Track inspection robot based on self-adaptive elastic suspension

Abstract

The invention belongs to the technical field of inspection robots, and discloses a track inspection robot based on a self-adaptive elastic suspension, which comprises a base, a suspension bracket, a driving assembly, two groups of suspension assemblies and a first guide assembly. The suspension bracket is rotationally connected to the base; the suspension assembly is movably connected to the suspension support and connected with the driving assembly through a suspension elastic assembly so as to push a driving wheel of the driving assembly to abut against the rail. The first guide assembly is in sliding fit with the rail. Therefore, when the robot moves on the track, energy waste is effectively reduced, power consumption is reduced, meanwhile, the possibility of abrasion and even damage to the driving wheels can be reduced, and the service life of the driving wheels can be prolonged. And moreover, posture adjustment can be automatically generated, so that the vibration amplitude is small, the robot can adapt to tracks of various sizes, the adaptive capacity of the robot is improved, and the stability of the robot in the moving process is improved.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a track inspection robot based on an adaptive elastic suspension. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, rail inspection robots play a vital role in various production lines, especially in conveyor belt systems that require continuous, efficient and accurate monitoring. These robots move autonomously along the preset tracks through their drive wheels to perform tasks such as inspection, maintenance or data collection.

[0003] In the prior art, rail inspection robots use compression springs to directly press the drive wheels onto the rails, so that the drive wheels can fit tightly onto the rail surface through the elastic deformation of the compression springs. In order to adapt to the geometric changes caused by rail curvature, the compression springs usually need to be preset with a relatively large compression amount to ensure that sufficient contact pressure can be maintained even under the most extreme curve conditions.

[0004] However, on a straight track, the pressure applied by the compression spring far exceeds the actual demand, so multiple drive parts and drive wheels are needed to achieve drive. This not only wastes energy and increases power consumption, but also easily causes damage to the drive wheels and reduces their service life. In addition, when moving on an irregular track, a sudden change in friction force will occur, causing the robot to easily vibrate with a large amplitude. At the same time, its adaptability to tracks of different sizes is also poor. Summary of the invention

[0005] The purpose of the present invention is to provide a track inspection robot based on an adaptive elastic suspension, so as to solve the problem in the prior art that when on a straight track, the contact pressure between the driving wheel and the track is large, resulting in increased running resistance, and multiple driving parts and driving wheels need to be designed to achieve driving, resulting in overall capacity waste and increased energy consumption. At the same time, the driving wheels are easily damaged and the service life is reduced. It can also solve the problem that sudden changes in friction force will occur when moving on an irregular track, causing the robot to easily produce large-amplitude vibrations, and the adaptability to tracks of different sizes is also poor.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] An embodiment of the present invention provides a track inspection robot based on an adaptive elastic suspension, comprising:

[0008] Base;

[0009] A suspension bracket, rotatably connected to the base;

[0010] A drive assembly, located in the suspension bracket;

[0011] Two groups of suspension components are movably connected to the suspension brackets, and the driving component is located between the two groups of suspension components. The suspension components and the driving component are connected through a suspension elastic component to push the driving wheel of the driving component to abut against the track;

[0012] The first guide component is arranged on the suspension bracket and is suspended on the track and slidably matched with the track.

[0013] Optionally, the suspension assembly comprises:

[0014] A first movable rod, rotatably connected to the suspension bracket;

[0015] A connecting shaft, disposed on the first movable rod and connected to the suspension elastic component;

[0016] A second movable rod, rotatably connected to the connecting shaft;

[0017] A sliding shaft is slidably connected to the suspension bracket and is rotationally connected to an end of the second movable rod away from the connecting shaft, and the sliding shaft is connected to the suspension elastic component.

[0018] Optionally, the suspension elastic component includes:

[0019] A suspension elastic member, one end of which is connected to the driving assembly, and the other end of which is connected to the suspension assembly to push the driving wheel of the driving assembly to abut against the track.

[0020] Optionally, the suspension elastic component further includes:

[0021] The elastic frame is located at a side of the suspension elastic member away from the base. The elastic frame is arranged on the driving assembly and is fixedly connected to the suspension assembly. The elastic frame can drive the driving assembly to move when passing through a curved track.

[0022] Optionally, the elastic frame comprises:

[0023] A first adjustment plate, fixed to the driving assembly;

[0024] An adjusting elastic member, arranged on the first adjusting plate;

[0025] The second adjustment plate is fixed to the suspension assembly. The second adjustment plate is arranged opposite to the first adjustment plate and is rotatably connected to the first adjustment plate. The adjustment elastic member abuts against the second adjustment plate.

