A walking mechanism of a rail-mounted robot and a rail robot

Abstract

The present application provides a walking mechanism of a rail-mounted robot and a track robot, wherein the walking mechanism comprises: a frame (10) for connecting with a robot body and being installed on a track to drive the robot body to move along the track; a walking wheel (20) provided on the frame (10) for walking along the track, wherein the walking wheel (20) can swing in the circumferential direction of the track, and when the cross-sectional shape of the track changes, the walking wheel (20) can always remain in contact with the surface of the track. The walking mechanism of the rail-mounted robot provided by the present application can be adapted to tracks of different cross-sectional shapes, has high flexibility, and is more widely used.

Description

Technical Field

[0001] The present application belongs to the technical field of rail robots, and in particular relates to a walking mechanism of a rail-mounted robot and a rail robot. Background Art

[0002] With the development of science and technology, robots can gradually replace humans to perform some highly repetitive, high-intensity and dangerous tasks, especially in patrol and monitoring, which greatly improves work efficiency. Track robots are robots that can move along high-altitude tracks. They have the advantages of a certain running trajectory and do not occupy ground space. They are widely used in places with limited space and high safety requirements, such as power cable tunnels, coal mine lanes, urban pipe corridors, etc.

[0003] A rail robot usually includes a walking mechanism and a robot body mounted on the walking mechanism. The walking mechanism moves along the track to drive the robot body to move, and then the robot body can complete tasks such as video surveillance inspections. The track for the robot to walk on has a variety of different cross-sectional shapes. Tracks with different cross-sectional shapes have their own advantages, and usually a suitable track is selected according to the actual application scenario. However, the walking mechanism of the existing rail robot can only adapt to a track with a certain cross-sectional shape, and its versatility and flexibility are poor. Summary of the invention

[0004] The present application provides a walking mechanism of a rail-mounted robot and a track robot. The walking mechanism can adapt to tracks of different cross-sectional shapes, has high flexibility, and is more widely used.

[0005] In the first aspect, the present application provides a walking mechanism of a rail-mounted robot, comprising: a frame, used to be connected to a robot body and installed on a track to drive the robot body to move along the track; walking wheels, provided on the frame, for walking along the track, the walking wheels being able to swing in the circumferential direction of the track, and thus when the cross-sectional shape of the track changes, the walking wheels being able to always remain in contact with the surface of the track.

[0006] According to the running mechanism provided by the present application, when the running mechanism moves on the track, the running wheel can swing in the circumferential direction of the track, that is, the running wheel can adjust its position according to the shape of the track surface it contacts, and then always keep in contact with the track surface, ensuring that the running mechanism moves smoothly on the track. The running mechanism provided by the present application can adapt to the track surface of the shape of the arc surface, plane, inclined surface, etc., and can realize walking on different types of tracks such as rectangular tube track, circular tube track or I-shaped track without making any adjustments to the track or running mechanism. The flexibility and versatility of the running mechanism have been improved, and the scope of application is wider; since there is no need to design different running mechanisms for different types of tracks, the track adaptation work is reduced, and the cost is also reduced. And under certain circumstances, the running mechanism provided by the present application can be switched to tracks with different cross-sectional shapes during the process of traveling, so that the advantages of tracks with different cross-sectional shapes can be fully utilized and mixed, and the practicality is greatly improved.

[0007] In combination with the first aspect, in a possible implementation, the frame is in a "U"-shaped structure with an opening facing upward, the "U"-shaped structure is used to accommodate the track inside, and at least one walking wheel is provided on each side of the opening of the "U"-shaped structure.

[0008] In combination with the first aspect, in a possible implementation, the frame includes a horizontal arm for setting the walking wheel, the horizontal arm is formed by extending inward from both ends of the opening of the "U"-shaped structure and is located above the track, and a "T"-shaped wheel axle is provided on the horizontal arm, and the "T"-shaped wheel axle includes a swing axis arranged parallel to the moving direction of the frame and a rolling axis arranged perpendicular to the swing axis; wherein, one end of the swing axis is rotatably connected to the horizontal arm, and the other end is fixedly connected to the rolling axis, and the walking wheel includes a first walking wheel and a second walking wheel, and the first walking wheel and the second walking wheel are rotatably arranged at both ends of the rolling axis.

