Clamping device for rail walking unit of rail hanging robot

Abstract

The invention relates to a clamping device for a rail walking unit of a rail hanging robot. The clamping device comprises a first clamping part and a second clamping part which are arranged on the two sides of an I-beam web respectively. A strip-shaped channel is formed in the web plate; the locking and pulling part comprises a bracket A and a bracket B, and the bracket A and the bracket B are fixedly connected with the first clamping part and the second clamping part respectively; a linear push-pull mechanism A is arranged on the support A, a turnover mechanism is arranged at the movable end A of the linear push-pull mechanism A, a lock box is fixedly arranged at the turnover end of the turnover mechanism, a cavity groove and a T-shaped groove which are communicated with each other are formed in the lock box, the T-shaped groove comprises a transverse part and a longitudinal part, the longitudinal part is a receding groove, and the transverse part comprises a limiting face B; the pull rod penetrates through the channel, the two ends of the pull rod are located on the two sides of the web, one end of the pull rod is fixedly connected with the movable end B, a locking block is fixed to the other end of the pull rod and comprises a front face and a back face, and the back face is a limiting face A. According to the technical scheme, the posture of the robot can be prevented from being changed easily in a strong wind environment.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rail-mounted robot-assisted walking equipment, and particularly relates to a clamping device for a rail-mounted robot track walking unit. BACKGROUND

[0002] The rail-mounted robot is generally equipped with a track and a walking unit along the track when in use. The robot is fixedly connected to the lower part of the walking unit, and the walking unit drives the robot to walk along the track. The track equipped by the rail-mounted robot is generally an I-beam, such as the I-beam structure disclosed in Chinese Invention Patent No. CN113427467B and Chinese Utility Model Patent No. CN221293529U. The walking unit generally includes a driving motor and a clamping device composed of two parts. The two parts of the clamping device are respectively arranged on both sides of the web of the I-beam. The two parts are respectively provided with a combination of a transverse horizontal wheel and a spring to clamp the web of the I-beam, thereby limiting the transverse movement degree of freedom of the walking unit. The two parts are respectively provided with longitudinal wheels to be seated on the lower horizontal plate of the I-beam, thereby limiting the longitudinal movement degree of freedom of the walking unit.

[0003] The clamping device of the walking unit of the prior art has the following defects: (1) The two parts of the existing clamping device need to form a connection relationship below the I-beam, so that the internal structure cannot be optimized and space is wasted. However, if the connection relationship below is removed and the two parts are directly fixed to the outer shell of the rail-mounted robot, when the end robot changes dramatically in pose or is in a severe environment such as strong wind, the pose of the robot is prone to unpredictable changes, and even the robot may tip over, which is insufficient in stability.

[0004] (2) The longitudinal force point of the existing clamping device is relatively single, which cannot meet the problems of high safety and stability. SUMMARY

[0005] The present application aims to solve the technical problems of the prior art and provide a clamping device for a rail-mounted robot track walking unit.

[0006] To solve the above technical problems, the technical solution of the present application is as follows: The utility model provides a kind of clamping device for hanging rail robot track walking unit, including 2 clamping parts driven by driving wheel and separately arranged in the web of I-beam, respectively first clamping part and second clamping part;Long strip-shaped passageway is opened on the web along the length direction of I-beam;It further includes lock pull part, lock pull part includes support A and support B, support A and support B are fixedly connected with first clamping part and second clamping part respectively;Linear push-pull mechanism A is equipped on support A, movable end A of linear push-pull mechanism A is provided with turnover mechanism, and the turning end of turnover mechanism is fixedly provided with lock box;Linear push-pull mechanism B is equipped on support B, pull rod passes through passageway and its two ends are located in the two sides of web, one end of pull rod is fixedly connected with movable end B of linear push-pull mechanism B, and the other end of pull rod is fixedly provided with lock block;The push-pull direction of linear push-pull mechanism B and linear push-pull mechanism A is parallel and opposite each other; The initial state of lock pull part is that linear push-pull mechanism A is pulled back state, turnover mechanism is 0 ° state, and linear push-pull mechanism B is pushed out state, at this time, lock block is located outside lock box; The locking process of lock pull part is that first make linear push-pull mechanism A be pushed out state, then make turnover mechanism turn to 180 ° state, and then make linear push-pull mechanism B be pulled back state, at this time, lock block and lock box are in locking state.

