Robot moving platform in enclosed bus

Abstract

The utility model relates to the technical field of enclosed bus detection, in particular to an enclosed bus internal robot moving platform, which comprises a vehicle body assembly, a vehicle body part, a connecting part arranged on one side of the vehicle body part and an independent suspension wheel part arranged on one side of the connecting part, the vehicle body part comprises a vehicle body chassis, a vehicle body bottom plate arranged on one side of the vehicle body chassis and a vehicle body supporting seat arranged on one side of the vehicle body chassis, and the elastic supporting assembly comprises an elastic part arranged on one side of the vehicle body part and an adjusting part arranged on one side of the vehicle body part; the robot moving platform freely walks in the internal space of the enclosed bus, a new operation mode is provided for inspection of fixed insulators in the enclosed bus, manpower is saved, the inspection range is wide, no dead angle exists, the robot can reach any internal area, and the inspection efficiency is improved. And meanwhile, the torque of the compression spring can be conveniently adjusted according to needs through the arranged elastic supporting assembly and the adjusting piece, so that the shock absorption effect is improved when the vehicle body moves.

Description

Technical Field

[0001] The utility model relates to the technical field of enclosed busbar detection, in particular to a robot mobile platform inside an enclosed busbar. Background Art

[0002] In a basin power station, for the inspection and maintenance work inside the phase-separated enclosed busbar at the generator outlet, the traditional technical method mainly relies on manually checking and visually inspecting by extracting the existing conductor fixed insulators. This method has obvious limitations and deficiencies, mainly manifested in the following aspects: large workload, because it is necessary to manually extract the insulators and check them one by one, which not only consumes a lot of manpower but also increases the operation time; limited inspection scope, the visual inspection method cannot fully cover all areas inside the enclosed busbar, resulting in possible blind spots in the inspection and inability to comprehensively check the internal state; due to the special structure inside the enclosed busbar, the traditional inspection method is difficult to comprehensively evaluate and diagnose the internal state. In view of the above problems, a device that can quickly detect the inside of the enclosed busbar is needed. Summary of the Utility Model

[0003] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and title of the application, to avoid obscuring the purpose of this part, the abstract, and the title, and such simplifications or omissions shall not be used to limit the scope of the utility model.

[0004] In view of the problems raised in the use of the above device, the present utility model is proposed.

[0005] Therefore, the purpose of the present utility model is to provide a robot mobile platform inside an enclosed busbar.

[0006] To solve the above technical problems, the present utility model provides the following technical solutions: a vehicle body assembly, including a vehicle body part, a connecting part arranged on one side of the vehicle body part, and an independent suspension wheel part arranged on one side of the connecting part;

[0007] The vehicle body part includes a vehicle body chassis, a vehicle body bottom plate arranged on one side of the vehicle body chassis, and a vehicle body support seat arranged on one side of the vehicle body chassis;

[0008] An elastic support assembly, including an elastic part arranged on one side of the vehicle body part and an adjusting part arranged on one side of the vehicle body part;

[0009] The independent suspension wheel part includes a drive motor base arranged on one side of the vehicle body support seat, a drive motor arranged on one side of the drive motor base, a fixed output flange arranged at the output end of the drive motor, and a rubber wheel arranged on one side of the fixed output flange;

[0010] The vehicle body chassis is provided with two groups, and rubber wheels are provided around each group of vehicle body chassis.

[0011] As a preferred solution of the closed busbar internal robot mobile platform of the utility model, the independent suspension wheel assembly also includes a steering support frame arranged on one side of the vehicle body support seat, a steering motor arranged on one side of the steering support frame, and a steering output gear arranged at the output end of the steering motor.

[0012] As a preferred solution of the closed busbar internal robot mobile platform described in the utility model, the independently suspended wheel component also includes a steering bearing seat arranged at the other end of the steering support frame, a steering support shaft arranged on one side of the steering bearing seat, a deep groove ball bearing arranged on one side of the steering bearing seat, and a thrust bearing arranged on one side of the steering bearing seat.