[0009] In combination with the first aspect, in a possible implementation, the walking mechanism further includes a guide wheel rotatably disposed inside the “U”-shaped structure, and the guide wheel is used to fit the side surface of the track;

[0010] The frame is rotatably connected to the rotating member, so that it can rotate relative to the rotating member under the action of the guide wheel to adapt to the curved track, and the rotation axis of the frame is parallel to the rotation axis of the guide wheel.

[0011] In combination with the first aspect, in a possible implementation, the "U"-shaped structure includes vertical arms located on both sides of the track and a crossbeam connecting the two vertical arms, the rotating member includes a bearing arranged on the crossbeam, and the rotation axis of the frame is located on the mid-vertical line of the crossbeam.

[0012] In combination with the first aspect, in a possible implementation, the guide wheel is elastically pressed against the side surface of the track, so that the walking mechanism can adapt to tracks of different widths.

[0013] In combination with the first aspect, in a possible implementation, the traveling mechanism further includes a pressure wheel, and the pressure wheel is located below the track, and is used to adhere to the lower surface of the track when the traveling mechanism travels on a sloped track.

[0014] In combination with the first aspect, in a possible implementation, the walking mechanism further includes a power device drivingly connected to the frame and configured to drive the frame to move along the track.

[0015] In a second aspect, the present application provides a track robot, which includes the walking mechanism provided by the above-mentioned first aspect and any implementation method of the first aspect, and a robot body connected to the walking mechanism.

[0016] Since the track robot includes the aforementioned walking mechanism, the track robot also has the beneficial effects corresponding to the walking mechanism, which will not be described in detail here.

[0017] In combination with the second aspect, in a possible implementation, the rail robot includes a plurality of the walking mechanisms, and the robot body is connected to the plurality of the walking mechanisms via a connecting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the walking mechanism of the rail-mounted robot provided in an embodiment of the present application;

[0019] Figure 2 yes Figure 1 The schematic diagram of the structure of the traveling mechanism after hiding part of the traveling wheels;

[0020] Figure 3 It is a schematic diagram of the overall structure of the track robot provided in the embodiment of the present application;

[0021] Figure 4 is a schematic diagram of a state of a track robot provided in an embodiment of the present application walking on tracks with different cross-sectional shapes;

[0022] Figure 5 It is a schematic diagram of the state of the track robot provided in the embodiment of the present application walking on the I-shaped track;

[0023] Figure 6 This is a schematic diagram of the state of the rail robot provided in an embodiment of the present application when turning.

[0024] Reference numerals:

[0025] 100, walking mechanism; 10, frame; 11, horizontal arm; 12, vertical arm; 121, mounting seat; 13, crossbeam; 20, walking wheel; 21, first walking wheel; 22, second walking wheel; 30, "T"-shaped wheel axle; 31, swing axis; 32, rolling axis; 40, guide wheel; 50, bearing;

[0026] 200, track robot; 210, connection plate;

[0027] 300, track; 310, rectangular tube track; 320, circular tube track; 330, I-shaped track. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0030] In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly defined. In this application, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] In the description of this application, it should be understood that the terms "inside", "outside", "top", "bottom", "front", "back", "left", "right" and the like indicate directions or positional relationships (if any) based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] Rail robots are mounted on high-altitude rails and travel along the extension direction of the rails, replacing manual inspections and monitoring, and have broad application prospects. Rail robots can be equipped with a variety of sensors, such as temperature, humidity, and air pressure sensors. They can also be equipped with infrared thermal imaging devices, cameras, and other equipment to monitor whether indicators in corridors such as power cable tunnels, coal mine lanes, and urban pipe corridors are normal. Inspections by rail robots greatly improve work efficiency and reduce the burden on staff.

[0034] On the first aspect, the embodiment of the present application first provides a walking mechanism of a rail-mounted robot, the walking wheels of the walking mechanism can swing in the circumferential direction of the track on which it walks, can adapt to tracks of different cross-sectional shapes, and always keep in contact with the track surface, thereby ensuring that the walking mechanism can run smoothly on tracks of different cross-sectional shapes, with better flexibility and versatility.

