Chassis suspension structure and detection robot

Abstract

The utility model discloses a chassis suspension structure and a detection robot, and the chassis suspension structure comprises a first installation part which is connected with a chassis of the detection robot, and a second installation part which is connected with a driving wheel. And the first connecting structure on the first mounting part and the second connecting structure on the second mounting part are rotationally connected through a preset rotating shaft so as to adjust the angle of the driving wheel. The driving wheels of the detection robot can rotate relative to the chassis through the chassis suspension structure so as to adapt to the curved surface working condition, and the first connecting structures and the second connecting structures are alternately arranged in the axial direction of the preset rotating shaft in the chassis suspension structure, so that the detection efficiency is improved. And an anti-wear assembly arranged on the preset rotating shaft in a sleeving mode is arranged between the first connecting structure and the second connecting structure which are adjacent, the anti-wear assembly can effectively reduce rotating abrasion of the first connecting structure and the second connecting structure, and the service life of the chassis suspension structure can be prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a chassis suspension structure and a detection robot. Background Art

[0002] Inspection robots often encounter uneven bearing surfaces during their travel, especially in complex inspection environments, where there are often many depressions or protrusions, or small obstacles such as gravel. In traditional inspection robots, the suspension structure connecting the robot body and the drive wheel is usually a rigid connection structure that cannot adapt to curved surface conditions. Utility Model Content

[0003] The purpose of the utility model is to overcome the above-mentioned deficiencies in the prior art and to provide a chassis suspension structure and a detection robot.

[0004] According to a first aspect of the present application, a chassis suspension structure is provided, which is applied to a detection robot, and the chassis suspension structure comprises:

[0005] A first mounting portion, used to be connected to the chassis of the detection robot, and a plurality of first connection structures are protruding from the outer surface of the first mounting portion;

[0006] A second mounting portion, used for mounting a driving wheel of the detection robot, wherein a plurality of second connection structures are protruding from an outer surface of the second mounting portion, wherein the first connection structure and the second connection structure are rotationally connected via a preset rotating shaft, and an axial direction of the preset rotating shaft is parallel to a moving direction of the detection robot;

[0007] Among them, along the axial direction of the preset rotating shaft, multiple first connecting structures and multiple second connecting structures are arranged alternately, an anti-wear component is arranged between adjacent first connecting structures and second connecting structures, and the anti-wear component is sleeved on the preset rotating shaft.

[0008] In some embodiments, the anti-wear component comprises:

[0009] A wear-resistant sheet, disposed on the surfaces opposite to the first connecting structure and the second connecting structure;

[0010] A first rotating shaft sleeve, comprising a first main body and a first flange structure, wherein the first flange structure is formed by extending one end of the first main body toward the radial outside;

[0011] Wherein, the wear-resistant sheet and the first rotating shaft sleeve in each group of the wear-resistant components are respectively arranged on the adjacent first connecting structure and the second connecting structure.

[0012] In some embodiments, the wear-resistant sheet is an annular steel sheet; and / or the first flange structure is an annular copper sheet.

[0013] In some embodiments, the side wall of the preset rotating shaft is provided with a pin hole;

[0014] The anti-wear assembly further includes a second rotating shaft sleeve, the second rotating shaft sleeve has a second main body, a side wall of the second main body is provided with a first through hole, the first connecting structure or the second connecting structure is provided with a second through hole, and the first through hole and the second through hole are directly opposite;

[0015] The chassis suspension structure also includes an axial limit pin, which passes through the second through hole, the first through hole and the pin hole in sequence.

[0016] In some embodiments, the circumferential cross-section of the second main body portion is non-circular.

[0017] In some embodiments, the surface of the preset rotating shaft is provided with a second flange structure, and the second flange structure is formed by the surface of the preset rotating shaft protruding toward the radial outside;

[0018] The second flange structure is connected to the first connection structure and / or the second connection structure through a fastener.

[0019] In some embodiments, along the thickness direction of the detection robot, there is a gap between the second mounting portion and the chassis of the detection robot;

[0020] The chassis suspension structure also includes an auxiliary mounting plate. The auxiliary mounting plate and the first mounting portion and the second mounting portion are all separate structures. The thickness of the auxiliary mounting plate is equal to the thickness of the gap.