[0013] As a preferred solution of the closed busbar internal robot mobile platform of the utility model, wherein: the independent suspension wheel member also includes a steering input gear and a driving motor base arranged on one side of the steering support shaft;

[0014] The steering input gear, the steering support shaft and the drive motor base are integrated into one, and the steering bearing seat can ensure that the steering output gear and the steering input gear form a gear meshing pair.

[0015] As a preferred solution of the closed busbar internal robot mobile platform of the utility model, the connecting part includes a suspension support rod and a shock absorber arranged on one side of the steering support frame, and the other end of the suspension support rod and the shock absorber is connected to the vehicle body support seat.

[0016] As a preferred solution of the closed busbar internal robot mobile platform described in the utility model, the independent suspension wheel is fixedly mounted on the side of the vehicle body support seat through suspension support rods and shock absorbers, with a total of four in the front, back, left and right, and the suspension support rods and shock absorbers are installed at a certain angle.

[0017] As a preferred solution of the closed busbar internal robot mobile platform of the utility model, wherein: the elastic member includes a slide bar arranged on one side of the vehicle body bottom plate and mounting nuts arranged on both ends of the slide bar;

[0018] The elastic member also includes an elastic mounting shaft arranged on one side of the vehicle body bottom plate, a compression spring sleeved on the outside of the elastic mounting shaft, a mounting platform arranged on one side of the vehicle body bottom plate and an adjustment plate slidably arranged on the outside of the elastic mounting shaft, and the two ends of the compression spring are respectively connected to the side wall of the adjustment plate and the side wall of the mounting platform.

[0019] As a preferred solution of the closed busbar internal robot moving platform of the utility model, the elastic member further includes a limiting nut arranged at one end of the elastic mounting shaft and one end of the mounting platform.

[0020] As a preferred solution of the robot moving platform inside the enclosed busbar of the present utility model, wherein: the adjusting member includes a fixed sleeve disposed at the outer end of the sliding rod, a fixing plate disposed at one end of the fixed sleeve, an adjusting disc slidably disposed on one side of the fixed sleeve, and connecting rods disposed at both ends of the adjusting disc, and the other ends of the connecting rods are connected to the adjusting plate;

[0021] The adjusting member further includes a tension spring disposed between the adjusting disc and the fixing plate.

[0022] As a preferred solution of the robot moving platform inside the enclosed busbar of the present utility model, wherein: the adjusting member further includes a plurality of uniformly distributed annular grooves opened on the outer side of the fixed sleeve, a limiting ring slidably disposed on one side of the annular groove, and a return spring disposed inside the annular groove;

[0023] In the initial state, the adjusting disc contacts the wedge surface of the limiting ring.

[0024] The beneficial effects of the present utility model: The present utility model is a robot moving platform that freely walks inside the enclosed busbar, providing a new operation method for inspecting the fixed insulators inside the enclosed busbar, greatly reducing the workload, saving manpower, and having a wide inspection range without dead angles, and any area inside can be reached. The robot moving platform adopts the method of eight-wheel independent suspension wheels with variable directions for the main drive and can walk in any direction inside the enclosed busbar. Under the combined action of the elastic support device and the independent suspension wheels, the robot moving platform can well adapt to the annular curved surface inside the enclosed busbar and can smoothly pass through the welds and uneven areas. At the same time, by setting the elastic support assembly and the adjusting member, it is convenient to adjust the torque of the compression spring as needed, thereby improving the shock absorption effect when the vehicle body moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0026] Figure 1 It is a schematic diagram of the overall structure of the present utility model.

[0027] Figure 2 It is a schematic diagram of the structure of the vehicle body support seat of the present utility model.

[0028] Figure 3 It is a schematic diagram of the structure of the independent suspension wheel member of the present utility model.

[0029] Figure 4 This is a cross-sectional view of the independent suspension wheel component in the present utility model.

