Suspension system of a track inspection robot

Abstract

The utility model discloses a kind of suspension systems of track inspection robot, it is related to track inspection robot technical field, including suspension bracket and shock absorber spring, the surface below of suspension bracket is connected with mainboard by pivot, and the left side top of suspension bracket is provided with mounting seat one. The suspension system of the track inspection robot, when needing to reduce shock absorber spring pre-pressure, operator needs to first move outwardly and push fork lever, make ratchet pawl disengage from the tooth groove of ratchet wheel, remove locking state, then anticlockwise twist knob, drive ball screw reverse rotation, screw nut moves upwards, shock absorber spring elongates under the action of its own elasticity, pre-pressure is reduced accordingly;After adjustment is completed, loosen ratchet pawl, reset spring pushes ratchet pawl and reengages ratchet wheel, fix current adjustment position, by adjusting shock absorber spring pre-pressure, make it adapt to different track working condition and load variation, greatly improve robot operating stability, reduce the error caused by vibration of detection equipment.

Description

Technical Field

[0001] This utility model relates to the field of track inspection robot technology, specifically a suspension system for a track inspection robot. Background Technology

[0002] With the rapid development of the rail transit industry, track inspection robots are playing an increasingly important role in the daily inspection and maintenance of railway, subway, and other track facilities. The suspension system, as a key component of the track inspection robot, directly affects the robot's operational stability, maneuverability, and work performance.

[0003] For example, utility model application CN201922018110.1 discloses a suspension system for a track inspection robot. This utility model can effectively reduce the degree of vehicle body bumps and avoid the phenomenon of individual wheels slipping and spinning freely. However, the spring preload is a fixed value. When the robot operates under different track conditions (such as track with undulations, curves, etc.), or when carrying different weights of inspection equipment causing load changes, the fixed spring preload cannot make the suspension system reach the optimal working state.

[0004] Therefore, in view of this, we studied and improved the existing structure and its shortcomings, and proposed a suspension system for a track inspection robot. Utility Model Content

[0005] The purpose of this invention is to provide a suspension system for a track inspection robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a suspension system for a track inspection robot, comprising a suspension frame and a shock-absorbing spring. A main board is connected to the lower surface of the suspension frame via a rotating shaft. A mounting seat one is provided on the upper left side of the suspension frame, and a mounting seat two is provided on the left side of the main board. An upper bearing seat is hinged to the middle of the mounting seat one, and a cylinder is provided at the bottom of the upper bearing seat. A piston rod is connected inside the cylinder, and a lower bearing seat is provided at the bottom of the piston rod. The shock-absorbing spring is sleeved on the outside of the cylinder, and an adjusting ring is provided at the top of the shock-absorbing spring. A lead screw nut is provided on the left side of the adjusting ring, and a ball screw is connected inside the lead screw nut. A support frame is rotatably connected to the bottom end of the ball screw, and a ratchet is sleeved on the upper outside of the ball screw. A knob is fixed to the top of the ratchet, and a pawl is connected to the outside of the ratchet. A return spring is connected to the outside of the pawl, and a fixing ring is provided at the other end of the return spring. A shift fork is fixed to the outside of the pawl.

[0007] Furthermore, a hub motor is mounted on the right side of the main board, and the main board is positioned in front of the suspension bracket.

[0008] Furthermore, a lower bearing is hinged to the middle of the second mounting base, and the end of the shock-absorbing spring away from the adjusting ring is fixedly connected to the lower bearing.

[0009] Furthermore, the adjusting ring is sleeved on the upper part of the cylinder body, and the cylinder body and the support frame are fixedly connected.

[0010] Furthermore, the ball screw is disposed inside the bearing at the top opening of the support frame, and the fixing ring is disposed at the top of the support frame.

[0011] Furthermore, the piston rod and the ball screw are parallel to each other, and the ball screw, ratchet, knob and fixing ring are arranged coaxially.