[0021] In some embodiments, the first mounting portion has a boss structure, and the chassis of the detection robot has a first limiting groove. When the first mounting portion is connected to the chassis of the detection robot, the boss structure is embedded in the first limiting groove.

[0022] According to a second aspect of the present application, there is provided a detection robot, comprising a robot body, and a chassis suspension structure as described in any one of the first aspects, wherein the chassis suspension structure is connected to the chassis of the robot body.

[0023] In some embodiments, the inspection robot includes a plurality of driving wheels, and a plurality of the chassis suspension structures;

[0024] Wherein, the plurality of driving wheels are arranged in one-to-one correspondence with the second mounting parts of the plurality of chassis suspension structures, and the plurality of chassis suspension structures are arranged symmetrically.

[0025] The beneficial effects of the utility model are:

[0026] In the chassis suspension structure provided by the utility model, the driving wheels of the detection robot can be rotated relative to the machine chassis through the chassis suspension structure, so as to adapt to curved surface working conditions, and the anti-wear component can effectively reduce the rotational wear of the first connecting structure and the second connecting structure, which is conducive to extending the service life of the chassis suspension structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a schematic diagram of a chassis suspension structure according to an exemplary embodiment;

[0029] Figure 2 is a schematic diagram of a chassis suspension structure according to an exemplary embodiment;

[0030] Figure 3 is an exploded schematic diagram of a chassis suspension structure according to an exemplary embodiment;

[0031] Figure 4 is an exploded schematic diagram of an anti-wear component and a preset rotating shaft according to an exemplary embodiment;

[0032] Figure 5 It is a schematic diagram of assembling an anti-wear component and a preset rotating shaft according to an exemplary embodiment;

[0033] Figure 6 is a front view of a chassis suspension structure according to an exemplary embodiment;

[0034] Figure 7 is a front view of a detection robot according to an exemplary embodiment;

[0035] Figure 8 is a schematic diagram of an auxiliary mounting plate in a working state according to an exemplary embodiment;

[0036] Fig. 9 is a schematic diagram of an auxiliary mounting plate according to an exemplary embodiment.

[0037] In the figure: 10-chassis suspension structure; 1-first mounting part; 11-first connecting structure; 12-boss structure; 13-second limiting groove; 2-second mounting part; 21-second connecting structure; 3-preset rotating shaft; 31-second flange structure; 4-anti-wear component; 41-wear-resistant plate; 42-first rotating shaft sleeve; 421-first main body; 422-first flange structure; 431-second main body; 51-axial limiting pin; 52-pin hole; 53-first through hole; 54-second through hole; 61-first threaded hole; 62-second threaded hole; 63-third threaded hole; 7-auxiliary mounting plate; 71-limiting block; 72-handle; 20-robot body; 201-chassis; 30-driving wheel. DETAILED DESCRIPTION

[0038] In order to solve the technical problem that existing inspection robots cannot adapt to curved surface conditions, the driving wheel can be connected to the robot body in rotation. When the inspection robot encounters obstacles such as bumps on the load-bearing surface during movement, the inspection robot can have a certain degree of curved surface adaptability by adjusting the angle of the driving wheel. However, since the robot body is equipped with a variety of components such as the control system and the inspection system, which usually have considerable mass, the rotation connection between the driving wheel and the robot body is subject to a large load. When the driving wheel rotates, it is easy to cause wear on the suspension structure, which seriously affects the movement performance and product life of the inspection robot.

[0039] In order to solve the problems existing in the related art, the present application provides a chassis suspension structure and a detection robot, wherein the chassis suspension structure includes a first mounting portion connected to the chassis of the detection robot, and a second mounting portion connected to the driving wheel, and the first connecting structure on the first mounting portion and the second connecting structure on the second mounting portion form a rotational connection through a preset rotating shaft to adjust the angle of the driving wheel. The driving wheel of the detection robot can rotate relative to the chassis of the machine through the chassis suspension structure, so as to adapt to the curved surface working condition, and the first connecting structure and the second connecting structure are alternately arranged along the axial direction of the preset rotating shaft in the chassis suspension structure, and an anti-wear component sleeved on the preset rotating shaft is provided between adjacent first connecting structures and second connecting structures, and the anti-wear component can effectively reduce the rotational wear of the first connecting structure and the second connecting structure, which is conducive to extending the service life of the chassis suspension structure.