[0030] Figure 5 It is Figure 1 an enlarged view of the structure at position A in

[0031] Figure 6 This is the front view of the present utility model.

[0032] Figure 7 This is a schematic structural view of the adjusting component in the present utility model.

[0033] Figure 8 This is a schematic structural view of the compression spring in the present utility model. Specific embodiments

[0034] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will provide a detailed description of the specific embodiments of the present utility model with reference to the accompanying drawings of the specification.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0036] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present utility model. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0037] Furthermore, the present utility model is described in detail in conjunction with the schematic diagrams. When elaborating on the embodiments of the present utility model, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally not in accordance with the general ratio, and the schematic diagrams are only examples and should not limit the scope of protection of the present utility model herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0038] Embodiment 1

[0039] Refer to Figures 1 - 4, a schematic diagram of the overall structure of a robot mobile platform inside a closed busbar is provided. A robot mobile platform inside a closed busbar includes a vehicle body assembly 100, which includes a vehicle body part 101, a connecting part 102 provided on one side of the vehicle body part 101, and an independent suspension wheel part 103 provided on one side of the connecting part 102. The vehicle body part 101 includes a vehicle body chassis 101a, a vehicle body bottom plate 101b provided on one side of the vehicle body chassis 101a, and a vehicle body support seat 101c provided on one side of the vehicle body chassis 101a. An elastic support assembly 200 includes an elastic member 201 provided on one side of the vehicle body part 101 and an adjusting member 202 provided on one side of the vehicle body part 101;

[0040] The independent suspension wheel part 103 includes a driving motor 103b base 103a provided on one side of the vehicle body support seat 101c, a driving motor 103b provided on one side of the driving motor 103b base 103a, a fixed output flange 103c provided on the output end of the driving motor 103b, and a rubber wheel 103d provided on one side of the fixed output flange 103c. There are two sets of vehicle body chassis 101a, and rubber wheels 103d are provided around each set of vehicle body chassis 101a.

[0041] Specifically, the independent suspension wheel part 103 further includes a steering support frame 103e provided on one side of the vehicle body support seat 101c, a steering motor 103f provided on one side of the steering support frame 103e, and a steering output gear 103n provided on the output end of the steering motor 103f.

[0042] Furthermore, the independent suspension wheel part 103 further includes a steering bearing seat 103h provided at the other end of the steering support frame 103e, a steering support shaft 103i provided on one side of the steering bearing seat 103h, a deep groove ball bearing 103j provided on one side of the steering bearing seat 103h, and a thrust bearing 103l provided on one side of the steering bearing seat 103h. One end of the steering support frame 103e is installed on the vehicle body support seat 101c through a suspension support rod 102a and a shock absorber 102b, and the other end is installed with a steering motor 103f. The output end of the steering motor 103f is fixed with a steering output gear 103n; at the same time, the other end of the steering support frame 103e is also installed with a steering bearing seat 103h. The steering support shaft 103i is fixed on the steering bearing seat 103h through two deep groove ball bearings 103j and a thrust bearing 103l. At the same time, a steering input gear 103m and a driving motor 103b base 103a are installed on the steering support shaft 103i; among them, the two deep groove ball bearings 103j can ensure that the driving motor 103b base 103a rotates around the steering support shaft 103i, and the thrust bearing 103l can ensure that the deep groove ball bearing 103j does not bear force in the axial direction.

[0043] Preferably, the independent suspension wheel member 103 further includes a steering input gear 103m and a base 103a of the drive motor 103b disposed on one side of the steering support shaft 103i. The steering input gear 103m, the steering support shaft 103i, and the base 103a of the drive motor 103b are integrally formed, and the steering bearing seat 103h can ensure that the steering output gear 103n and the steering input gear 103m form a gear meshing pair.