[0007] Further, the lock box is provided with a cavity groove and a T-shaped groove that are in communication with each other, the T-shaped groove includes a horizontal part and a vertical part, the vertical part is a clearance groove, and the horizontal part includes a limiting surface B; the lock block includes a front surface and a back surface, the back surface is a limiting surface A; when the lock pull part is in the initial state, the limiting surface B faces the front surface; during the locking process of the lock pull part, when the turnover mechanism is turned to the 180° state, the lock block is located in the cavity groove of the lock box, the limiting surface B faces the limiting surface A, and the clearance groove is buckled outside the pull rod; when the linear push-pull mechanism B is in the pulled back state, the limiting surface B and the limiting surface A are pressed and fitted with each other, and the lock block and the lock box are in the locking state.

[0008] Further, the lock block is provided with a plurality of lock holes, and the limiting surface B of the lock box is fixedly provided with a plurality of lock pins, the lock pins correspond to the lock holes one by one; when the turnover mechanism is turned to the 180° state and the linear push-pull mechanism B is in the pushed out state, the lock pins are opposite to the lock holes and located outside the lock holes; when the turnover mechanism is turned to the 180° state and the linear push-pull mechanism B is in the pulled back state, the lock pins are inserted into the lock holes one by one.

[0009] Further, the linear push-pull mechanism A includes a sliding plate, a gear rack A, a gear A and a motor I, the sliding plate is the movable end A, the sliding plate is slidably connected with the support A through a linear guide mechanism A, the gear rack A is fixed on the support A, the motor I is fixed on the sliding plate, the gear A is rotatably connected with the support A, the rotation of the gear A is driven by the motor I, and the gear A is in mesh transmission with the gear rack A.

[0010] Further, the straight line guide mechanism A comprises matched sliding block A and linear guide rail, the linear guide rail is fixed on the support A, and the sliding block A is fixed on the sliding plate.

[0011] Further, the turnover mechanism comprises motor II, the lock box is fixedly connected with the output shaft of the motor II, and the output shaft of the motor II is away from the T-shaped groove on the lock box.

[0012] Further, the straight line push-pull mechanism B comprises gear B, rack B and motor III, the rack B is the movable end B, the rack B is slidably connected with the support B through the straight line guide mechanism B, the gear B is in meshing transmission with the rack B, the gear B is rotatably connected with the support B, the rotation of the gear B is driven by the motor III, and the motor III is fixedly connected with the support B.

[0013] Further, the upper transverse plate of the I-shaped beam is provided with an upper guide groove, and the lower transverse plate of the I-shaped beam is provided with a lower guide groove; the clamping part comprises a bearing plate, and one longitudinal wheel B and two longitudinal wheels A are rotationally arranged in a triangular shape on the bearing plate; the longitudinal wheel B is borne on the upper guide groove, and the longitudinal wheel A is borne on the lower guide groove.

[0014] Further, the clamping part further comprises a plurality of force bearing frames, the plurality of force bearing frames are evenly arranged on the two sides of the longitudinal wheel B and are fixedly connected with the bearing plate, one supporting roller is arranged on each force bearing frame, the supporting roller is rotatably connected with the force bearing frame, and the supporting roller is borne on the upper guide groove.

[0015] Further, the clamping part further comprises a transverse wheel, the transverse wheel is rotatably connected with a transverse bearing block, the transverse wheel rolls against the web of the I-shaped beam, a pair of guide rods are fixedly arranged on the transverse bearing block, the guide rods are slidably connected with the bearing plate, nuts are screwed on the ends of the guide rods away from the transverse bearing block, springs are arranged on the guide rods, and the springs and the nuts are arranged on the two sides of the bearing plate. (1) The setting of the lock-pull part can realize that when the rail-hanging robot is subjected to a transverse load, the first clamping part and the second clamping part are fixedly connected in the middle of the web of the I-shaped beam, a cross-side rigid connection is formed in the middle of the web of the I-shaped beam, the stability of the rail-hanging robot is enhanced, and the end robot is prevented from changing dramatically in pose or from being in an unpredictable change in pose or even from toppling in a harsh environment such as strong wind.

