Rail walking equipment and transfer method

Abstract

The present invention relates to an on-rail walking device and a transfer method, and relates to the technical field of railway vehicles. The on-rail walking device of the present invention includes a walking device and a transfer device. The walking device can travel on an initial track. The transfer device is arranged on the walking device. Wherein, the transfer device is used to transfer the walking device from the initial track to an adjacent track intersecting with the initial track, so that the walking device can travel on the adjacent track. The on-rail walking device provided by the technical solution disclosed in this application can be safely, efficiently and conveniently transferred between different tracks.

Description

Technical Field

[0001] The present invention relates to the technical field of railway vehicles, and particularly to a track walking device and a transfer method thereof. Background Art

[0002] Track walking devices are widely used in the field of rail transit maintenance and repair, and can be used for track inspection and track cleaning. A track walking device refers to a track device that can walk autonomously or be pushed and pulled on rail transit lines such as railways, subways, and light rails.

[0003] Track walking devices generally need to traverse all tracks. Currently, track walking devices generally achieve transfer between different tracks by manual handling or multiple adjustments of the switch opening directions.

[0004] However, the applicant has found that there are at least the following problems in the prior art: First, the weight of the track walking device is relatively large. Manual handling is not only time-consuming and laborious, but also has poor safety; second, adjusting the switch opening direction requires the cooperation of the signal department, which not only affects the operation order of the station, but also has high management costs and low efficiency. Summary of the Invention

[0005] The embodiments of the present application provide a track walking device and a transfer method thereof, which can transfer safely, efficiently, and conveniently between different tracks.

[0006] In a first aspect, the embodiments of the present application provide a track walking device, including:

[0007] A walking device, which can travel on an initial track; and

[0008] A transfer device, which is arranged on the walking device;

[0009] Wherein, the transfer device is used to transfer the walking device from the initial track to an adjacent track intersecting with the initial track, so that the walking device can travel on the adjacent track.

[0010] In an embodiment, the walking device includes:

[0011] A walking platform; and

[0012] Walking wheels, which are rotatably arranged on the walking platform, and the walking wheels are used to support the walking platform to travel on the initial track and the adjacent track.

[0013] In an embodiment, the transfer device includes:

[0014] A support member, which extends along a first direction;

[0015] A translation component, which is arranged on the support member. The translation component can drive the traveling device to move along the first direction to adjust the distance between the traveling device and the adjacent track in the first direction;

[0016] A steering component, which is arranged on the translation component. The steering component can drive the traveling device to rotate around the second direction to adjust the included angle between the traveling device and the adjacent track;

[0017] A lifting component, which is arranged on the steering component. The lifting component is connected to the transfer device. The lifting component can drive the traveling device and the support member to move in the second direction so that the traveling device is suspended and the support member abuts against the track surface of the initial track, or the support member is suspended and the traveling device abuts against the track surface of the adjacent track.

[0018] In one embodiment, the translation component includes:

[0019] A translation driving member, which is arranged on the support member;

[0020] A translation transmission member, which is arranged on the support member. The translation transmission member is connected to the translation driving member. The translation transmission member can transform the rotational motion output by the translation driving member and output a linear motion along the first direction;

[0021] A translation platform, which is movably arranged on the support member. The translation platform is connected to the translation transmission member and can move along the first direction under the action of the translation transmission member.

[0022] In one embodiment, the translation transmission member is a lead screw nut transmission member or a rack and pinion transmission member.

[0023] In one embodiment, the steering component includes:

[0024] A steering platform, which is rotatably arranged on the translation platform;

[0025] A steering driving member, which is arranged on the translation platform. The steering driving member can drive the steering platform to rotate around the second direction.

[0026] In one embodiment, the lifting component includes:

[0027] A fixed platform, which is connected to the steering platform;

[0028] A lifting member, which is connected to the fixed platform. The lifting member can output a linear motion along the second direction. The output shaft of the lifting member is connected to the traveling platform.

[0029] In one embodiment, the lifting member is a hydraulic cylinder or a lift.