[0044] Specifically, the base 103a of the drive motor 103b mounts the drive motor 103b. The output end of the drive motor 103b is fixed with an output flange 103c. A rubber wheel 103d is mounted on the periphery of the output flange. The rubber wheel 103d is driven to rotate by the drive motor 103b. The rubber wheel 103d is made of high-strength rubber material, which can increase the friction with the enclosed bus duct on the one hand and will not damage the enclosed bus duct on the other hand.

[0045] Operation process: Since the internal space of the enclosed bus is an annular area composed of an internal conductor and an external housing, and there are welds and uneven areas at intervals, for the special working environment inside the enclosed bus, the utility model can provide a robot mobile platform that can move in any direction inside it. The robot mobile platform is composed of two upper and lower vehicle body chassis 101a connected together by an elastic support device. Each vehicle body chassis 101a is mounted on a vehicle body support seat 101c by four independent suspension wheel devices through suspension support rods 102a and shock absorbers 102b. Each independent suspension wheel device is equipped with a drive motor 103b and a steering motor 103f. By controlling these motors, the forward, backward, and turning of the robot mobile platform can be realized, adapting to complex environments: Since the robot mobile platform adopts the method of eight-wheel independent suspension with variable directions and main drive, it can adapt to the annular curved surface inside the enclosed bus and smoothly pass through the welds and uneven areas. The robot mobile platform can move in any direction inside the enclosed bus to perform inspection tasks. During the movement, each independent suspension wheel device is not only equipped with a drive motor 103b to achieve the purpose that each wheel can provide driving force, but also equipped with a steering motor 103f, and each wheel can change its direction arbitrarily, making the entire robot mobile platform flexible and light.

[0046] Embodiment 2

[0047] Refer to Figures 2 - 6 This embodiment is different from the first embodiment in that the connecting member 102 includes a suspension support rod 102a and a shock absorber 102b disposed on one side of the steering support frame 103e, and the other ends of the suspension support rod 102a and the shock absorber 102b are connected to the vehicle body support seat 101c.

[0048] Specifically, each independent suspension wheel member 103 is fixedly installed on the side of the vehicle body support seat 101c through a suspension support rod 102a and a shock absorber 102b. There are four in total, front, rear, left, and right. The suspension support rod 102a and the shock absorber 102b are installed at a certain angle.

[0049] Preferably, the elastic member 201 includes a slide rod 201a disposed on one side of the vehicle body bottom plate 101b and mounting nuts 201b disposed at both ends of the slide rod 201a. The elastic member 201 further includes an elastic mounting shaft 201c disposed on one side of the vehicle body bottom plate 101b, a compression spring 201d sleeved outside the elastic mounting shaft 201c, a mounting table 201e disposed on one side of the vehicle body bottom plate 101b, and an adjusting plate 201f slidably disposed outside the elastic mounting shaft 201c. Both ends of the compression spring 201d are connected to the side wall of the adjusting plate 201f and the side wall of the mounting table 201e respectively.

[0050] Preferably, each independent suspension wheel device is fixedly installed on the side of the vehicle body support seat 101c through a suspension support rod 102a and a shock absorber 102b. There are four in total, front, rear, left, and right. The suspension support rod 102a and the shock absorber 102b are installed at a certain angle so as to achieve a shock absorption effect; the vehicle body bottom plate 101b is installed on the vehicle body support seat 101c and is used for fixedly installing the elastic support assembly 200.

[0051] The remaining structures are the same as those in Embodiment 1.

[0052] Operation process: When in use, start the robot mobile platform to ensure that all systems are working properly. Through the elastic support assembly 200, the rubber wheel 103d can be attached to the inner and outer pipe wall surfaces within the annular area. Control the independent suspension wheel member 103. Utilize the four independent suspension wheel members 103 on each vehicle body chassis 101a to achieve a shock absorption effect through the suspension support rod 102a and the shock absorber 102b, ensuring that the robot mobile platform can also operate stably in an uneven pipe. Each independent suspension wheel device is equipped with a drive motor 103b and a steering motor 103f. By controlling these motors, the robot mobile platform can move forward, backward, and turn, adapting to complex environments: Since the robot mobile platform adopts the method of eight-wheel independent suspension variable direction main drive, it can adapt to the annular curved surface inside the enclosed busbar, and smoothly pass through welds and uneven areas. The robot mobile platform can walk in any direction inside the enclosed busbar to perform inspection tasks, such as inspecting the state of fixed insulators, monitoring and data collection. During the process of performing inspection tasks, the robot mobile platform can carry corresponding sensors and cameras to collect data and transmit it to the control center in real time.