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present utility model.

[0041] According to an exemplary embodiment of the present application, Figure 1 and Figure 7 As shown, this embodiment provides a chassis suspension structure 10, which is applied to an inspection robot. The inspection robot can be, for example, a water-cooled wall inspection robot, which is used to sense whether there are abnormalities such as deformation and cracking on the tube wall of the boiler water-cooled wall, and to check for safety hazards inside the boiler. The inspection robot includes a robot body 20 and a driving wheel 30. The chassis suspension structure 10 is usually arranged on a chassis 201 of the robot body 20 and connected to the driving wheel 30.

[0042] like Figure 1 and Figure 7 As shown, the chassis suspension structure 10 includes a first mounting portion 1 and a second mounting portion 2, wherein the first mounting portion 1 is connected to the chassis 201 of the detection robot, and the second mounting portion 2 is connected to the driving wheel 30 of the detection robot. A plurality of first connection structures 11 are protrudingly provided on the outer surface of the first mounting portion 1, and a plurality of second connection structures 21 are protrudingly provided on the outer surface of the second mounting portion 2. The first connection structures 11 and the first connection structures 11 are rotationally connected through a preset rotating shaft 3, and the axial direction of the preset rotating shaft 3 ( Figure 1 The y direction shown) is parallel to the moving direction of the detection robot.

[0043] As an example, refer to Figure 1 and Figure 2 The first mounting portion 1 is provided with three first connection structures 11 protruding therefrom, and the three first connection structures 11 are arranged along the axial direction of the preset rotating shaft 3. The second mounting portion 2 is provided with two second connection structures 21 protruding therefrom, and the two second connection structures 21 are also arranged along the axial direction of the preset rotating shaft 3. The three first connection structures 11 and the two second connection structures 21 are all sleeved on the outer periphery of the preset rotating shaft 3 and can rotate around the axial direction of the preset rotating shaft 3. Figure 1 and Figure 7 , when the detection robot moves along Figure 1 When moving in the y direction as shown, the driving wheel 30 can rotate around the axial direction of the preset rotating shaft 3 through the second mounting portion 2, thereby changing the angle of the driving wheel 30, so that the detection robot can adapt to the curved surface working condition. The number of the first connecting structure 11 and the second connecting structure 21 can be determined according to actual needs, and there is no limitation on this.

[0044] like Figure 1 , Figure 2 and Figure 5 As shown, along the axial direction of the preset rotating shaft 3, a plurality of first connecting structures 11 and a plurality of second connecting structures 21 are alternately arranged, and an anti-wear component 4 is arranged between adjacent first connecting structures 11 and second connecting structures 21, and the anti-wear component 4 is sleeved on the preset rotating shaft 3. As an example, refer to Figure 1 , Figure 2 and Figure 5, four groups of anti-wear components 4 are arranged in the chassis suspension structure 10, which are respectively arranged between the three first connection structures 11 and the two second connection structures 21. The anti-wear components 4 can prevent the first connection structure 11 from directly contacting the second connection structure 21. When the first connection structure 11 and the second connection structure 21 rotate relative to each other, the anti-wear components 4 can play a lubricating role, effectively reducing the rotational wear of the first connection structure 11 and the second connection structure 21, avoiding the frequent disassembly and replacement of mechanical parts, which is conducive to extending the service life of the chassis suspension structure.

[0045] In one embodiment, reference Figure 1 and Figure 4 The anti-wear assembly 4 includes a wear-resistant sheet 41 and a first shaft sleeve 42. The wear-resistant sheet 41 and the first shaft sleeve 42 in each set of anti-wear assembly 4 are respectively arranged on the adjacent first connection structure 11 and the second connection structure 21. The wear-resistant sheet 41 is arranged on the opposite surface of the first connection structure 11 and the second connection structure 21. The first shaft sleeve 42 includes a first main body 421 and a first flange structure 422. The first flange structure 422 is formed by extending one end of the first main body 421 toward the radial outside.