[0016] (2) Further, the longitudinal wheel B and the longitudinal wheel A arranged in a triangular shape optimize the bearing stress points, so that the rail-hanging robot is more stable during operation and has a high safety factor.

[0017] (3) Further, the support roller matched with the force frame further adds stress points on the basis of the triangular support stress, and further improves the operation stability and safety factor of the hanging rail robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the application front view of the embodiment of the present application.

[0019] Figure 2 is the application perspective view of the embodiment of the present application.

[0020] Figure 3 is the main view of the embodiment of the present application.

[0021] Figure 4 is the top view of the embodiment of the present application.

[0022] Figure 5 is the perspective view of the embodiment of the present application.

[0023] Figure 6 is the perspective view of the clamping part in the embodiment of the present application (one).

[0024] Figure 7 is the perspective view of the clamping part in the embodiment of the present application (two).

[0025] Figure 8 is the perspective view of the lock pull part in the unlocking state in the embodiment of the present application (one).

[0026] Figure 9 is the perspective view of the lock pull part in the unlocking state in the embodiment of the present application (two).

[0027] Figure 10 is the perspective view of the lock pull part in the locking state in the embodiment of the present application (one). Figure 9 is the enlarged view of A part in the embodiment of the present application.

[0028] Figure 11 is the perspective view of the lock pull part in the locking state in the embodiment of the present application (two).

[0029] Figure 12 is the perspective view of the lock pull part in the locking state in the embodiment of the present application (two).

[0030] Figure 13 is the enlarged view of B part in the embodiment of the present application. Figure 12

[0031] ​In the diagram: 1-Drive wheel, 101-Drive bracket, 2-I-beam, 201-Lower cross plate, 202-Web plate, 203-Upper cross plate, 204-Upper guide groove, 205-Lower guide groove, 206-Channel; 3-First clamping part, 301-Bearing plate, 302-Longitudinal wheel A, 303-Transverse block, 304-Transverse wheel, 305-Shaft A, 306-Longitudinal wheel B, 307-Guide rod, 308-Spring, 309-Nut, 310-Bearing frame, 311-Support roller, 312-Support block; 4-Second clamping part, 5-Lock pull Part, 501-Bracket A, 502-Bracket B, 5021-Slide groove, 503-Gear B, 504-Rack B, 505-Pull rod, 506-Locking block, 5061-Back side, 5062-Locking hole, 5063-Front side, 507-Locking box, 5071-Cavity groove, 5072-Locking pin, 5073-T-slot, 50731-Leaning groove, 50732-Limiting surface B, 508-Slide plate, 509-Linear guide rail, 510-Rack A, 511-Motor I, 512-Motor II, 513-Motor III, 6-Hanging bracket. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 2 As shown, the I-beam 2 includes a lower horizontal plate 201, a web plate 202, and an upper horizontal plate 203.

[0034] A clamping device for a track-walking unit of a rail-mounted robot, such as Figures 1-5 As shown, it includes two clamping parts driven by the drive wheel 1 and located on both sides of the web 202 of the I-beam 2, namely the first clamping part 3 and the second clamping part 4; it also includes a locking part 5.

[0035] like Figure 2 As shown, the upper horizontal plate 203 of the I-beam 2 is provided with an upper guide groove 204, the lower horizontal plate 201 is provided with a lower guide groove 205, and the web plate 202 is provided with a long strip-shaped channel 206 along the length direction of the I-beam 2.

[0036] like Figures 6-7As shown, the clamping part includes a bearing plate 301, and one longitudinal wheel B 306 and two longitudinal wheels A 302 are arranged in a triangular shape on the bearing plate 301: the longitudinal wheel B 306 is rotatably connected with a supporting block 312, and the supporting block 312 is fixedly connected with the bearing plate 301; the longitudinal wheel A 302 is rotatably connected with a shaft A 305, and the shaft A 305 is fixedly connected with the bearing plate 301. The longitudinal wheel B 306 is borne on the upper guide groove 204, and the longitudinal wheel A 302 is borne on the lower guide groove 205. The triangularly arranged longitudinal wheel B 306 and longitudinal wheel A 302 optimize the bearing stress points, so that the track robot is more stable during operation, and the safety factor is high.