[0053] Embodiment 3

[0054] Refer to Figures 5 - 8, what is different about this embodiment from the above embodiments is that the elastic member 201 includes a sliding rod 201a disposed on one side of the vehicle body bottom plate 101b and mounting nuts 201b disposed at both ends of the sliding rod 201a. Specifically, the elastic member 201 further includes limit nuts 201g disposed at one end of the elastic mounting shaft 201c and one end of the mounting table 201e. The sliding rod 201a is connected to the upper and lower vehicle body bottom plates 101b through the mounting nuts 201b respectively, and the vehicle body bottom plate 101b can slide at the sliding rod 201a and is limited by the provided mounting nuts 201b. At the same time, the upper end of the elastic mounting shaft 201c and the upper end of the vehicle body bottom plate 101b are mounted and limited by the limit nuts 201g, reducing the possibility of its detachment and ensuring that the vehicle body chassis 101a does not fall off.

[0055] The elastic member 201 further includes an elastic mounting shaft 201c disposed on one side of the vehicle body bottom plate 101b, a compression spring 201d sleeved outside the elastic mounting shaft 201c, a mounting table 201e disposed on one side of the vehicle body bottom plate 101b, and an adjusting plate 201f slidably disposed outside the elastic mounting shaft 201c. Both ends of the compression spring 201d are connected to the side walls of the adjusting plate 201f and the mounting table 201e respectively. At the same time, there is a certain buffer space between the mounting table 201e and the elastic mounting shaft 201c. Through the provided elastic mounting shaft 201c, compression spring 201d and buffer space, the device can be buffered and protected when moving to the weld and uneven areas in the pipeline.

[0056] Furthermore, the adjusting member 202 includes a fixed sleeve 202a disposed at the outer end of the sliding rod 201a, a fixing plate 202b disposed at one end of the fixed sleeve 202a, an adjusting disc 202c slidably disposed on one side of the fixed sleeve 202a, and connecting rods 202d disposed at both ends of the adjusting disc 202c. The other ends of the connecting rods 202d are connected to the adjusting plate 201f. The adjusting member 202 further includes a tension spring 202e disposed between the adjusting disc 202c and the fixing plate 202b. Both ends of the tension spring 202e are connected to the side walls of the adjusting disc 202c and the fixing plate 202b respectively, and are used to provide a reset supporting force for the adjusting disc 202c.

[0057] Preferably, the adjusting member 202 further includes a plurality of annular grooves 202f evenly distributed on the outer side of the fixed sleeve 202a, a limiting ring 202g slidably disposed on one side of the annular groove 202f, and a return spring 202h disposed inside the annular groove 202f. One surface of the limiting ring 202g is a wedge surface, and the other surface is a vertical surface. In the initial state, the adjusting disc 202c contacts the wedge surface of the limiting ring 202g. During the downward sliding process of the adjusting disc 202c, it will first squeeze the wedge surface of the limiting ring 202g and press it into the annular groove 202f. When the limiting ring 202g is separated from the adjusting disc 202c, the limiting ring 202g is reset and ejected by the acting force of the return spring 202h. At this time, the adjusting disc 202c is reset by the restoring force of the tension spring 202e and contacts the vertical surface of the limiting ring 202g to block and clamp the adjusting plate 201f. At the same time, a limiting baffle is provided on the outer side of the fixed sleeve 202a to limit the adjusting disc 202c and reduce the possibility of its falling off.