[0046] As an example, Figures 1 to 5 As shown, the wear-resistant sheet 41 and the first flange structure 422 are both annular, the first main body 421 is cylindrical with openings at both ends, and the first main body 421 is located on the side of the first flange structure 422 away from the wear-resistant sheet 41. When the anti-wear assembly 4 is arranged between the first connection structure 11 and the second connection structure 21, the wear-resistant sheet 41 and the first flange structure 422 are attached to each other and are sandwiched between the first connection structure 11 and the second connection structure 21. The first connection structure 11 and the second connection structure 21 both have mounting holes, the outer ring of the first main body 421 is connected to or fitted with the mounting hole, and the inner ring of the first main body 421 is connected to or fitted with the preset shaft 3, that is, the first main body 421 is located between the first connection structure 11 or the second connection structure 21 and the preset shaft 3.

[0047] When the first connection structure 11 and the second connection structure 21 rotate relative to each other, the wear-resistant sheet 41 and the adjacent first flange structure 422 simultaneously generate relative motion, thereby preventing the opposing surfaces of the first connection structure 11 and the second connection structure 21 from directly rubbing against the anti-wear assembly 4. At the same time, the first main body 421 separates the first connection structure 11 and the second connection structure 21 from the preset rotating shaft 3, thereby effectively reducing the wear on the rotating shaft.

[0048] In practical applications, suspension structures are often made of metals such as aluminum, which are cheap and have low density, making it easy to control production costs and mechanical weight, but have poor wear resistance. The anti-wear component can be made of materials with strong wear resistance or lubricity. For example, in one embodiment, the wear-resistant sheet is an annular steel sheet, and the first flange structure is an annular copper sheet. Since the sliding friction coefficient between copper and low-carbon steel of 0.36 is much smaller than the sliding friction coefficient between aluminum and aluminum of 1.4, replacing the contact between aluminum parts with steel and copper can significantly reduce the friction at the friction contact point and improve the wear resistance of the chassis suspension structure. According to actual needs, the anti-wear component can also be made of other materials, which is not limited in this embodiment.

[0049] In one embodiment, reference Figure 1 The surface of the preset rotating shaft 3 is provided with a second flange structure 31, which is formed by the surface of the preset rotating shaft 3 protruding toward the radial outside, and the second flange structure 31 is connected to the first connecting structure 11 and the second connecting structure 21 through a fastener. As an example, Figure 1 , Figure 3 and Figure 6 As shown, the two ends of the preset rotating shaft 3 extend out of the first connecting structure 11, and the extended part of the preset rotating shaft 3 protrudes toward the radial outer side thereof to form a second flange structure 31, and a first threaded hole 61 is provided on the second flange structure 31, and a third threaded hole 63 is correspondingly provided on the first connecting structure 11. The fastener (not shown in the figure) can be, for example, a screw, and the second flange structure 31 is fixed to the first connecting structure 11 by screwing into the first threaded hole 61 and the third threaded hole 63 to achieve the installation of the preset rotating shaft 3. At this time, the preset rotating shaft 3 is fixedly connected to the first mounting part 1, and there is no relative rotation between the two. Of course, the preset rotating shaft 3 can also be fixedly connected to the second mounting part 2, which will not be described in detail here. When installing or disassembling the chassis suspension structure 10, the connection or separation of the first connecting structure 11 and the second connecting structure 12 can be completed by plugging and unplugging the preset rotating shaft 3. The operation is simple and convenient, and it is easy to complete quick assembly at the inspection site.

[0050] In one embodiment, continue to refer to Figure 1 , Figure 3 and Figure 6 The second flange structure 31 is further provided with a second threaded hole 62, and the extension direction of the second threaded hole 62 is parallel to the axial direction of the preset rotating shaft 3 ( Figure 1The second threaded hole 62 is a through hole and is connected to the outer surface of the first connection structure 11 or the second connection structure 21, and the thread specification of the second threaded hole 62 is consistent with that of the first threaded hole 61, that is, the fastener is also applicable to the second threaded hole 62. When the preset rotating shaft 3 needs to be disassembled, the fastener only needs to be screwed out of the first threaded hole 61 and then screwed into the second threaded hole 62, and the first connecting structure 11 and the second connecting structure 21 are pushed by the fastener to move in a direction away from the preset rotating shaft 3, so as to facilitate the disassembly of the preset rotating shaft 3.