[0012] Furthermore, the shift fork rod passes through the left opening of the fixed ring, and a pawl is hinged to the groove on the inner side of the fixed ring. The pawl is elastically connected to the fixed ring through a return spring.

[0013] This utility model provides a suspension system for a track inspection robot, which has the following advantages:

[0014] 1. The upper and lower bearings of this utility model are respectively connected to the mounting base one and mounting base two of the connecting parts of the suspension frame and wheel assembly unit. When the road surface is bumpy or the robot is impacted, the shock absorber spring first undergoes compression deformation, absorbing some energy. During the compression process of the shock absorber spring, the movement of the piston rod causes the hydraulic oil inside the cylinder to flow and dissipate energy, reducing the compression speed of the shock absorber spring and reducing the energy absorbed by the shock absorber spring. When the shock absorber spring begins to rebound, the reverse movement of the piston rod will also be resisted by the hydraulic oil, hindering the rapid rebound of the shock absorber spring, making the rebound process of the shock absorber spring slow and smooth, thereby ensuring that the robot can quickly recover to a stable state after being impacted.

[0015] 2. When it is necessary to reduce the preload of the shock-absorbing spring, the operator must first move the shift fork lever outward to disengage the pawl from the ratchet's teeth and release the locking state. Then, turn the knob counterclockwise to drive the ball screw to rotate in the opposite direction. The screw nut moves upward, and the shock-absorbing spring extends under its own elastic force, thus reducing the preload. After adjustment, release the pawl, and the reset spring pushes the pawl to re-engage the ratchet, fixing the current adjustment position. By adjusting the preload of the shock-absorbing spring, it can adapt to different track conditions and load changes, greatly improving the robot's operational stability and reducing errors caused by vibration in the detection equipment. Attached Figure Description

[0016] Figure 1 This is a front view schematic diagram of the overall structure of the suspension system of the track inspection robot of this utility model;

[0017] Figure 2This is a top view schematic diagram of the fixed ring structure of the suspension system of a track inspection robot according to the present invention;

[0018] Figure 3 This is a three-dimensional structural diagram of the suspension frame and main board of the suspension system of a track inspection robot according to this utility model.

[0019] In the diagram: 1. Suspension bracket; 2. Shaft; 3. Main board; 4. Hub motor; 5. Mounting seat one; 6. Mounting seat two; 7. Upper bearing seat; 8. Cylinder block; 9. Piston rod; 10. Lower bearing seat; 11. Shock absorber spring; 12. Adjusting ring; 13. Screw nut; 14. Ball screw; 15. Support frame; 16. Ratchet; 17. Knob; 18. Pawl; 19. Return spring; 20. Fixing ring; 21. Shift fork lever. Detailed Implementation

[0020] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0021] like Figure 1 and Figure 3 As shown, a suspension system for a track inspection robot includes a suspension frame 1 and a shock-absorbing spring 11. A main board 3 is connected to the lower surface of the suspension frame 1 via a pivot 2. A mounting seat 5 is provided on the upper left side of the suspension frame 1, and a mounting seat 6 is provided on the left side of the main board 3. An upper bearing 7 is hinged to the middle of the mounting seat 5, and a cylinder 8 is provided at the bottom of the upper bearing 7. A piston rod 9 is connected inside the cylinder 8, and a lower bearing 10 is provided at the bottom of the piston rod 9. The shock-absorbing spring 11 is sleeved on the outside of the cylinder 8. A hub motor 4 is installed on the right side of the main board 3. The main board 3 is located in front of the suspension frame 1. The lower bearing 10 is hinged to the middle of the mounting seat 6, and the end of the shock-absorbing spring 11 away from the adjusting ring 12 is fixedly connected to the lower bearing 10.