[0026] Optionally, the driving assembly comprises:

[0027] A driving frame connected to the suspension elastic component;

[0028] A driving member, disposed on the driving frame;

[0029] The driving wheel is arranged at the output end of the driving member and abuts against the track.

[0030] Optionally, the driving frame includes:

[0031] Two mounting plates are arranged opposite to each other, a mounting shaft is fixedly connected between the two mounting plates, the suspension elastic component is connected to the mounting shaft, the driving member is arranged on one of the mounting plates, and the driving wheel is rotatably connected to the other mounting plate.

[0032] Optionally, a track inspection robot based on an adaptive elastic suspension further includes:

[0033] The second guide assembly is rotatably connected to the base and spaced apart from the suspension bracket. The second guide assembly is suspended from the track and slidably cooperates with the track.

[0034] Optionally, the second guide assembly includes:

[0035] A second guide frame, rotatably connected to the base;

[0036] A buffer seat, arranged on the second guide frame;

[0037] A buffer elastic member, disposed on the buffer seat;

[0038] The buffer wheel is arranged on the buffer elastic member and is slidably matched with the lower side of the track.

[0039] Optionally, the second guide assembly further includes:

[0040] A plurality of second upper rollers, rotatably connected to the second guide frame, wherein the second upper rollers are suspended from the track and slidably cooperate with the track;

[0041] and / or, a plurality of second side rollers, rotatably connected to the second guide frame and slidably engaged with the track;

[0042] And / or, an encoder is arranged on the second guide frame.

[0043] Beneficial effects of the present invention:

[0044] By suspending the first guide assembly on the track and pressing down the drive assembly, the drive assembly is close to the base and away from the first guide assembly to open the space for the track to be inserted. When the drive assembly is pressed down, the drive assembly drives the suspension assembly to produce corresponding deformation through the suspension elastic assembly. After the track is inserted, the downward pressure is removed, the suspension elastic assembly is restored and drives the suspension assembly to recover, thereby driving the drive assembly to move up until the driving wheel of the drive assembly forms an effective contact with the track. When the drive assembly is started, the rotation of the driving wheel is used to drive the robot to move on the track. When the robot passes through an irregular section of the track, as the track is bent, the force direction of the driving wheel changes, and the drive assembly drives the suspension bracket to rotate relative to the base through the suspension elastic assembly and the suspension assembly, so that the driving wheel rotates in the corresponding bending direction to ensure that the force direction of the driving wheel is adjusted, thereby ensuring that the driving wheel can also form an effective contact with the track in the curved section of the track. In this way, when the robot passes through the curved section of the track, the suspension bracket can rotate accordingly, so that the driving wheel and the track can also form an effective contact, thereby ensuring that the robot can run smoothly on the irregular track. The suspension elastic component does not need to be set with a large compression amount, so that the contact pressure between the driving wheel and the track is kept within a safe range when running on the straight section track. The driving wheel has low resistance when running on the straight section track. Only one set of driving components is required to drive the robot to run, which effectively reduces the waste of capacity and power consumption. At the same time, it can also reduce the possibility of wear and even damage to the driving wheel, which is conducive to extending the service life of the driving wheel. Moreover, when passing through the irregular track, with the deformation of the suspension elastic component, the robot can adjust its posture by itself, so that the possibility of sudden change of friction during movement is small, thereby ensuring a small vibration amplitude, and also enabling the robot to adapt to tracks of various sizes, improving the adaptability of the robot. At the same time, the setting of the first guide component can improve the connection stability between the robot and the track, thereby effectively improving the stability of the robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a front view of a track inspection robot based on an adaptive elastic suspension when it is suspended on a track in an embodiment of the present invention;

[0046] Figure 2 is a top view of a track inspection robot based on an adaptive elastic suspension according to an embodiment of the present invention when passing through a curved track;

[0047] Figure 3 is a front view of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0048] Figure 4 is a top view of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0049] Figure 5 is a side view of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0050] Figure 6 is a three-dimensional diagram of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0051] Figure 7 is a front view of a partial structure of a first guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0052] Figure 8 is a side view of a partial structure of a first guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0053] Fig. 9 is a top view of a partial structure of a first guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0054] Fig.10 is a front view of a first side roller of a first guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0055] Fig.11 is a top view of a first side roller of a first guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0056] Fig.12 is a front view of a suspension bracket and a suspension assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0057] Fig.13 is a top view of a suspension bracket and a suspension assembly of a rail inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0058] Fig.14 is a side view of a suspension bracket and a suspension assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0059] Fig.15 is a three-dimensional diagram of a suspension bracket of a rail inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0060] Fig.16 is a three-dimensional diagram of an elastic frame of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0061] Fig.17 is a top view of an elastic frame of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0062] Fig.18 is a front view of an elastic frame of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0063] Fig.19 is a side view of an elastic frame of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0064] Fig. 20 is a front view of a driving assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0065] Fig.21 It is a structural schematic diagram of a driving member and a driving wheel of a driving assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0066] Fig. 22 is a front view of a driving component of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0067] Fig.23 is a front view of a second guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0068] Fig.24 is a front view of a buffer wheel of a second guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0069] Fig.25 is a side view of a buffer wheel of a second guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0070] Fig.26 is a side view of a second guide assembly of a track inspection robot based on an adaptive elastic suspension in an embodiment of the present invention;