[0051] In some embodiments, since the preset shaft is relatively long, the resistance encountered during loading and unloading is relatively large, so the preset shaft can be divided into multiple sections. Figures 3 to 5 As shown, the preset rotating shaft 3 is split into two sub-rotating shafts, and the two second flange structures 31 are respectively located on one end of the two sub-rotating shafts away from the other sub-rotating shaft. During loading and unloading, only the two shorter sub-rotating shafts need to be operated separately, which greatly reduces the difficulty of loading and unloading.

[0052] In one embodiment, reference Figures 2 to 5 , the side wall of the preset rotating shaft 3 is provided with a pin hole 52, correspondingly, the anti-wear component 4 also includes a second rotating shaft sleeve, the second rotating shaft sleeve has a second main body 431, the second main body 431 has a first through hole 53, the first connecting structure 11 or the second connecting structure 21 is provided with a second through hole 54, the first through hole 53 and the second through hole 54 are opposite. The chassis suspension structure 10 also includes an axial limit pin 51, in the assembled state, the axial limit pin 51 passes through the second through hole 54, the first through hole 53 and the pin hole 52 in sequence. As an example, Figures 3 to 5 As shown, the second main body 431 is in the shape of a tube with two ends opened and is sleeved on the outer periphery of the preset rotating shaft 3, so that the first through hole 53 is directly opposite to the pin hole 52, and at the same time, a second through hole 53 is provided on the first connecting structure 11 corresponding to the first through hole 53, as shown in FIG. Figure 2 As shown, the axial limit pin is along the Figure 2 The +z direction of the axial stop pin 51 sequentially passes through the second through hole 54, the first through hole 53 and the pin hole 52. The axial stop pin 51 can axially stop the preset shaft 3, share the load of the fastener, and prevent the axial force of the preset shaft 3 from directly acting on the fastener. The axial stop pin 51 can be, for example, a screw, a pin, etc. In one example, Figure 3 As shown, the axial limit pin 51 is an elastic plunger, which is convenient for loading and unloading at the bottom of the detection robot in a narrow space.

[0053] In one embodiment, reference Figure 4 , the circumferential cross section of the second main body portion 431 is non-circular. As an example, Figure 3 and Figure 4As shown, the circumferential cross-section of the second main body 431 is a playground runway-like ring formed by two arc segments and two straight segments alternately connected end to end. At the same time, a second limiting groove 13 is provided in the first connecting structure 11 directly connected to the second main body 431. The portion of the preset rotating shaft 3 that is in direct contact with the second main body 431 and the circumferential contour of the second limiting groove 13 are both playground runway-like. When the second main body 431 and the preset rotating shaft 3 are assembled into the first connecting structure 11, the second limiting groove 13 can limit the second main body 431 and the preset rotating shaft 3, ensuring that the second through hole 54, the first through hole 53 and the pin hole 52 are always aligned, so as to facilitate the axial limiting pin 51 to pass through the second through hole 54, the first through hole 53 and the pin hole 52 in sequence during assembly.

[0054] In one embodiment, reference Figure 7 and Figure 8 The chassis suspension structure 10 also includes an auxiliary mounting plate 7. The auxiliary mounting plate 7 and the first mounting portion 1 and the second mounting portion 2 are all separate structures. Figure 8 There is a gap between the second mounting portion 2 and the chassis 201 of the detection robot (as shown in the z direction), and the thickness of the auxiliary mounting plate 7 is equal to the thickness of the gap.