[0022] The specific operation is as follows: the upper bearing 7 and the lower bearing 10 are respectively connected to the mounting base 5 and mounting base 6 of the connecting parts of the suspension frame 1 and the wheel assembly unit. When the road surface is bumpy or the robot is impacted, the shock absorber spring 11 first undergoes compression deformation to absorb some energy. During the compression process of the shock absorber spring 11, the movement of the piston rod 9 causes the hydraulic oil inside the cylinder 8 to flow and dissipate energy, reducing the compression speed of the shock absorber spring 11 and reducing the energy absorbed by the shock absorber spring 11. When the shock absorber spring 11 begins to rebound, the reverse movement of the piston rod 9 will also be resisted by the hydraulic oil, hindering the rapid rebound of the shock absorber spring 11, making the rebound process of the shock absorber spring 11 slow and smooth, thereby ensuring that the robot can quickly recover to a stable state after being impacted.

[0023] like Figure 1 and Figure 2As shown, an adjusting ring 12 is provided on the top of the shock-absorbing spring 11, and a lead screw nut 13 is provided on the left side of the adjusting ring 12. A ball screw 14 is connected inside the lead screw nut 13, and a support frame 15 is rotatably connected to the bottom end of the ball screw 14. A ratchet 16 is sleeved on the upper part of the ball screw 14, and a knob 17 is fixed on the top of the ratchet 16. A pawl 18 is connected to the outside of the ratchet 16, and a return spring 19 is connected to the outside of the pawl 18. A fixing ring 20 is provided on the other end of the return spring 19. The adjusting ring 12 is sleeved on the upper part of the cylinder body 8, and the cylinder body 8 and the support frame 15 are fixedly connected. The ball screw 14... The bearing is located inside the top opening of the support frame 15. The fixed ring 20 is located at the top of the support frame 15. The piston rod 9 and the ball screw 14 are parallel to each other. The ball screw 14, ratchet 16, knob 17 and fixed ring 20 are arranged coaxially. A pawl 18 is hinged to the groove on the inner side of the fixed ring 20. The pawl 18 is elastically connected to the fixed ring 20 through the return spring 19. A shift fork 21 is fixed to the outer side of the pawl 18. The shift fork 21 passes through the left opening of the fixed ring 20. The pawl 18 is hinged to the groove on the inner side of the fixed ring 20. The pawl 18 is elastically connected to the fixed ring 20 through the return spring 19.

[0024] The specific operation is as follows: When it is necessary to reduce the preload of the shock-absorbing spring 11, the operator must first move the shift fork lever 21 outward to disengage the pawl 18 from the tooth groove of the ratchet 16 and release the locking state. Then, turn the knob 17 counterclockwise to drive the ball screw 14 to rotate in the opposite direction. The screw nut 13 moves upward, and the shock-absorbing spring 11 extends under its own elastic force, thereby reducing the preload. After the adjustment is completed, release the pawl 18, and the reset spring 19 pushes the pawl 18 to re-engage the ratchet 16 to fix the current adjustment position. By adjusting the preload of the shock-absorbing spring 11, it can adapt to different track conditions and load changes, greatly improving the stability of robot operation and reducing the error caused by vibration of the detection equipment.

[0025] In summary, the suspension system of this track inspection robot is made of high-strength aluminum alloy. It can be connected to the main body of the track inspection robot by bolts to provide stable support for the entire suspension system. The wheel assembly includes a suspension axle, a walking wheel, and a bearing. The walking wheel can be mounted on the main board 3 through the suspension axle and can rotate flexibly through the bearing.

[0026] During operation, when the track is uneven or has a slope, the walking wheels bounce up and down on the track. Due to the setting of the pivot 2, the main board 3 can rotate relative to the suspension frame 1, causing the shock absorber spring 11 to first compress and deform, absorbing some energy. During the compression of the shock absorber spring 11, the movement of the piston rod 9 causes the hydraulic oil inside the cylinder 8 to flow and dissipate energy, reducing the compression speed of the shock absorber spring 11 and reducing the energy absorbed by the shock absorber spring 11. When the shock absorber spring 11 begins to rebound, the reverse movement of the piston rod 9 will also be resisted by the hydraulic oil, hindering the rapid rebound of the shock absorber spring 11, making the rebound process of the shock absorber spring 11 slow and smooth. This ensures that the suspension system can effectively absorb the impact force brought by the uneven track, suppress vibration, keep the robot stable during travel, and ensure the stable operation of the onboard detection equipment, effectively improving the detection accuracy.