[0058] Specifically, during the downward sliding process of the adjusting disc 202c, it will drive the connecting rod 202d and the adjusting plate 201f to slide, squeeze the compression spring 201d outside the elastic mounting shaft 201c, and change the compression amount of the compression spring 201d, so as to adjust the torque of the compression spring 201d as needed. At the same time, a plurality of annular grooves 202f and limiting rings 202g are provided and evenly distributed on the outer side of the fixed sleeve 202a, so as to realize multi-stage adjustment of the compression amount of the compression spring 201d.

[0059] The remaining structures are the same as those in Embodiment 2.

[0060] Operation process: During use, when the compression spring 201d is elastically fatigued after long-term use or the torque of the compression spring 201d needs to be adjusted according to the actual pipeline movement situation, pull down the adjustment disc 202c. During the downward sliding of the adjustment disc 202c, first, it will squeeze the wedge surface of the limit ring 202g and press it into the annular groove 202f. When the limit ring 202g is separated from the adjustment disc 202c, the limit ring 202g is reset and ejected by the acting force of the return spring 202h. At this time, the adjustment disc 202c is reset by the resilience of the tension spring 202e and contacts the vertical surface of the limit ring 202g to block and clamp the adjustment plate 201f. During the downward sliding of the adjustment ring, it will drive the connecting rod 202d and the adjustment plate 201f to slide, squeeze the compression spring 201d outside the elastic mounting shaft 201c, and change the compression amount of the compression spring 201d, so as to realize the adjustment of the torque of the compression spring 201d according to needs. At the same time, there are multiple annular grooves 202f and limit rings 202g, and they are evenly distributed on the outside of the fixed sleeve 202a, so as to realize the multi-stage adjustment of the compression amount of the compression spring 201d, so that the compression springs 201d outside the four elastic mounting shafts 201c can be adjusted simultaneously and synchronously when the adjustment discs 202c on both sides are toggled, improving the adjustment efficiency.

[0061] When it needs to be reset, after pressing the limit ring 202g, at this time, the limit ring 202g is pressed into the annular groove 202f, and the adjustment disc 202c is driven to reset by the reset acting force of the tension spring 202e.

[0062] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (e.g., changes in the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, colors, orientations, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clauses are intended to cover the structures that perform the recited functions herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility model. Therefore, the present utility model is not limited to specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0063] In addition, in order to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently contemplated best mode of carrying out the present utility model or those features that are not relevant to the implementation of the present utility model).

[0064] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without undue experimentation, such development efforts will be a routine task of design, manufacturing and production.

[0065] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model may be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model, and all of them should be covered within the scope of the claims of the present utility model.

Claims

1. A robot mobile platform inside a closed busbar, characterized in that: include A vehicle body assembly (100) comprises a vehicle body member (101), a connecting member (102) arranged on one side of the vehicle body member (101), and an independent suspension wheel member (103) arranged on one side of the connecting member (102); The vehicle body part (101) comprises a vehicle body chassis (101a), a vehicle body bottom plate (101b) arranged on one side of the vehicle body chassis (101a), and a vehicle body support seat (101c) arranged on one side of the vehicle body chassis (101a); An elastic support assembly (200) comprises an elastic member (201) arranged on one side of the vehicle body member (101) and an adjusting member (202) arranged on one side of the vehicle body member (101); The independent suspension wheel component (103) comprises a drive motor (103b) base (103a) arranged on one side of a vehicle body support seat (101c), a drive motor (103b) arranged on one side of the drive motor (103b) base (103a), a fixed output flange (103c) arranged at the output end of the drive motor (103b), and a rubber wheel (103d) arranged on one side of the fixed output flange (103c); The vehicle body chassis (101a) is provided with two groups, and each group of vehicle body chassis (101a) is provided with rubber wheels (103d) around its periphery.