[0071] Fig. 27 It is a top view of the second guide component of the track inspection robot based on the adaptive elastic suspension in an embodiment of the present invention.

[0072] In the figure:

[0073] 1. Base;

[0074] 2. Suspension bracket; 21. Bottom plate; 211. Turntable; 22. Support rod; 23. Connecting rod;

[0075] 3. Driving assembly; 31. Driving frame; 311. Mounting plate; 312. Mounting shaft; 32. Driving member; 321. Connecting seat; 322. Driving shaft; 323. Adapter flange; 324. Bearing; 33. Driving wheel;

[0076] 4. Suspension assembly; 41. First movable rod; 42. Connecting shaft; 43. Second movable rod; 44. Sliding shaft;

[0077] 5. first guide assembly; 51. first guide frame; 511. connecting plate; 52. first upper roller; 53. first side roller; 530. rotating rod; 531. fixing frame; 532. pin; 533. spring;

[0078] 6. Suspension elastic component; 61. Suspension elastic member; 62. Elastic frame; 621. First adjustment plate; 622. Adjustment elastic member; 623. Second adjustment plate;

[0079] 7. Track;

[0080] 8. Second guide assembly; 81. Second guide frame; 811. Vertical plate; 812. Guide plate; 813. Pull rod; 82. Buffer seat; 83. Buffer elastic member; 84. Buffer wheel; 85. Rotating shaft; 86. Movable pin; 87. Second upper roller; 88. Encoder; 881. Connecting rod; 89. Second side roller; 891. Fixed seat. DETAILED DESCRIPTION

[0081] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0082] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0084] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0085] An embodiment of the present invention discloses a track inspection robot (hereinafter referred to as "robot") based on an adaptive elastic suspension.

[0086] Reference Figures 1 to 6 The robot comprises: a base 1, a suspension bracket 2, a driving assembly 3, two groups of suspension components 4 and a first guide assembly 5. The suspension bracket 2 is rotatably connected to the base 1; the driving assembly 3 is located in the suspension bracket 2; the suspension assembly 4 is movably connected to the suspension bracket 2, and the driving assembly 3 is located between the two groups of suspension components 4. The suspension component 4 and the driving assembly 3 are connected through a suspension elastic component 6 to push the driving wheel 33 of the driving assembly 3 to abut against the track 7; the first guide assembly 5 is arranged on the suspension bracket 2 and suspended on the track 7 and slidably cooperates with the track 7.

[0087] Specifically, the base 1 is plate-shaped, and a bearing is provided on the base 1. The suspension bracket 2 includes a rectangular bottom plate 21, and a turntable 211 is provided in the middle of the bottom plate 21. The turntable 211 (see Fig.12 ) is connected to the base 1 through a bearing, and the bearing is located in the middle of the bottom plate 21, so that the suspension bracket 2 can rotate. The bottom plate 21 extends along the length direction of the track 7, and a group of support rods 22 are fixed on both sides of the length direction of the bottom plate 21, each group includes two support rods 22, and the two support rods 22 are arranged opposite to each other along the width direction of the bottom plate 21. A connecting rod 23 is fixed at both ends of the two support rods 22 to fix the two support rods 22 together. A group of suspension components 4 is arranged between the two support rods 22.

[0088] The driving assembly 3 is located between the two groups of support rods 22, and the suspension assembly 4 is connected to the driving assembly 3 through the suspension elastic assembly 6 to restrict the driving assembly 3 in the suspension bracket 2 and push the driving wheel 33 of the driving assembly 3 to abut against the track 7. The first guide assembly 5 is located above the driving assembly 3, and a space for the track 7 to pass through can be formed between the first guide assembly 5 and the driving assembly 3, and the roller of the first guide assembly 5 can at least partially abut against the top wall of the track 7 to suspend the entire robot on the track 7.