[0030] In one embodiment, the rail walking device includes:

[0031] A sensing device for sensing the relative pose between the traveling device and the adjacent track and generating a corresponding sensed electrical signal according to the relative pose and transmitting it to the control device;

[0032] A control device for receiving the sensed electrical signal and controlling the operation of the transfer device according to the sensed electrical signal.

[0033] In a second aspect, an embodiment of the present application provides a transfer method, including:

[0034] Setting the transfer device on the traveling device;

[0035] When transferring the track, transferring the traveling device from the initial track to an adjacent track intersecting the initial track through the transfer device so that the traveling device can travel on the adjacent track.

[0036] In one embodiment, the transferring the traveling device from the initial track to an adjacent track intersecting the initial track through the transfer device so that the traveling device can travel on the adjacent track includes:

[0037] Suspending the traveling device through the lifting assembly and making the support member abut against the track surface of the initial track;

[0038] Adjusting the distance between the traveling device and the adjacent track in the first direction through the translation assembly;

[0039] Adjusting the included angle between the traveling device and the adjacent track through the steering assembly;

[0040] Suspending the support member through the lifting assembly and making the traveling device abut against the track surface of the adjacent track.

[0041] Compared with the prior art, the advantages of the embodiment of the present application are that by setting the transfer device, the traveling device can be transferred between different tracks, realizing the safe, efficient and convenient transfer of the rail walking device, thus solving the problems that manual handling is time-consuming, laborious and has poor safety, and the transfer efficiency of adjusting the turnout opening direction is low and the cost is high. Description of the Drawings

[0042] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the drawings.

[0043] Figure 1 is a schematic three-dimensional structure diagram of the rail walking device provided by the embodiment of the present invention;

[0044] Figure 2 is Figure 1 Schematic perspective view of the transfer device provided in the embodiment;

[0045] Figure 3 is Figure 1 Schematic perspective view of the transfer device provided in the embodiment from another perspective;

[0046] Figure 4 is Figure 1 Top view of the track walking device provided in the embodiment when located on the initial track;

[0047] Figure 5 is Figure 1 Side view of the track walking device provided in the embodiment when located on the initial track;

[0048] Figure 6 is Figure 1 Side view of the lifting assembly driving the walking device and the support member to move in the second direction and then suspending the walking device;

[0049] Figure 7 is Figure 1 Top view of the translation assembly driving the walking device to move in the first direction in the embodiment;

[0050] Figure 8 is Figure 1 Top view of the steering assembly driving the walking device to rotate around the second direction in the embodiment;

[0051] Figure 9 is Figure 1 Side view of the lifting assembly driving the walking device and the support member to move in the second direction and then suspending the support member;

[0052] Figure 10 Flowchart of the transfer method of the track walking device between tracks provided in another embodiment of the present invention.

[0053] Reference numerals:

[0054] 10. Traveling device; 110. Traveling platform; 1101. Cross beam; 1102. Longitudinal beam; 1103. Supporting beam; 120. Traveling wheel; 20. Transfer device; 210. Support member; 220. Translation assembly; 2201. Translation driving member; 2202. Translation transmission member; 2203. Translation platform; 2204. Translation motor; 2205. Translation speed reducer; 2206. Translation wheel set; 2207. Load-bearing wheel; 2208. Hanging wheel; 230. Steering assembly; 2301. Steering platform; 2302. Steering driving member; 2303. Steering motor; 2304. Steering speed reducer; 2305. Driving gear; 2306. Driven gear; 240. Lifting assembly; 2401. Fixed platform; 2402. Lifting member; 30. Sensing device; 40. Initial track; 50. Adjacent track. Detailed implementation manner

[0055] The present invention will be further described below in conjunction with the accompanying drawings.

[0056] Rail walking equipment generally needs to traverse all tracks. At present, rail walking equipment generally realizes the transfer between different tracks by manual handling or adjusting the opening direction of the switch multiple times.