[0035] Figure 1 is a schematic diagram of the overall structure of the walking mechanism of the rail-mounted robot provided in an embodiment of the present application, Figure 2 yes Figure 1 The schematic diagram of the partial structure of the walking mechanism is shown in FIG. Figure 3 1 is a schematic diagram of the state of the rail robot provided in the embodiment of the present application when walking on rails with different cross-sectional shapes, that is, a schematic diagram of the state of the walking mechanism when walking on rails with different cross-sectional shapes. Figure 1-Figure 3 As shown, the walking mechanism 100 of the rail-mounted robot provided in the embodiment of the present application includes a frame 10 and walking wheels 20 .

[0036] The frame 10 is used to be connected with the robot body and installed on the track 300, so as to drive the robot body to move along the track 300 to complete inspection and monitoring tasks.

[0037] The running wheel 20 is provided on the frame 10 and is used to run along the track 300. Specifically, when the running mechanism 100 moves on the track 300, the running wheel 20 rolls on the surface of the track 300. In addition, the running wheel 20 can swing in the circumferential direction of the track 300, and when the cross-sectional shape of the track 300 changes, the running wheel 20 can always keep in contact with the surface of the track 300.

[0038] Here, the traveling wheel 20 is in contact with the surface of the track 300, which means that when the traveling wheel 20 is rolling, the surface of the traveling wheel 20 in contact with the track 300 is in contact with the surface of the track 300, without any suspended part, so that the traveling mechanism 100 can move steadily and smoothly on the track 300 without slipping or the traveling wheel 20 coming off the track 300.

[0039] In the embodiment of the present application, the cross-sectional shape of the track 300 is the shape of a cross section cut along the vertical direction. For example, the cross-sectional shape of the circular tube track 320 is circular, and the cross-sectional shape of the rectangular tube track 310 is rectangular.

[0040] In an embodiment of the present application, the running wheel 20 can swing in the circumferential direction of the track 300. In other words, with the moving direction of the running wheel 20 as the axis, the running wheel 20 can rotate around this axis to achieve swing in the circumferential direction of the track 300, and thus can adapt to tracks 300 with different cross-sectional shapes.

[0041] Figure 4 is a schematic diagram of the state of the track robot provided in the embodiment of the present application when walking on tracks with different cross-sectional shapes, Figure 5 is a schematic diagram of a state in which a track robot provided in an embodiment of the present application walks on an I-shaped track. Figure 4 and Figure 5 The figure shows the state of the running wheels 20 when the running mechanism 100 provided in the embodiment of the present application runs on tracks with different cross-sectional shapes.

[0042] like Figure 4 As shown, the walking mechanism 100 drives the robot body to walk on the rectangular tube track 310 and the circular tube track 320. For example, when the walking mechanism 100 walks on the rectangular tube track 310, the walking wheel 20 contacts the upper surface of the rectangle, which is a horizontal surface. At this time, the walking wheel 20 has been attached to the surface of the track 300, and the walking wheel 20 does not swing, but only rolls in the moving direction. When the walking mechanism 100 walks on the circular tube track 320, the track surface contacted by the walking wheel 20 is a curved surface. Figure 4The direction indicated by the middle arrow M is the moving direction of the traveling mechanism 100. Taking the traveling wheel 20 on the right side of the moving direction as an example, compared with the traveling wheel 20 on the horizontal plane, at this time, the traveling wheel 20 rotates clockwise with its own moving direction as the axis (i.e., the direction of the arrow M) until it fits with the arc surface of the circular tube track 320. Similarly, the traveling wheel 20 on the left side of the traveling direction rotates counterclockwise until it fits with the arc surface. That is, when the traveling mechanism 100 is located on the circular tube track 320, the traveling wheel 20 will swing in the circumferential direction of the circular tube track 320 to adjust its position so as to keep in contact with the track surface, thereby ensuring the normal movement of the traveling mechanism 100 on the track.

[0043] Figure 4 A schematic diagram is shown of the state in which the walking mechanism 100 moves from the circular tube track 320 to the rectangular tube track 310. It should be understood that a transition track is also connected between the circular tube track 320 and the rectangular tube track 310. When the walking wheel 20 walks on the transition track, it continuously swings to adjust its position so that the walking mechanism 100 can move smoothly from the circular tube track 320 to the rectangular tube track 310 without bumps and shakes.