[0089] By suspending the first guide assembly 5 on the track 7 and pressing down the drive assembly 3, the drive assembly 3 is close to the base 1 and away from the first guide assembly 5, so as to open the space for the track 7 to be inserted. When the drive assembly 3 is pressed down, the drive assembly 3 drives the suspension assembly 4 to produce corresponding deformation through the suspension elastic assembly 6. After the track 7 is inserted, the downward pressure is removed, the suspension elastic assembly 6 is restored and drives the suspension assembly 4 to recover, thereby driving the drive assembly 3 to move up until the driving wheel 33 of the drive assembly 3 forms an effective contact with the track 7. When the drive assembly 3 is started, the rotation of the driving wheel 33 is used to drive the robot to move on the track 7. When the robot passes through the irregular section of the track 7, as the track 7 is bent, the force direction of the driving wheel 33 changes, and the drive assembly 3 drives the suspension bracket 2 to rotate relative to the base 1 through the suspension elastic assembly 6 and the suspension assembly 4, so that the driving wheel 33 rotates in the corresponding bending direction to ensure that the force direction of the driving wheel 33 is adjusted, thereby ensuring that the driving wheel 33 can also form an effective contact with the track 7 in the curved section of the track 7. In this way, when the robot passes through the curved section of the track 7, the suspension bracket 2 can rotate accordingly, so that the driving wheel 33 can also form an effective contact with the track 7, thereby ensuring that the robot can run smoothly on the irregular track 7. The suspension elastic component 6 does not need to be set with a large compression amount, so that the contact pressure between the driving wheel 33 and the track 7 is kept within a safe range when the straight section track 7 is running. The driving wheel 33 has a low resistance when the straight section track 7 is running. Only one set of driving components 3 is set to drive the robot to run, which effectively reduces the waste of capacity and power consumption. At the same time, it can also reduce the possibility of wear and even damage to the driving wheel 33, which is conducive to extending the service life of the driving wheel 33. Moreover, when passing through the irregular track 7, with the deformation of the suspension elastic component 6, the robot can adjust its posture by itself, so that the possibility of sudden change of friction force during movement is small, thereby ensuring a small vibration amplitude, and also enabling the robot to adapt to tracks 7 of various sizes, improving the adaptability of the robot. At the same time, the setting of the first guide component 5 can improve the connection stability between the robot and the track 7, thereby effectively improving the stability of the robot during movement.

[0090] Reference Figures 7 to 11Optionally, the first guide assembly 5 includes a first guide frame 51, a first upper roller 52 and a first side roller 53. The first guide frame 51 includes two oppositely arranged connecting plates 511, and the two ends of the connecting plates 511 along the length direction of the track 7 are fixedly connected to the two support rods 22 respectively. The middle part of the connecting plate 511 protrudes upward to form a mounting portion, and the first upper roller 52 is rotatably connected to the upper side of the mounting portion, and the first side roller 53 is rotatably connected to the middle part of the mounting portion along the vertical direction. The axis of the first side roller 53 is parallel to the vertical direction, and an elastic seat is arranged at both the upper and lower ends of the axis of the first side roller 53. The elastic seat includes a fixing frame 531, and one end of the rotating rod 530 of the first side roller 53 extends into the fixing frame 531, and the end extending into the fixing frame 531 is penetrated by a pin 532, and a spring 533 is sleeved on the pin 532. The first upper roller 52 is located above the driving wheel 33 , and the first upper roller 52 can abut against the top wall of the track 7 , while the first side roller 53 can abut against the side wall of the track 7 .

[0091] The robot can be suspended on the track 7 through the first upper roller 52, and the first side roller 53 can ensure that the robot is stably connected to the track 7 and that only rolling friction exists between the track 7 and the robot, thereby effectively reducing the resistance of the robot during operation.

[0092] Reference Figures 12 to 15 Optionally, the suspension assembly 4 includes a first movable rod 41, a connecting shaft 42, a second movable rod 43 and a sliding shaft 44. The first movable rod 41 is rotatably connected to the suspension bracket 2; the connecting shaft 42 is disposed on the first movable rod 41 and connected to the suspension elastic assembly 6; the second movable rod 43 is rotatably connected to the connecting shaft 42; the sliding shaft 44 is slidably connected to the suspension bracket 2 and is rotatably connected to an end of the second movable rod 43 away from the connecting shaft 42, and the sliding shaft 44 is connected to the suspension elastic assembly 6.

[0093] Specifically, two first movable rods 41 and second movable rods 43 are arranged opposite to each other, the lower end of the first movable rod 41 is rotatably connected to the connecting rod 23 close to the base 1, the upper end of the first movable rod 41 is provided with a connecting shaft 42, the lower end of the second movable rod 43 is rotatably connected to the connecting shaft 42, and the upper end of the second movable rod 43 is rotatably connected to a sliding shaft 44, the end of the sliding shaft 44 passes through the second movable rod 43 and is penetrated by the support rod 22, and a sliding groove is opened on the support rod 22 along the vertical direction for the sliding shaft 44 to slide.