2. The closed busbar internal robot mobile platform according to claim 1, characterized in that: The independently suspended wheel component (103) further comprises a steering support frame (103e) arranged on one side of the vehicle body support seat (101c), a steering motor (103f) arranged on one side of the steering support frame (103e), and a steering output gear (103n) arranged at the output end of the steering motor (103f).

3. The closed busbar internal robot mobile platform as claimed in claim 2, characterized in that: The independently suspended wheel component (103) further comprises a steering bearing seat (103h) arranged at the other end of the steering support frame (103e), a steering support shaft (103i) arranged at one side of the steering bearing seat (103h), a deep groove ball bearing (103j) arranged at one side of the steering bearing seat (103h), and a thrust bearing (103l) arranged at one side of the steering bearing seat (103h).

4. The closed busbar internal robot mobile platform according to claim 2 or 3, characterized in that: The independently suspended wheel member (103) further comprises a steering input gear (103m) and a driving motor (103b) base (103a) arranged on one side of the steering support shaft (103i); The steering input gear (103m), the steering support shaft (103i) and the base (103a) of the driving motor (103b) are fixed as one body, and the steering bearing seat (103h) can ensure that the steering output gear (103n) and the steering input gear (103m) form a gear meshing pair.

5. The closed busbar internal robot mobile platform as claimed in claim 4, characterized in that: The connecting member (102) comprises a suspension support rod (102a) and a shock absorber (102b) arranged on one side of the steering support frame (103e); the other ends of the suspension support rod (102a) and the shock absorber (102b) are connected to the vehicle body support seat (101c).

6. The closed busbar internal robot mobile platform as claimed in claim 5, characterized in that: The independent suspension wheel (103) is fixedly mounted on the side of the vehicle body support seat (101c) via a suspension support rod (102a) and a shock absorber (102b), with a total of four wheels in front, back, left and right. The suspension support rod (102a) and the shock absorber (102b) are mounted at a certain angle.

7. The closed busbar internal robot mobile platform according to claim 6, characterized in that: The elastic member (201) comprises a slide bar (201a) arranged on one side of the vehicle body bottom plate (101b) and mounting nuts (201b) arranged on both ends of the slide bar (201a); The elastic member (201) further comprises an elastic mounting shaft (201c) arranged on one side of the vehicle body bottom plate (101b), a compression spring (201d) sleeved on the outside of the elastic mounting shaft (201c), a mounting platform (201e) arranged on one side of the vehicle body bottom plate (101b), and an adjustment plate (201f) slidably arranged on the outside of the elastic mounting shaft (201c), wherein the two ends of the compression spring (201d) are respectively connected to the side wall of the adjustment plate (201f) and the side wall of the mounting platform (201e).

8. The closed busbar internal robot mobile platform according to claim 7, characterized in that: The elastic member (201) further comprises a limiting nut (201g) arranged at one end of the elastic mounting shaft (201c) and one end of the mounting platform (201e).

9. The closed busbar internal robot mobile platform as claimed in claim 8, characterized in that: The adjusting member (202) comprises a fixed sleeve (202a) arranged at the outer end of the sliding rod (201a), a fixed plate (202b) arranged at one end of the fixed sleeve (202a), an adjusting disk (202c) slidably arranged at one side of the fixed sleeve (202a), and a connecting rod (202d) arranged at both ends of the adjusting disk (202c), and the other end of the connecting rod (202d) is connected to the adjusting plate (201f); The adjusting member (202) further comprises a tension spring (202e) arranged between the adjusting disk (202c) and the fixing plate (202b).

10. The closed busbar internal robot mobile platform according to claim 9, characterized in that: The adjusting member (202) further comprises a plurality of evenly distributed annular grooves (202f) formed on the outside of the fixed sleeve (202a), a limiting ring (202g) slidably arranged on one side of the annular groove (202f), and a return spring (202h) arranged on the inside of the annular groove (202f); In the initial state, the adjustment disk (202c) contacts the wedge-shaped surface of the limiting ring (202g).

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