[0044] like Figure 5 As shown in FIG. 1 , the walking mechanism 100 walks on an I-shaped track 330, and the track surface contacted by the walking wheel 20 is an inclined plane. The support force exerted by the track surface on the walking wheel 20 is a force perpendicular to the inclined surface (deviation from the vertical direction). Under the action of this support force, Figure 5 Taking the right side running wheel 20 shown in the figure as an example, the running wheel 20 swings rightward in the circumferential direction of the track surface to fit the inclined track surface, thereby ensuring the normal movement of the running mechanism 100.

[0045] Different cross-sectional shapes of the tracks have different advantages. For example, the rectangular tube track 310 has the advantages of high strength and good load-bearing capacity, and is suitable for long-distance settings, but the rectangular track is only suitable for setting straight paths; the circular tube track 320 has good bending properties and is very suitable for setting in curved corridors, providing a curved walking path for the track robot.

[0046] According to the running mechanism 100 provided in the embodiment of the present application, when the running mechanism 100 moves on the track 300, the running wheel 20 can swing in the circumferential direction of the track, that is, the running wheel 20 can adjust its position according to the shape of the track surface it contacts, and then always keep in contact with the track surface, ensuring that the running mechanism 100 moves smoothly on the track 300. The running mechanism 100 provided in the embodiment of the present application can adapt to track surfaces in the shape of arc surfaces, planes, inclined surfaces, etc., and can realize walking on different types of tracks 300 such as rectangular tube tracks 310, circular tube tracks 320 or I-shaped tracks 330 without making any adjustments to the tracks 300 or the running mechanism 100. The flexibility and versatility of the running mechanism 100 are improved, and the scope of application is wider; since there is no need to design different running mechanisms for different types of tracks, the track adaptation work is reduced, and the cost is also reduced. And under certain circumstances, the walking mechanism 100 provided in the embodiment of the present application can switch to a track 300 with a different cross-sectional shape during travel. In this way, the advantages of the tracks 300 with different cross-sectional shapes can be fully utilized and used in combination, which greatly improves practicality.

[0047] like Figure 1 and Figure 2 As shown, the frame 10 is a "U"-shaped structure with an opening facing upward. When the traveling mechanism 100 is installed on the track 300, the track 300 is located inside the "U"-shaped structure, and at least one traveling wheel 20 is provided on each side of the opening of the "U"-shaped structure.

[0048] The frame 10 has an upward opening, which facilitates the installation of the traveling mechanism 100 on the track 300. In addition, during the movement along the track 300, the structure such as the suspension rod used to fix the track 300 can be avoided to ensure that there will be no obstruction during the movement.

[0049] Traveling wheels 20 are provided on both sides of the opening of the frame 10, and the traveling wheels 20 on both sides are respectively located at the left and right ends of the track 300. Under the action of gravity, the traveling wheels 20 are close to the upper surface of the track 300, which fixes the frame 10 on the outer peripheral side of the track 300 and prevents the traveling mechanism 100 from falling.

[0050] Exemplarily, on each side of the opening, multiple, for example two, running wheels 20 may be arranged side by side in the moving direction of the frame 10, so as to drive the robot body to move more smoothly. It should be understood that the running wheels 20 on both sides of the opening need to be symmetrically arranged relative to the central axis of the track 300.

[0051] In the embodiments of the present application, Figure 1 and Figure 2As shown, the frame 10 includes a horizontal arm 11 for setting the travel wheel 20, the horizontal arm 11 is formed by extending inward from both ends of the "U"-shaped structure opening of the frame 10 and is located above the track 300, and a "T"-shaped wheel axle 30 is provided on the horizontal arm 11, and the "T"-shaped wheel axle 30 includes a swing axis 31 arranged parallel to the moving direction of the frame 10 and a rolling axis 32 arranged perpendicular to the swing axis 31; wherein, one end of the swing axis 31 is rotatably connected to the horizontal arm 11, and the other end of the swing axis 31 is fixedly connected to the aforementioned rolling axis 32, and the travel wheel 20 includes a first travel wheel 21 and a second travel wheel 22, and the first travel wheel 21 and the second travel wheel 22 are rotatably arranged at both ends of the rolling axis 32.