[0094] Part of the structure of the suspension elastic component 6 is connected to the sliding shaft 44, and the remaining structure is connected to the connecting shaft 42, and the connecting shaft 42 and the sliding shaft 44 are spaced apart in the vertical direction, so that the driving component 3 forms a multi-point connection with the suspension component 4 through the suspension elastic component 6, thereby ensuring the installation stability of the driving component 3 in the suspension bracket 2.

[0095] When the robot is installed on the track 7, by pressing down the driving assembly 3, the driving assembly 3 drives the first movable rod 41 and the second movable rod 43 to gradually fold through the suspension elastic assembly 6, and the connecting shaft 42 moves away from the driving assembly 3 and pulls the suspension elastic assembly 6 to produce corresponding deformation. After the track 7 is inserted into the corresponding space, the downward pressure is removed, and the suspension elastic assembly 6 is reset to pull the connecting shaft 42 close to the driving assembly 3, thereby driving the first movable rod 41 and the second movable rod 43 to unfold, and the first movable rod 41 drives the sliding shaft 44 to rise and fall in the vertical direction in the slide groove of the support rod 22, and smoothly drives the driving assembly 3 close to the track 7 until the driving wheel 33 of the driving assembly 3 is pressed against the track 7. At this time, the suspension elastic assembly 6 is not completely reset, and the elastic force generated by it can continuously pull the connecting shaft 42, and then push the driving assembly 3 close to the track 7 through the first movable rod 41 and the second movable rod 43, so as to ensure that the pressing force between the driving wheel 33 and the track 7 meets the driving requirements.

[0096] Optionally, the suspension elastic component 6 includes a suspension elastic member 61. One end of the suspension elastic member 61 is connected to the driving component 3, and the other end is connected to the suspension component 4 to push the driving wheel 33 of the driving component 3 to abut against the track 7.

[0097] Specifically, the suspension elastic member 61 is located on the side of the driving assembly 3 close to the base 1, and can be a spring or an elastic rod, etc. In this embodiment, the suspension elastic member 61 is a spring, one end of which is fixedly connected to the driving assembly 3, and the other end is fixedly connected to the connecting shaft 42, and two suspension elastic members 61 are arranged at intervals along the axial direction of the connecting shaft 42.

[0098] By setting the suspension elastic member 61, when the driving component 3 is pressed down, due to the folding of the first movable rod 41 and the second movable rod 43, the connecting shaft 42 will move away from the driving component 3, thereby stretching the suspension elastic member 61. When the downward pressure is removed, the suspension elastic member 61 is reset, pulling the connecting shaft 42 close to the driving component 3, so that the first movable rod 41 and the second movable rod 43 are unfolded, so as to smoothly drive the driving component 3 to press against the track 7.

[0099] Reference Figure 3 Optionally, the suspension elastic component 6 further includes an elastic frame 62. The elastic frame 62 is located on a side of the suspension elastic member 61 away from the base 1. The elastic frame 62 is disposed on the driving component 3 and is fixedly connected to the suspension component 4. The elastic frame 62 can drive the driving component 3 to move when passing through the curved track 7.

[0100] Specifically, the elastic frame 62 extends along the width direction of the suspension component 4, and is fixedly connected with the drive component 3 and the first movable rod 41 on both sides along the length direction of the track 7. The elastic frame 62 itself has a certain deformation ability. It can be made directly of elastic material, or it can be formed by multiple structures in combination with elastic parts such as springs.

[0101] By arranging an elastic frame 62 on the upper side of the suspension elastic member 61, on the one hand, the elastic frame 62 can be used to connect the upper side of the driving component 3 with the suspension component 4 to ensure that the installation stability of the driving component 3 is good. On the other hand, the elastic ability of the elastic frame 62 itself can be used. When passing through the curved section of the track 7, due to the change in force, when the driving component 3 transmits the force to the elastic frame 62, the elastic frame 62 can produce a certain degree of deformation according to the force conditions, thereby driving the driving component 3 to produce a certain displacement, so that the driving wheel 33 of the driving component 3 can adapt to the curved section of the track 7, thereby realizing the nonlinearity of the abutment force between the track 7 and the driving wheel 33. The abutment force is adjusted according to the bending amplitude of the curved section of the track 7 to ensure that the robot can smoothly overcome the irregularity of the track 7 and improve the operational reliability.