[0055] As an example, Figure 1 and Figure 7 As shown, there is a gap of a certain thickness between the second mounting portion 2 for mounting the driving wheel 30 and the chassis 201 to provide a movable space for the rotation of the driving wheel 30. However, during the installation of the driving wheel 30, one side of the driving wheel 30 is suspended in the air, which is not conducive to the rapid installation at the inspection site. For this reason, an auxiliary mounting plate 7 is provided in the chassis suspension structure 10 to provide support for the driving wheel 30 during the installation process. Figures 7 to 9 As shown, the auxiliary mounting plate 7 is an independent component, which is applied to the side of the driving wheel 30 opposite to the chassis suspension structure 10. When in use, the auxiliary mounting plate 7 only needs to be placed between the driving wheel 30 and the chassis 201, and can be directly taken out after the driving wheel 30 is installed. In actual installation, the following steps can be followed:

[0056] Step S1: Flip the detection robot so that the chassis 201 is located above the robot body 20;

[0057] Step S2: The first mounting portion 1 and the second mounting portion 2 are fixedly connected to the chassis 201 and the driving wheel 30 respectively;

[0058] Step S3: placing the auxiliary mounting plate 7 on the chassis 201, and placing the driving wheel 30 upside down on the auxiliary mounting plate 7;

[0059] Step S4: Move the driving wheel 30 on the auxiliary mounting plate 7 along Figure 8Pushing in the x direction as shown makes the first connection structures 11 and the second connection structures 21 form an alternating arrangement;

[0060] Step S5: installing the preset rotating shaft 3 to the first connecting structure 11 and the second connecting structure 21;

[0061] Step S6: Remove the auxiliary mounting plate 7 and turn the detection robot over again.

[0062] In one example, if Fig. 9 As shown, a stop block 71 is provided on the side of the auxiliary mounting plate 7 facing the chassis 201 to prevent the auxiliary mounting plate 7 from sliding during the installation process. Fig. 9 As shown, the auxiliary mounting plate 7 is also provided with a handle 72 for easy taking.

[0063] In one embodiment, reference Figure 1 and Figure 7 The first mounting portion 1 has a boss structure 12, and the chassis 201 of the detection robot has a first limiting groove. When the first mounting portion 1 is connected to the chassis 201 of the detection robot, the boss structure 12 is embedded in the first limiting groove. As an example, Figure 1 and Figure 7 As shown, the boss structure 12 is located on the surface where the first mounting portion 1 is connected to the chassis 201. The boss structure 12 can be, for example, square or other shapes, without limitation. The shape of the first limiting groove (not shown in the drawings) corresponds to the boss structure 12, so that the two can be firmly embedded. On the one hand, the boss structure 12 enables the first mounting portion 1 to be quickly positioned during installation. On the other hand, when the detection robot is tilted at a large angle or even vertically set on the bearing surface, the side wall of the boss structure 12 can share the load of the robot body 20 acting on the chassis suspension structure 10, reducing the pressure of the chassis suspension structure 10. In another embodiment (not shown in the drawings), the first mounting portion has a first limiting groove, and the chassis has a boss structure, which will not be described in detail here.

[0064] According to an exemplary embodiment of the present application, Figure 7 As shown, this embodiment provides a detection robot, including a robot body 20, and a chassis suspension structure 10 as in any of the above embodiments, the chassis suspension structure 10 is connected to the chassis 201 of the robot body 20. As an example, Figure 1 and Figure 7 As shown, the chassis suspension structure 10 is installed on the chassis 201 of the robot body 20 through the first installation part 1. Figure 1When the robot moves in the y direction, the driving wheel 30 can rotate around the axial direction of the preset rotating shaft 3 through the second mounting portion 2, thereby changing the angle of the driving wheel 30. In one embodiment, after the chassis suspension structure 10 is provided, the obstacle crossing height of the detection robot on one side is increased from 10 mm to 15 mm, which greatly improves the curved surface adaptability of the detection robot.

[0065] In one embodiment, reference Figure 7 The detection robot includes a plurality of driving wheels 30 and a plurality of chassis suspension structures 10, wherein the plurality of driving wheels 30 are arranged in one-to-one correspondence with the second mounting portions 2 of the plurality of chassis suspension structures 10, and the plurality of chassis suspension structures 10 are arranged symmetrically. As an example, Figure 1 and Figure 7 As shown, the detection robot includes two driving wheels 30 and two chassis suspension structures 10. The two driving wheels 30 are connected to the robot body 20 through the second mounting parts 2 in the two chassis suspension structures 10. The two chassis suspension structures 10 are relative to the traveling direction of the detection robot ( Figure 1 The two sides of the detection robot are symmetrically arranged in the y direction as shown, so that both sides of the detection robot have good surface adaptability.