[0052] Specifically, Figure 1 As shown, the rotation axis of the swing shaft 31 is Figure 1 The dotted line A shown in FIG. 1 is the rotation axis of the rolling shaft 32. Figure 1 As shown in the dotted line B, when the walking wheel 20 is supported by the track 300, it can rotate around the A axis to swing in the circumferential direction of the track 300, and can also rotate along the B axis to roll on the track 300 in the moving direction.

[0053] Specifically, in the “T”-shaped axle 30 , a ring is provided at one end of the swing shaft 31 for connecting with the rolling shaft 32 , and the axis of the ring is the axis of the rolling shaft 32 . The rolling shaft 32 is arranged in the ring and thus fixed on the swing shaft 31 .

[0054] The running wheel 20 is arranged on a "T"-shaped wheel axle 30, which not only realizes the swing of the running wheel 20 in the circumferential direction of the track 300, but also realizes the rolling of the running wheel 20 in the moving direction. The structure is simple, the assembly is convenient, and the production cost is reduced. In addition, the rolling shaft 32 is fixedly connected to one end of the swing shaft 31, and the angle will also change with the rotation of the swing shaft 31, so as to ensure that the rolling direction of the running wheel 20 is always consistent with the moving direction.

[0055] The running wheel 20 includes a first running wheel 21 and a second running wheel 22 disposed at both ends of the rolling shaft 32, namely, located at the left and right sides of the swing shaft 31. Thus, when the running wheel 20 swings in the circumferential direction of the track 300, the first running wheel 21 and the second running wheel 22 restrain each other to ensure that the running wheel 20 does not swing away from the track 300, thereby affecting the normal movement of the running mechanism 100. Figure 4Taking the walking wheel 20 located on the right side of the circular tube track 320 as an example, the first walking wheel 21 is located on the left side of the swing shaft 31, and the second walking wheel 22 is located on the right side of the swing shaft 31. At this time, the second walking wheel 22 is already in close contact with the surface of the track 300, so that the swing shaft 31 cannot continue to rotate, thereby ensuring that the walking wheel 20 will not continue to swing when the first walking wheel 21 and the second walking wheel 22 are both in contact with the surface of the track 300. Therefore, the walking mechanism 100 can be stably installed on the track 300, and the movement process is smooth.

[0056] In other embodiments, the swing axis 31 and the rolling axis 32 may also be other structures, such as being separately arranged, as long as the swing and rolling of the walking wheel 20 can be achieved simultaneously, and the present application does not impose any limitation on this.

[0057] Since the walking wheel 20 has a double-wheel structure and will swing to adjust its position when subjected to force, the frequency of unbalanced loading during movement after being connected to the robot body is reduced, and the load can be more evenly distributed to the first walking wheel 21 and the second walking wheel 22, thereby reducing the wear on the surface of the walking wheel 20 caused by unbalanced loading, increasing the service life of the walking wheel 20, and also reducing the frequency of maintenance and replacement, further reducing the cost of use.

[0058] Furthermore, the walking mechanism 100 provided in the embodiment of the present application also includes a guide wheel 40 rotatably arranged on the inner side of the "U"-shaped structure of the frame 10, and the guide wheel 40 is used to fit the side surface of the track 300, and the guide wheel 40 includes two guide wheels arranged opposite to each other; the frame 10 is rotatably connected to the rotating member, so that it can rotate relative to the rotating member under the action of the guide wheel 40 to adapt to the curved track, and the rotation axis of the frame 10 is parallel to the rotation axis of the guide wheel 40.

[0059] Figure 6 is a schematic diagram of the state of the rail robot provided in the embodiment of the present application when turning, such as Figure 1 and Figure 6 As shown, the rotation axis of the guide wheel 40 is Figure 1 The dotted line C shown in FIG. 1 is the rotation axis of the frame 10. Figure 1 The dotted line D shown in the figure is parallel to the dotted line C. In this way, when the traveling mechanism 100 moves on the track 300, the guide wheel 40 rotates due to friction with the side surface of the track 300, and then exerts force on the frame 10, so that the frame 10 can also rotate relative to the steering member to adjust its own travel direction, and because the guide wheel 40 is always in close contact with the side surface of the track 300, the frame 10 can adapt to the curvature of the curve when rotating, and can pass through curves with different bending radii, and can also adapt to curves with smaller bending radius, thereby improving the adaptability of the traveling mechanism 100.