[0102] Reference Figures 16 to 19 Optionally, the elastic frame 62 includes a first adjustment plate 621, an adjustment elastic member 622 and a second adjustment plate 623. The first adjustment plate 621 is fixed to the driving assembly 3; the adjustment elastic member 622 is arranged on the first adjustment plate 621; the second adjustment plate 623 is fixed to the suspension assembly 4, the second adjustment plate 623 is arranged opposite to the first adjustment plate 621 and is rotatably connected, and the adjustment elastic member 622 abuts against the second adjustment plate 623.

[0103] Specifically, the first adjustment plate 621 and the second adjustment plate 623 both extend along the width direction of the bottom plate 21, and the two are arranged opposite to each other in the vertical direction, and the two are partially overlapped, and a pin is set in the overlapping part so that the two can rotate relative to each other, and the pin is located in the middle of the elastic frame 62 along the width direction of the track 7, so that the first adjustment plate 621 can rotate along the width direction of the track 7. The middle positions of the two are arranged at intervals to form a space for installing the adjustment elastic member 622. The adjustment elastic member 622 can adopt a butterfly spring, and multiple ones can be arranged at intervals according to the space size. In this embodiment, two adjustment elastic members 622 are arranged at intervals. A connecting ear is provided on the side of the second adjustment plate 623 away from the first adjustment plate 621, and the connecting ear is plugged and fixed to the second movable rod 43.

[0104] When the driving component 3 passes through the curved section of the track 7, the driving component 3 can drive the first adjustment plate 621 to rotate relative to the second adjustment plate 623, and at the same time pull the adjustment elastic member 622 to deform, so that the driving component 3 can also move within a small range of the production line, thereby adjusting the position of the driving wheel 33 relative to the track 7 in real time. After passing through the curved section of the track 7, the adjustment elastic member 622 can be reset and pull the first adjustment plate 621 to reset, which can smoothly drive the driving component 3 to reset.

[0105] Reference Fig.12 , Figure 20 to Figure 22 Optionally, the driving assembly 3 includes a driving frame 31, a driving member 32 and a driving wheel 33. The driving frame 31 is connected to the suspension elastic assembly 6; the driving member 32 is arranged on the driving frame 31; and the driving wheel 33 is arranged at the output end of the driving member 32 and abuts against the track 7.

[0106] Specifically, both sides of the driving frame 31 are connected to the suspension component 4 through the suspension elastic component 6. The driving member 32 adopts a servo motor, which is fixed to one side of the driving frame 31 through a connecting seat 321, and a driving wheel 33 is set inside the driving frame 31 through a driving shaft 322. The driving shaft 322 is connected to the output end of the driving member 32 through a connecting flange 323. The upper end of the driving wheel 33 extends out of the driving frame 31 so as to be able to abut against the bottom wall of the track 7.

[0107] When the robot needs to be operated, the driving member 32 can be started to drive the driving wheel 33 to rotate, and the friction between the driving wheel 33 and the track 7 can be used to drive the robot to run smoothly on the track 7. By providing the driving frame 31, not only can a space be provided for the installation of the driving member 32 and the driving wheel 33, but also the connection position of the entire driving assembly 3 can be adjusted according to the suspension assembly 4 and the suspension elastic assembly 6, so as to facilitate the installation of the entire driving assembly 3.

[0108] Reference Fig.13 Optionally, the driving frame 31 includes two mounting plates 311 arranged opposite to each other. A mounting shaft 312 is fixedly connected between the two mounting plates 311, the suspension elastic component 6 is connected to the mounting shaft 312, the driving member 32 is arranged on one of the mounting plates 311, and the driving wheel 33 is rotatably connected to the other mounting plate 311.

[0109] Specifically, the two mounting plates 311 are arranged opposite to each other at intervals along the width direction of the base 1, the driving shaft 322 is arranged through the mounting plates 311, and is rotatably connected to the mounting plates 311 through the bearing 324, a portion of the first adjustment plate 621 is located between the two mounting plates 311, and one side of the first adjustment plate 621 is fixedly connected to the opposite side walls of the two mounting plates 311, the driving member 32 can be fixed to the outer side wall of one of the mounting plates 311, and the output end of the driving member 32 can be provided with a connecting shaft 42, which passes through the mounting plate 311 and is coaxially fixed with the driving wheel 33 to smoothly drive the driving wheel 33 to rotate. A plurality of mounting shafts 312 can be spaced between the two mounting plates 311 to fix the two mounting plates 311 together. One end of the suspension elastic member 61 is fixedly connected to the mounting shaft 312.

