitating guiding the whole device when moving.

[0047] According to the technical scheme of the embodiment, the adjusting assembly 12 comprises a lower connecting rod 121 rotatably connected to the motor support 7 and the wheel support 6, the upper end of the lower connecting rod 121 is rotatably connected with a movable shaft 122, the movable shaft 122 is rotatably connected with an upper connecting rod 123, the top end of the upper connecting rod 123 is rotatably connected to the position of the sector plate 17 of the front support 9, the two ends of the movable shaft 122 are connected with a suspension damping spring 124, the other end of the suspension damping spring 124 is connected to the first fixed shaft 13 through a hook, when the suspension damping spring 124 is pulled, the movable shaft 122 will move in the direction of stretching of the suspension damping spring 124, at this time the upper connecting rod 123 and the lower connecting rod 121 will also deflect in the direction of stretching of the suspension damping spring 124, at this time since the front support 9 is fixedly installed on the first support 4 and the second support 5, when the upper connecting rod 123 and the lower connecting rod 121 deflect, the wheel support 6 and the motor support 7 will be deflected downward around the second fixed shaft 14, thereby expanding the distance between the horizontal guide wheel 10 and the driving wheel 8, as shown in FIG. 8, facilitating installing the whole device on guide rails of different thicknesses, so that the device can be adapted to different guide rails. Figure 9

[0048] ​The principle and process of the application: when the device needs to be used for inspection, the robot is moved to the end of the track, and the gap between the driving wheel 8 and the horizontal guide wheel 10 is aligned with the track. At this time, the motor support 7 is moved a distance in the direction of the base with the help of the external tool clamp, the driving motor 16 and the driving wheel 8. At this time, the movable pin 113 between the upper connecting rod 123 and the lower connecting rod 121 is moved a distance away from the second bracket 5, and at the same time the suspension damping spring 124 is stretched. At this time, the distance between the driving wheel 8 and the horizontal guide wheel 10 is expanded to the size of the guide rail, and the two suspension mechanisms 2 of the robot are sequentially passed through the guide rail. After the tool is removed, the driving wheel 8 has a tendency to move upward under the stretching force of the suspension damping spring 124, so as to abut the guide rail between the driving wheel 8 and the horizontal guide wheel 10. Then the driving motor 16 is started to drive the driving wheel 8 to rotate, so that the whole device starts 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 performing curve track movement, the vertical guide wheel 112 will be extruded by the side of the guide rail. At this time, the side pre-tightening spring 114 will be pressed, 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 abuts against the side of the guide rail, facilitating the guidance of the whole device during movement. When performing curve track movement, the two suspension mechanisms 2 can adaptively rotate around the base 1, thereby ensuring the stability and smoothness of the curve movement.

[0049] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying that there is any such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0050] For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. When an element is referred to as "assembled to", "mounted to", "fixed to" or "disposed to" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only implementation.

[0051] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous changes, modifications, substitutions, and alterations can be made thereto without departing from the spirit and scope of the application as defined in the appended claims and their equivalents.

[0052] In the description of the specification, reference to "one embodiment", "an example", "a specific example" or the like means that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the disclosure. The appearances of the above expressions in various places in the specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics can 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, The top of both sides of the base (1) is rotatably connected to two suspension mechanisms (2). The two suspension mechanisms (2) are arranged symmetrically with respect to the center of the base (1), and the two suspension mechanisms (2) rotate relative to the base (1). 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). 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). The top ends of the first bracket (4) and the second bracket (5) are fixedly connected to the forward bracket (9). The end of the forward bracket (9) is rotatably connected to the horizontal guide wheel (10). The first bracket (4) and the second bracket (5) are in the shape of an "arch". Two vertical guide wheel assemblies (11) are installed in the "arch" groove on their 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 wheel bracket (6) and the motor bracket (7) are both rotatably connected to an adjustment component (12). The top of the adjustment component (12) is rotatably connected to the front extension bracket (9). The adjustment component (12) is used to control the distance between the horizontal guide wheel (10) and the drive 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 both support seats (3) are rotatably connected to the base (1) through 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 to the middle of the first bracket (4) and the second bracket (5), and a second fixed shaft (14) is fixedly connected to the lower part of the first bracket (4) and the second bracket (5). 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: 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 in the strip-shaped through groove (15).

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

6. The curved track adaptive dual-drive inspection robot according to claim 5, characterized in that: The forward support (9) is bent, 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) 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 of the roller shaft (111). Both ends of the roller shaft (111) are slidably connected to movable pins (113), and the outer surface of the movable pins (113) is fitted with a side preload spring (114).

8. The curved track adaptive dual-drive inspection robot according to claim 7, characterized in that: The adjustment assembly (12) includes 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). 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).

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

10. The curved track adaptive dual-drive inspection robot according to claim 8, characterized in that: The vertical guide wheel (112) is equipped with snap rings on both sides.

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