[0060] Specifically, Figure 1 and Figure 2 As shown, the "U"-shaped structure of the frame 10 includes vertical arms 12 located on both sides of the track 300 and a crossbeam 13 connecting the two vertical arms 12, the steering member includes a bearing 50 arranged on the crossbeam 13, and the rotation axis of the frame 10 is located on the mid-vertical line of the crossbeam 13.

[0061] Specifically, Figure 1 and Figure 2 As shown, the guide wheel 40 is connected to the frame 10 via a mounting seat 121 disposed inside the two vertical arms 12 .

[0062] In the embodiment of the present application, the frame 10 may be an integrated structure with good structural strength, or may be a split structure, which is not limited in the present application.

[0063] Exemplarily, the bearing 50 may be a crossed roller bearing.

[0064] In the embodiment of the present application, the guide wheel 40 is elastically pressed against the side surface of the track 300 .

[0065] Exemplarily, the guide wheel 40 itself may be elastic, and when the width of the track 300 increases, the guide wheel 40 itself undergoes elastic deformation to adapt to the change in the width of the track 300 .

[0066] For another example, the guide wheel 40 may also be connected to an elastic mechanism, so that it can be elastically pressed against the side surface of the track 300 under the action of the elastic mechanism.

[0067] Through the above-mentioned arrangement, the guide wheel 40 is elastically pressed against the side surface of the track 300, so that the walking mechanism 100 provided in the embodiment of the present application can adapt to tracks 300 of different widths. When walking on tracks 300 of different widths, it can remain close to the side surface of the track 300 on both sides of the track 300, preventing the walking mechanism 100 from moving in the left and right directions, thereby ensuring the stable movement of the walking mechanism 100 on the track 300.

[0068] In the embodiment of the present application, the walking wheel 20 and the guide wheel 40 are made of rubber material, which has certain elasticity and good wear resistance and load-bearing performance, so that the walking mechanism 100 provided in the embodiment of the present application can have a longer service life.

[0069] Furthermore, the walking mechanism 100 provided in the embodiment of the present application also includes a pressure wheel, which is installed on the frame 10, specifically, can be arranged on the crossbeam 13. When the walking mechanism 100 is installed on the track 300, the pressure wheel is located below the track 300 and is used to stick to the lower surface of the track 300 when the walking mechanism 100 walks on a sloped track 300.

[0070] For example, when the walking mechanism 100 walks on the upward inclined track 300, the pressure wheel is pressed against the lower surface of the track 300, applying pressure to the track 300. At the same time, the track 300 applies pressure to the pressure wheel, so that the walking wheel 20 located on the upper surface of the track 300 has a greater pressure on the track 300, thereby increasing the friction force. There will be no sliding when climbing a slope, and the walking will be more stable.

[0071] The relative arrangement of the travel wheel 20 and the pressure wheel, respectively, close to the track 300 on the upper and lower surfaces of the track 300, prevents the travel mechanism 100 from moving in the upper and lower directions of the track, and is not prone to shaking, tilting or slipping, thereby ensuring stability and safety during movement.

[0072] Preferably, the pressure wheel can be connected to the elastic adjustment mechanism, so that when the walking mechanism 100 walks on the horizontal track 300, the pressure wheel does not contact the lower surface of the track 300, thereby not increasing the friction resistance. When the walking mechanism 100 walks on a sloped track 300, the elastic adjustment mechanism makes the pressure wheel close to the lower surface of the track 300.

[0073] In the embodiment of the present application, the traveling mechanism 100 further includes a power device which is transmission-connected to the frame 10 and is used to drive the frame 10 to move along the track 300 .

[0074] In the embodiment of the present application, the walking mechanism 100 is a passive walking mechanism. Specifically, the power device drives the frame 10 to move along the track so that the walking wheel 20 rolls under the action of friction. The power device may include a motor, a sprocket and other devices, and the track 300 also includes a chain. The power device drives the frame 10 to move along the track 300 by meshing with the chain of the track. The present application does not limit the specific structure and setting of the power device.

[0075] In the second aspect, the embodiments of the present application further provide a track robot 200, which includes the walking mechanism 100 provided in any embodiment of the first aspect and a robot body (not shown in the figure) connected to the walking mechanism 100. Figure 4-Figure 6 It is a schematic diagram of the state of the track robot 200 walking on different tracks 300. The track robot 200 is hoisted on the track 300 through the walking mechanism 100, and moves along the track 300 driven by the walking mechanism 100, and then works through the camera, sensors and other equipment carried on the robot body.