[0037] As shown in Figure 5 , a pair of force bearing frames 310 are further arranged on the bearing plate 301, and the pair of force bearing frames 310 are arranged on both sides of the longitudinal wheel B 306, and each force bearing frame 310 is provided with one supporting roller 311 rotatably connected with the force bearing frame 310, and the supporting roller 311 is borne on the upper guide groove 204. On the basis of triangularly supporting stress, the stress points are further increased, and the running stability and safety factor of the track robot are further improved.

[0038] As shown in Figure 3 , Figure 5 , Figure 6 and Figure 7 , the clamping part further includes a transverse wheel 304 rotatably connected with a transverse bearing block 303, and the transverse wheel 304 rolls against the web plate 202 of the I-beam 2, and a pair of guide rods 307 are fixedly arranged on the transverse bearing block 303, and the guide rods 307 are slidably connected with the bearing plate 301, and nuts 309 are screwed on the ends of the guide rods 307 away from the transverse bearing block 303, and springs 308 are sleeved on the guide rods 307, and the springs 308 and the nuts 309 are arranged on both sides of the bearing plate 301. The pressing degree of the transverse wheel 304 against the web plate 202 can be adjusted by adjusting the nuts 309.

[0039] The hanging bracket 6 is arranged below the I-beam 2, and the bearing plates 301 of the first clamping part 3 and the second clamping part 4 are fixedly connected with the hanging bracket 6, and the hanging bracket 6 is used for being fixedly connected with the mechanical arm, and the driving bracket 101 is fixedly arranged on the hanging bracket 6, and the driving motor is fixedly arranged on the driving bracket 101, and the driving motor is drivingly connected with the driving wheel 1 (in this embodiment, the output shaft of the driving motor is coaxially fixedly connected with the driving wheel 1), so that the driving wheel 1 can drive the mechanical arm to move along the length direction of the I-beam 2.

[0040] As shown in Figure 5 and Figure 8 , the locking pulling part 5 includes a bracket A 501 and a bracket B 502, the bracket A 501 is fixedly connected with the bearing plate 301 of the first clamping part 3, and the bracket B 502 is fixedly connected with the bearing plate 301 of the second clamping part 4.

[0041] As Figures 8-13 shown: The support A501 is provided with a linear push-pull mechanism A, which specifically includes a sliding plate 508, a rack A 510, a gear A and a motor I 511. The sliding plate 508 is slidably connected with the support A501 through a linear guide mechanism A. The rack A 510 is fixed on the support A501. The motor I 511 is fixed on the sliding plate 508. The gear A is rotatably connected with the support A501. The rotation of the gear A is driven by the motor I 511. The gear A is in meshing transmission with the rack A 510. The linear guide mechanism A specifically includes a slider A and a linear guide rail 509 which are matched with each other. The linear guide rail 509 is fixed on the support A501. The slider A is fixed on the sliding plate 508.

[0042] The sliding plate 508 is provided with a turnover mechanism, which is specifically a motor II 512. The output shaft of the motor II 512 is fixedly connected with a lock box 507. The lock box 507 is provided with a cavity groove 5071 and a T-shaped groove 5073 which are in communication with each other. The T-shaped groove 5073 includes a transverse part and a longitudinal part. The longitudinal part is a clearance groove 50731. The transverse part includes a limiting surface B 50732. The output shaft of the motor II 512 is away from the T-shaped groove 5073 on the lock box 507.

[0043] The support B502 is provided with a linear push-pull mechanism B, which specifically includes a gear B 503, a rack B 504 and a motor III 513. The support B502 is provided with a sliding groove 5021. The bottom of the rack B 504 is arranged in the sliding groove 5021 and is slidably connected with the sliding groove 5021. The gear B 503 is in meshing transmission with the rack B 504. The gear B 503 is rotatably connected with the support B502. The rotation of the gear B 503 is driven by the motor III 513. The motor III 513 is fixedly connected with the support B502. The pull rod 505 passes through the passage 206 and its two ends are located on the two sides of the web plate 202. One end of the pull rod 505 is fixedly connected with the rack B 504. The other end is fixedly provided with a lock block 506. The lock block 506 includes a front surface 5063 and a back surface 5061. The back surface 5061 is a limiting surface A.

[0044] The pushing and pulling directions of the linear push-pull mechanism B and the linear push-pull mechanism A are parallel to each other (both are perpendicular to the length direction of the I-beam 2) and opposite to each other.