[0110] Reference Figure 3 and Fig.23 Optionally, the robot further comprises a second guide assembly 8. The second guide assembly 8 is rotatably connected to the base 1 and spaced apart from the suspension bracket 2. The second guide assembly 8 is suspended from the track 7 and slidably matched with the track 7.

[0111] Specifically, a second guide assembly 8 is rotatably connected to the top wall of the base 1 through a bearing, and the second guide assembly 8 and the suspension bracket 2 are spaced apart along the length direction of the base 1. The second guide assembly 8 is suspended on the track 7 so that the robot can be stably suspended on the track 7, and when passing through the curved section of the track 7, the second guide assembly 8 can rotate relative to the base 1, thereby ensuring that the robot can smoothly pass through the curved section of the track 7 while running stably.

[0112] Reference Figure 23 to Figure 27 Optionally, the second guide assembly 8 includes a second guide frame 81, a buffer seat 82, a buffer elastic member 83 and a buffer wheel 84. The second guide frame 81 is rotatably connected to the base 1; the buffer seat 82 is disposed on the second guide frame 81; the buffer elastic member 83 is disposed on the buffer seat 82; the buffer wheel 84 is disposed on the buffer elastic member 83 and slidably cooperates with the lower side of the track 7.

[0113] Specifically, the second guide frame 81 includes two oppositely arranged vertical plates 811, and a guide plate 812 is arranged at the bottom between the two vertical plates 811. The guide plate 812 is fixedly connected to the vertical plates 811, and the guide plate 812 is rotatably connected to the base 1 through a bearing. A plurality of pull rods 813 can be distributed between the two vertical plates 811 at intervals along the vertical direction to fix the two vertical plates 811 together.

[0114] A buffer seat 82 is fixedly arranged on the opposite side of the two vertical plates 811, and a rotating shaft 85 is passed through the two buffer seats 82. The middle part of the rotating shaft 85 is rotatably connected with a buffer wheel 84, and the ends of the rotating shaft 85 extend into the buffer seat 82 and are respectively passed through a movable pin 86. A buffer elastic member 83 is arranged on the periphery of the movable pin 86. The buffer elastic member 83 can be a spring, and the spring can be sleeved on the outside of the movable pin 86. The upper end of the buffer elastic member 83 can abut against the rotating shaft 85, and the lower end abuts against the inner wall of the sliding seat. The buffer wheel 84 is located below the track 7 and can abut against the lower side of the track 7.

[0115] When the track 7 is inserted, the buffer wheel 84 can be pressed down to compress the buffer elastic member 83 and increase the space above the buffer wheel 84, so that the track 7 can be inserted above the buffer wheel 84. At this time, after the external force is removed, the buffer elastic member 83 is reset to drive the buffer wheel 84 close to the track 7 until the buffer wheel 84 and the track 7 are tightly pressed, and the buffer elastic member 83 is not completely reset to maintain the elastic force on the buffer wheel 84, thereby ensuring that the buffer wheel 84 can be stably pressed against the track 7.

[0116] Optionally, the second guide assembly 8 further includes a plurality of second upper rollers 87. The second upper rollers 87 are rotatably connected to the second guide frame 81, and the second upper rollers 87 are suspended from the track 7 and slidably cooperate with the track 7.

[0117] Specifically, a second upper roller 87 is rotatably connected to the opposite sides of the two vertical plates 811 . The second upper roller 87 is located above the buffer wheel 84 . The second upper roller 87 can abut against the top side of the track 7 and thus be suspended on the track 7 .

[0118] Optionally, the second guide assembly 8 further includes an encoder 88 and a plurality of second side rollers 89. The encoder 88 is disposed on the second guide frame 81. The second side rollers 89 are rotatably connected to the second guide frame 81 and are slidably matched with the track 7.

[0119] Specifically, a plurality of second side rollers 89 are arranged between the upper roller and the buffer wheel 84. The axis of the second side roller 89 extends in the vertical direction. A fixing seat 891 is provided at both the upper and lower ends thereof to rotatably connect the second side roller 89 to the corresponding vertical plate 811. The second side roller 89 can slide with the side of the track 7. The installation method of the second side roller 89 can refer to the first side roller 53. A spring is also provided correspondingly to enable the second side roller 89 to produce a corresponding amplitude change when passing through the curved track 7, so as to ensure that the second side roller 89 is always connected to the track 7, thereby improving the connection stability between the robot and the track 7. In this embodiment, four second side rollers 89 are provided, that is, two second side rollers 89 are provided on each vertical plate 811. The encoder 88 is fixed on any vertical plate 811 through a connecting rod 881 to detect the running data of the robot on the track 7 in real time, and can transmit the data to the receiver to realize the closed-loop control of the robot speed. It should be understood that the arrangement of the encoder 88 and the arrangement of the second side roller 89 can be designed according to the actual installation space and operation requirements, and the present invention does not make any specific limitation on this.