[0057] However, the applicant has found that there are at least the following problems in the prior art: First, the weight of the rail walking equipment is relatively large. Manual handling is not only time-consuming and laborious, but also has poor safety. Second, adjusting the opening direction of the switch requires the cooperation of the signal department, which not only affects the operation order of the station, but also has high management costs and low efficiency.

[0058] To solve the above technical problems, at least one embodiment of the present application provides a rail walking equipment, including a traveling device 10 and a transfer device 20; the traveling device 10 can travel on the initial track 40; the transfer device 20 is arranged on the traveling device 10; wherein, the transfer device 20 is used to transfer the traveling device 10 from the initial track 40 to an adjacent track 50 intersecting with the initial track 40, so that the traveling device 10 can travel on the adjacent track 50.

[0059] As can be seen from the above, by setting the transfer device 20, the traveling device 10 can be transferred between different tracks, realizing the safe, efficient and convenient transfer of the rail walking equipment, thus solving the problems of time-consuming and laborious manual handling and poor safety, as well as low transfer efficiency and high cost of adjusting the switch opening direction.

[0060] As Figure 1 shown, the rail walking equipment includes a traveling device 10 and a transfer device 20; the traveling device 10 can travel on the initial track 40. It should be noted that a track cleaning mechanism and a track maintenance mechanism can be installed on the traveling device 10 as needed to clean and maintain the track as the traveling device 10 travels on the track.

[0061] The transfer device 20 is arranged on the traveling device 10; wherein, the transfer device 20 is used to transfer the traveling device 10 from the initial track 40 to an adjacent track 50 intersecting with the initial track 40, so that the traveling device 10 can travel on the adjacent track 50.

[0062] It should be noted that the transfer device 20 is installed on the bottom of the traveling device 10; when the track does not need to be transferred, the traveling device 10 continues to travel on the initial track 40; when the track needs to be transferred, the transfer device 20 works to transfer the traveling device 10 to an adjacent track 50 intersecting with the initial track 40, and the traveling device 10 continues to travel on the adjacent track 50.

[0063] As Figure 1 shown, in some embodiments, the traveling device 10 includes a traveling platform 110 and traveling wheels 120; the traveling wheels 120 are rotatably arranged on the traveling platform 110, and the traveling wheels 120 are used to support the traveling platform 110 to travel on the initial track 40 and the adjacent track 50.

[0064] It should be noted that the traveling platform 110 includes a plurality of cross beams 1101 and a plurality of longitudinal beams 1102, and the plurality of cross beams 1101 and the plurality of longitudinal beams 1102 are welded to form a frame structure. The traveling platform 110 further includes a plurality of supporting beams 1103, and the plurality of supporting beams 1103 are welded to the welded frame structure. Among them, the transfer device 20 is installed on the supporting beams 1103. It should also be noted that the traveling device 10 may include a plurality of traveling wheels 120. For example, the traveling device 10 may include four traveling wheels 120, and the four traveling wheels 120 are respectively arranged at the corners of the frame structure.

[0065] As Figure 2 、 Figure 3 、 Figure 4 shown, in some embodiments, the transfer device 20 includes a support member 210, a translation assembly 220, a steering assembly 230, and a lifting assembly 240; the support member 210 extends along a first direction.

[0066] It should be noted that, as Figure 1 shown, the first direction is parallel to the X direction. It should also be noted that the length of the support member 210 in the first direction is greater than the gauge between the two tracks of the initial track 40, so that when the support member 210 falls onto the initial track 40, it can effectively and stably support the track walking device. It should also be noted that an insulating rubber plate for contacting the top surface of the track is arranged on the bottom of the support member 210.

[0067] It should also be noted that, as Figure 5As shown, when the traveling device 10 travels on the initial track and the adjacent track, the distance between the support member 210 and the track surfaces of the initial track and the adjacent track in the second direction is 100 mm.

[0068] The translation assembly 220 is arranged on the support member 210. The translation assembly 220 can drive the traveling device 10 to move in the first direction to adjust the distance between the traveling device 10 and the adjacent track 50 in the first direction.