[0045] When the rail hanging robot is not subjected to a transverse load, the lock pulling part 5 is in an unlocked state, that is, the initial state of the lock pulling part 5, as shown in Figures 8-10 , the initial state of the lock pulling part 5 is that the linear push-pull mechanism A is in a pulling back state, the turnover mechanism is in a 0° state, and the linear push-pull mechanism B is in a pushing out state. At this time, the lock block 506 is located outside the lock box 507. The limiting surface B 50732 and the front surface 5063 face each other.

[0046] When the track robot is subjected to a lateral load, the lock pull part 5 is in a locked state, as shown in Figures 11-13 The locking process of the lock pull part 5 is as follows: first, the linear push-pull mechanism A is in a pushing state, then the turnover mechanism is turned to a 180° state, at this time, the lock block 506 is located in the cavity groove 5071 of the lock box 507, and the limiting surface B 50732 faces the limiting surface A, and the allowance groove 50731 is buckled outside the pull rod 505; then the linear push-pull mechanism B is in a pulling state, at this time, the limiting surface B 50732 and the limiting surface A are pressed and fitted with each other, and the lock pull part 5 is in a locked state.

[0047] In addition, as shown in Figure 10 and Figure 13 Four lock holes 5062 are arranged on the lock block 506, and four lock pins 5072 are fixedly arranged on the limiting surface B 50732 of the lock box 507, the lock pin 5072 corresponds to the lock hole 5062 one by one, when the turnover mechanism is turned to a 180° state and the linear push-pull mechanism B is in a pushing state, the lock pin 5072 is opposite to the lock hole 5062 and located outside the lock hole 5062; when the turnover mechanism is turned to a 180° state and the linear push-pull mechanism B is in a pulling state, the lock pin 5072 is inserted into the lock hole 5062 one by one. This setting effectively prevents the mutual movement of the lock block 506 and the lock box 507 in the up-down direction, and ensures the locking effect of the lock block 506 and the lock box 507.

[0048] In the description of the present application, the words indicating the orientation or position relationship such as "inner", "outer", "upper", "lower", "front", "rear" and the like are only for the convenience of describing the present application, and are not indicative or suggestive of the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0049] The above is only one embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiment. It should be pointed out that for ordinary skilled in the art, some improvements and refinements made without departing from the idea of the present application are within the protection scope of the present application.

Claims

1. A clamping device for a track-walking unit of a rail-mounted robot, comprising two clamping parts driven by a drive wheel (1) and respectively disposed on both sides of the web (202) of an I-beam (2), namely a first clamping part (3) and a second clamping part (4); characterized in that: A long strip-shaped channel (206) is provided on the web plate (202) along the length direction of the I-beam (2); it also includes a locking pull part (5), which includes a bracket A (501) and a bracket B (502), which are fixedly connected to the first clamping part (3) and the second clamping part (4) respectively; a linear push-pull mechanism A is provided on the bracket A (501), and a flipping mechanism is provided on the movable end A of the linear push-pull mechanism A, and a lock box (507) is fixedly provided on the flipping end of the flipping mechanism; a linear push-pull mechanism B is provided on the bracket B (502), and a pull rod (505) passes through the channel (206) and its two ends are located on both sides of the web plate (202). One end of the pull rod (505) is fixedly connected to the movable end B of the linear push-pull mechanism B, and a lock block (506) is fixedly provided on the other end of the pull rod (505); the pushing and pulling directions of the linear push-pull mechanism B and the linear push-pull mechanism A are parallel to each other and opposite; The initial state of the locking part (5) is as follows: the linear push-pull mechanism A is in the pull-back state, the flipping mechanism is in the 0° state, and the linear push-pull mechanism B is in the push-out state. At this time, the locking block (506) is located outside the lock box (507). The locking process of the locking part (5) is as follows: first, the linear push-pull mechanism A is pushed out, then the flipping mechanism is turned to 180°, and then the linear push-pull mechanism B is pulled back. At this time, the locking block (506) and the locking box (507) are locked.

2. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The lock box (507) is provided with interconnected cavities (5071) and T-slots (5073). The T-slot (5073) includes a horizontal part and a vertical part. The vertical part is a clearance groove (50731), and the horizontal part includes a limiting surface B (50732). The lock block (506) includes a front side (5063) and a back side (5061). The back side (5061) is the limiting surface A. When the lock pull part (5) is in the initial state, the limiting surface B (50732) faces the front side (5063). During the locking process of the locking pull part (5), when the flipping mechanism is rotated to the 180° state, the locking block (506) is located in the cavity (5071) of the lock box (507), and the limiting surface B (50732) faces the limiting surface A, and the clearance groove (50731) is fastened to the outside of the pull rod (505); when the linear push-pull mechanism B is in the pull-back state, the limiting surface B (50732) and the limiting surface A are pressed tightly together, and the locking block (506) and the lock box (507) are in the locked state.

3. The clamping device for a track-walking unit of a rail-mounted robot according to claim 2, characterized in that: The lock block (506) is provided with a plurality of lock holes (5062), and the limiting surface B (50732) of the lock box (507) is fixedly provided with a plurality of lock pins (5072). The lock pins (5072) correspond one-to-one with the lock holes (5062). When the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the push-out state, the lock pins (5072) are facing the lock holes (5062) and are located outside the lock holes (5062). When the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the pull-back state, the lock pins (5072) are inserted into the lock holes (5062) one-to-one.

4. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The linear push-pull mechanism A includes a slide plate (508), a rack A (510), a gear A, and a motor I (511). The slide plate (508) is the movable end A. The slide plate (508) is slidably connected to the support A (501) through the linear guide mechanism A. The rack A (510) is fixed on the support A (501). The motor I (511) is fixed on the slide plate (508). The gear A is rotatably connected to the support A (501). The rotation of the gear A is driven by the motor I (511). The gear A meshes with the rack A (510) for transmission.

5. The clamping device for a track-walking unit of a rail-mounted robot according to claim 4, characterized in that: The linear guide mechanism A includes a matching slider A and a linear guide rail (509). The linear guide rail (509) is fixed on the bracket A (501), and the slider A is fixed on the slide plate (508).

6. The clamping device for a track-walking unit of a rail-mounted robot according to claim 2, characterized in that: The flipping mechanism includes a motor II (512), the lock box (507) is fixedly connected to the output shaft of the motor II (512), and the output shaft of the motor II (512) is away from the T-slot (5073) on the lock box (507).

7. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The linear push-pull mechanism B includes a gear B (503), a rack B (504), and a motor III (513). The rack B (504) is the movable end B. The rack B (504) and the bracket B (502) are slidably connected through the linear guide mechanism B. The gear B (503) meshes with the rack B (504) for transmission. The gear B (503) is rotatably connected to the bracket B (502). The rotation of the gear B (503) is driven by the motor III (513). The motor III (513) is fixedly connected to the bracket B (502).

8. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The upper horizontal plate (203) of the I-beam (2) is provided with an upper guide groove (204), and the lower horizontal plate (201) of the I-beam (2) is provided with a lower guide groove (205); the clamping part includes a bearing plate (301), and a longitudinal wheel B (306) and two longitudinal wheels A (302) are rotatably provided on the bearing plate (301) in a triangular shape; the longitudinal wheel B (306) is supported on the upper guide groove (204), and the longitudinal wheels A (302) are supported on the lower guide groove (205).

9. The clamping device for a track-walking unit of a rail-mounted robot according to claim 8, characterized in that: The clamping part also includes several support frames (310), which are evenly distributed on both sides of the longitudinal wheel B (306) and fixedly connected to the bearing plate (301). Each support frame (310) is equipped with a support roller (311), which is rotatably connected to the support frame (310). The support roller (311) is supported on the upper guide groove (204).

10. The clamping device for a track-walking unit of a rail-mounted robot according to claim 8, characterized in that: The clamping part also includes a transverse wheel (304), which is rotatably connected to the transverse load block (303). The transverse wheel (304) rolls against the web plate (202) of the I-beam (2). A pair of guide rods (307) are fixedly provided on the transverse load block (303). The guide rods (307) are slidably connected to the bearing plate (301). A nut (309) is screwed onto one end of the guide rod (307) away from the transverse load block (303). A spring (308) is sleeved on the guide rod (307). The spring (308) and the nut (309) are respectively located on both sides of the bearing plate (301).

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