[0076] Since the rail robot 200 provided in the embodiment of the present application includes the aforementioned walking mechanism 100, the rail robot 200 also has the technical effects corresponding to the aforementioned walking mechanism 100, which will not be repeated here.

[0077] like Figure 3 As shown, the rail robot 200 includes a plurality of the aforementioned walking mechanisms 100 , and the robot body is connected to the plurality of walking mechanisms 100 via a connecting plate 210 .

[0078] Specifically, a track robot 200 includes at least two walking mechanisms 100, and the two walking mechanisms 100 move synchronously on the track 300 to drive the robot body to move. Exemplarily, three, five or even more walking mechanisms 100 can also be set on the track robot 200, which can drive the robot body to move more smoothly when turning or climbing and have better carrying capacity.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A walking mechanism of a rail-mounted robot, characterized in that: include: A frame (10) is used to be connected to the robot body and installed on the track to drive the robot body to move along the track; A running wheel (20) is arranged on the frame (10) and is used for running along the track. The running wheel (20) can swing in the circumferential direction of the track, so that when the cross-sectional shape of the track changes, the running wheel (20) can always remain in contact with the surface of the track; The frame (10) is in a "U"-shaped structure with an opening facing upward, the "U"-shaped structure is used to accommodate the track inside, and at least one travel wheel (20) is provided on each side of the opening of the "U"-shaped structure; The frame (10) comprises a horizontal arm (11) for arranging the travel wheel (20); the horizontal arm (11) is formed by extending inwardly from both ends of the opening of the "U"-shaped structure and is located above the track; a "T"-shaped wheel axle (30) is provided on the horizontal arm (11); the "T"-shaped wheel axle (30) comprises a swing axis (31) arranged parallel to the moving direction of the frame (10) and a rolling axis (32) arranged perpendicular to the swing axis (31); One end of the swing shaft (31) is rotatably connected to the horizontal arm (11), and the other end is fixedly connected to the rolling shaft (32); the walking wheel (20) comprises a first walking wheel (21) and a second walking wheel (22); the first walking wheel (21) and the second walking wheel (22) are rotatably arranged at two ends of the rolling shaft (32); the first walking wheel (21) and the second walking wheel (22) are located on both sides of the swing shaft (31); when the first walking wheel (21) is supported by the track, it can swing around the rotation axis of the swing shaft (31) in the circumferential direction of the track, and can also rotate along the rotation axis of the rolling shaft (32) to roll on the track in the moving direction; The walking mechanism further comprises a guide wheel (40) rotatably arranged inside the "U"-shaped structure, the guide wheel (40) being used to fit against a side surface of the track; The frame (10) is rotatably connected to the rotating member, so that it can rotate relative to the rotating member under the action of the guide wheel (40) to adapt to the curved track, and the rotation axis of the frame (10) is parallel to the rotation axis of the guide wheel (40).

2. The walking mechanism according to claim 1, characterized in that: The "U"-shaped structure comprises vertical arms (12) located on both sides of the track and a crossbeam (13) connecting the two vertical arms (12); the rotating member comprises a bearing (50) arranged on the crossbeam (13); and the rotation axis of the frame (10) is located on the mid-vertical line of the crossbeam (13).

3. The walking mechanism according to claim 1 or 2, characterized in that: The guide wheel (40) is elastically pressed against the side surface of the track.

4. The walking mechanism according to any one of claims 1 to 2, characterized in that: The traveling mechanism further comprises a pressure wheel, which is located below the track and is used for being close to the lower surface of the track when the traveling mechanism travels on the track with a slope.

5. The walking mechanism according to any one of claims 1 to 2, characterized in that: The walking mechanism also includes a power device which is transmission-connected to the frame (10) and is used to drive the frame (10) to move along the track.

6. A rail robot, characterized in that: It comprises the walking mechanism as described in any one of claims 1 to 5 and a robot body connected to the walking mechanism.

7. The rail robot according to claim 6, characterized in that: The track robot comprises a plurality of the walking mechanisms, and the robot body is connected to the plurality of the walking mechanisms via a connecting plate (210).

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