[0120] The fixed connection in the above embodiments can be achieved by non-detachable means such as welding or bonding, or by detachable connection means such as bolt connection or clamping.

[0121] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A track inspection robot based on an adaptive elastic suspension, characterized in that: include: Base (1); A suspension bracket (2) rotatably connected to the base (1); A driving assembly (3) located inside the suspension bracket (2); Two groups of suspension components (4) are movably connected to the suspension bracket (2), and the driving component (3) is located between the two groups of suspension components (4). The suspension component (4) and the driving component (3) are connected via a suspension elastic component (6) to push the driving wheel (33) of the driving component (3) to abut against the track (7); The first guide assembly (5) is arranged on the suspension bracket (2) and is suspended on the track (7) and slidably matched with the track (7).

2. The track inspection robot based on adaptive elastic suspension according to claim 1, characterized in that: The suspension assembly (4) comprises: A first movable rod (41) rotatably connected to the suspension bracket (2); A connecting shaft (42) is arranged on the first movable rod (41) and connected to the suspension elastic component (6); A second movable rod (43) rotatably connected to the connecting shaft (42); A sliding shaft (44) is slidably connected to the suspension bracket (2) and is rotationally connected to an end of the second movable rod (43) away from the connecting shaft (42), and the sliding shaft (44) is connected to the suspension elastic component (6).

3. The track inspection robot based on adaptive elastic suspension according to claim 1, characterized in that: The suspension elastic component (6) comprises: A suspension elastic member (61), one end of the suspension elastic member (61) is connected to the driving assembly (3), and the other end is connected to the suspension assembly (4) to push the driving wheel (33) of the driving assembly (3) to abut against the track (7).

4. The track inspection robot based on adaptive elastic suspension according to claim 3 is characterized in that: The suspension elastic component (6) also includes: An elastic frame (62) is located on a side of the suspension elastic member (61) away from the base (1); the elastic frame (62) is arranged on the drive assembly (3) and is fixedly connected to the suspension assembly (4); the elastic frame (62) can drive the drive assembly (3) to move when passing through a curved track (7).

5. The track inspection robot based on adaptive elastic suspension according to claim 4, characterized in that: The elastic frame (62) comprises: A first adjustment plate (621) fixed to the driving assembly (3); An adjusting elastic member (622) is arranged on the first adjusting plate (621); The second adjustment plate (623) is fixed to the suspension assembly (4); the second adjustment plate (623) is arranged opposite to and rotatably connected to the first adjustment plate (621); and the adjustment elastic member (622) abuts against the second adjustment plate (623).

6. The track inspection robot based on adaptive elastic suspension according to claim 1, characterized in that: The driving assembly (3) comprises: A driving frame (31) connected to the suspension elastic component (6); A driving member (32) is arranged on the driving frame (31); The driving wheel (33) is arranged at the output end of the driving member (32) and abuts against the track (7).

7. The track inspection robot based on adaptive elastic suspension according to claim 6, characterized in that: The driving frame (31) comprises: Two mounting plates (311) are arranged opposite to each other, a mounting shaft (312) is fixedly connected between the two mounting plates (311), the suspension elastic component (6) is connected to the mounting shaft (312), the driving member (32) is arranged on one of the mounting plates (311), and the driving wheel (33) is rotatably connected to the other mounting plate (311).

8. The track inspection robot based on adaptive elastic suspension according to any one of claims 1 to 7, characterized in that: Also includes: The second guide assembly (8) is rotatably connected to the base (1) and is spaced apart from the suspension bracket (2); the second guide assembly (8) is suspended from the track (7) and is slidably matched with the track (7).

9. The track inspection robot based on adaptive elastic suspension according to claim 8, characterized in that: The second guide assembly (8) comprises: A second guide frame (81) rotatably connected to the base (1); A buffer seat (82) is arranged on the second guide frame (81); A buffer elastic member (83), arranged on the buffer seat (82); The buffer wheel (84) is arranged on the buffer elastic member (83) and is slidably matched with the lower side of the track (7).

10. The track inspection robot based on adaptive elastic suspension according to claim 9, characterized in that: The second guide assembly (8) further comprises: A plurality of second upper rollers (87) are rotatably connected to the second guide frame (81), and the second upper rollers (87) are suspended on the track (7) and slidably cooperate with the track (7); and / or, a plurality of second side rollers (89), rotatably connected to the second guide frame (81) and slidably engaged with the track (7); And / or, an encoder (88) is arranged on the second guide frame (81).

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