[0027] The operator can fine-tune the elastic force of the shock-absorbing spring 11 according to the actual operating conditions. That is, by turning the knob 17, the ratchet 16 and the ball screw 14 are rotated. The screw nut 13 drives the adjusting ring 12 to move down or up to increase or decrease the preload of the shock-absorbing spring 11, so that the shock-absorbing spring 11 is compressed or stretched under its own elastic force. By adjusting the preload of the shock-absorbing spring 11, different track conditions and load changes can be adapted to, which greatly improves the stability of robot operation and reduces the error of detection equipment caused by vibration. The reset spring 19 is used to reset the pawl 18. The ratchet 16 and the pawl 18 can lock the ball screw 14 at a fixed angle through the interlocking of the ratchet 16 and the pawl 18 to prevent the adjusting ring 12 from being displaced.

[0028] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A suspension system for a track inspection robot, comprising a suspension frame (1) and a shock-absorbing spring (11), characterized in that, The main board (3) is connected to the lower surface of the suspension bracket (1) via a pivot (2), and a mounting seat 1 (5) is provided on the upper left side of the suspension bracket (1). A mounting seat 2 (6) is provided on the left side of the main board (3). An upper bearing seat (7) is hinged to the middle of the mounting seat 1 (5), and a cylinder (8) is provided at the bottom of the upper bearing seat (7). A piston rod (9) is connected inside the cylinder (8), and a lower bearing seat (10) is provided at the bottom of the piston rod (9). A shock-absorbing spring (11) is sleeved on the outside of the cylinder (8), and an adjusting ring (12) is provided at the top of the shock-absorbing spring (11). A lead screw nut (13) is provided on the left side of the ring (12), and a ball screw (14) is connected inside the lead screw nut (13). A support frame (15) is rotatably connected to the bottom end of the ball screw (14), and a ratchet (16) is sleeved on the upper part of the ball screw (14). A knob (17) is fixed on the top of the ratchet (16), and a pawl (18) is connected to the outside of the ratchet (16). A return spring (19) is connected to the outside of the pawl (18), and a fixing ring (20) is provided at the other end of the return spring (19). A shift fork (21) is fixed to the outside of the pawl (18).

2. The suspension system of a track inspection robot according to claim 1, characterized in that, A hub motor (4) is mounted on the right side of the surface of the main board (3), and the main board (3) is located in front of the suspension frame (1).

3. The suspension system of a track inspection robot according to claim 1, characterized in that, The mounting base 2 (6) is hinged to the lower bearing (10) in the middle, and the end of the shock-absorbing spring (11) away from the adjusting ring (12) is fixedly connected to the lower bearing (10).

4. The suspension system of a track inspection robot according to claim 1, characterized in that, The adjusting ring (12) is sleeved on the outside of the cylinder (8), and the cylinder (8) and the support frame (15) are fixedly connected.

5. The suspension system of a track inspection robot according to claim 1, characterized in that, The ball screw (14) is located inside the bearing at the top opening of the support frame (15), and the fixing ring (20) is located at the top of the support frame (15).

6. The suspension system of a track inspection robot according to claim 1, characterized in that, The piston rod (9) and the ball screw (14) are parallel to each other, and the ball screw (14), ratchet (16), knob (17) and fixed ring (20) are arranged coaxially.

7. The suspension system of a track inspection robot according to claim 1, characterized in that, The shift fork (21) passes through the left opening of the fixed ring (20), and a pawl (18) is hinged to the groove on the inner side of the fixed ring (20). The pawl (18) is elastically connected to the fixed ring (20) through a return spring (19).

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