[0066] The contents described in the embodiments of this specification are merely an enumeration of the implementation forms of the utility model concept. The protection scope of the utility model should not be deemed to be limited to the specific forms described in the embodiments. The protection scope of the utility model also includes equivalent technical means that can be thought of by technical personnel in this field based on the concept of the utility model.

Claims

1. A chassis suspension structure, characterized in that: Applied to the detection robot, the chassis suspension structure includes: A first mounting portion, used to be connected to the chassis of the detection robot, and a plurality of first connection structures are protruding from the outer surface of the first mounting portion; A second mounting portion, used for mounting a driving wheel of the detection robot, wherein a plurality of second connection structures are protruding from an outer surface of the second mounting portion, wherein the first connection structure and the second connection structure are rotationally connected via a preset rotating shaft, and an axial direction of the preset rotating shaft is parallel to a moving direction of the detection robot; Among them, along the axial direction of the preset rotating shaft, multiple first connecting structures and multiple second connecting structures are arranged alternately, an anti-wear component is arranged between adjacent first connecting structures and second connecting structures, and the anti-wear component is sleeved on the preset rotating shaft.

2. The chassis suspension structure according to claim 1, characterized in that: The anti-wear component comprises: A wear-resistant sheet, disposed on the surfaces opposite to the first connecting structure and the second connecting structure; A first rotating shaft sleeve, comprising a first main body and a first flange structure, wherein the first flange structure is formed by extending one end of the first main body toward the radial outside; Wherein, the wear-resistant sheet and the first rotating shaft sleeve in each group of the wear-resistant components are respectively arranged on the adjacent first connecting structure and the second connecting structure.

3. The chassis suspension structure according to claim 2, characterized in that: The wear-resistant sheet is an annular steel sheet; and / or the first flange structure is an annular copper sheet.

4. The chassis suspension structure according to claim 2, characterized in that: The side wall of the preset rotating shaft is provided with a pin hole; The anti-wear assembly further includes a second rotating shaft sleeve, the second rotating shaft sleeve has a second main body, a side wall of the second main body is provided with a first through hole, the first connecting structure or the second connecting structure is provided with a second through hole, and the first through hole and the second through hole are directly opposite; The chassis suspension structure also includes an axial limit pin, which passes through the second through hole, the first through hole and the pin hole in sequence.

5. The chassis suspension structure according to claim 4, characterized in that: The circumferential cross-section of the second main body portion is non-circular.

6. The chassis suspension structure according to claim 1, characterized in that: The surface of the preset rotating shaft is provided with a second flange structure, and the second flange structure is formed by the surface of the preset rotating shaft protruding toward the radial outside; The second flange structure is connected to the first connection structure and / or the second connection structure through a fastener.

7. The chassis suspension structure according to claim 1, characterized in that: Along the thickness direction of the detection robot, there is a gap between the second mounting portion and the chassis of the detection robot; The chassis suspension structure also includes an auxiliary mounting plate. The auxiliary mounting plate and the first mounting portion and the second mounting portion are all separate structures. The thickness of the auxiliary mounting plate is equal to the thickness of the gap.

8. The chassis suspension structure according to claim 1, characterized in that: The first mounting portion has a boss structure, and the chassis of the detection robot has a first limiting groove. When the first mounting portion is connected to the chassis of the detection robot, the boss structure is embedded in the first limiting groove.

9. A detection robot, characterized in that: It comprises a robot body and a chassis suspension structure as described in any one of claims 1 to 8, wherein the chassis suspension structure is connected to the chassis of the robot body.

10. The detection robot according to claim 9, characterized in that: The detection robot comprises a plurality of driving wheels and a plurality of chassis suspension structures; Wherein, the plurality of driving wheels are arranged in one-to-one correspondence with the second mounting parts of the plurality of chassis suspension structures, and the plurality of chassis suspension structures are arranged symmetrically.

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