[0069] By setting the translation assembly 220 to reduce the distance between the traveling device 10 and the adjacent track 50, the traveling device 10 is brought closer to the adjacent track 50.

[0070] The steering assembly 230 is arranged on the translation assembly 220. The steering assembly can drive the traveling device 10 to rotate around the second direction to adjust the included angle between the traveling device 10 and the adjacent track 50.

[0071] It should be noted that, as Figure 1 shown, the second direction is parallel to the Z direction, and the first direction is perpendicular to the second direction.

[0072] By setting the steering assembly 230 to adjust the included angle between the traveling device 10 and the adjacent track 50, the traveling device 10 is aligned with the adjacent track 50. At this time, the traveling wheels 120 are located directly above the adjacent track 50.

[0073] The lifting assembly 240 is arranged on the steering assembly 230. The lifting assembly 240 is connected to the transfer device 20. The lifting assembly 240 can drive the traveling device 10 and the support member 210 to move in the second direction so that the traveling device 10 is suspended and the support member 210 abuts against the track surface of the initial track 40, or the support member 210 is suspended and the traveling device 10 abuts against the track surface of the adjacent track 50.

[0074] By setting the lifting assembly 240 to make the traveling device 10 suspended and the support member 210 abut against the track surface of the initial track 40, the support member 210 plays the role of supporting the track traveling equipment, preparing for the transfer of the traveling device 10, and avoiding interference caused by contact between the traveling device 10 and the initial track 40, resulting in abnormal transfer. By setting the lifting assembly 240 to make the support member 210 suspended and the traveling device 10 abut against the track surface of the adjacent track 50, the traveling device 10 plays the role of supporting the track traveling equipment, and ensures that the traveling device 10 can travel normally along the adjacent track 50, avoiding interference caused by contact between the support member 210 and the adjacent track 50, resulting in abnormal travel.

[0075] The transfer device 20 enables the traveling device 10 to be transferred between tracks through the lifting assembly 240, the translation assembly 220, the steering assembly 230, and the support member 210, with high transfer efficiency and high safety. At the same time, the transfer device 20 can adjust the strokes of the translation assembly 220 and the steering assembly 230 according to the distance and angle between the adjacent track and the initial track, so that the transfer device 20 can be applied to different situations of adjacent tracks 50, thereby improving the flexibility and practicality of the track transfer equipment.

[0076] In some embodiments, the translation assembly 220 includes a translation driving member 2201, a translation transmission member 2202, and a translation platform 2203; the translation driving member 2201 is disposed on the support member 210.

[0077] It should be noted that the translation driving member 2201 includes a translation motor 2204 and a translation speed reducer 2205, and the rotating shaft of the translation motor 2204 is connected to the input shaft of the translation speed reducer 2205; the translation motor 2204 includes, but is not limited to, a servo motor and a stepping motor; the translation speed reducer 2205 is an independent component composed of a gear transmission, a worm transmission, and a gear-worm transmission enclosed in a rigid housing to play a role in matching the speed and transmitting torque.

[0078] It should also be noted that as Figure 4 , as Figure 7 shown, there is a spacing between the center line A of the initial track 40 and the center line B of the adjacent track 50 at the turnout, and this spacing is less than 300 cm. Therefore, the distance that the translation assembly 220 drives the traveling device 10 to move in the first direction is less than 300 cm, and the traveling device 10 after moving in the first direction is located directly above the adjacent track, that is, the distance between the center line A of the traveling device 10 and the two tracks of the adjacent track 50 is equal.

[0079] The translation transmission member 2202 is disposed on the support member 210, the translation transmission member 2202 is connected to the translation driving member 2201, and the translation transmission member 2202 can transform the rotational motion output by the translation driving member 2201 and output a linear motion in the first direction.

[0080] It should be noted that the translation transmission member 2202 is connected to the output shaft of the translation speed reducer 2205.

[0081] The translation platform 2203 is movably disposed on the support member 210, the translation platform 2203 is connected to the translation transmission member 2202 and can move in the first direction under the action of the translation transmission member 2202.

[0082] It should be noted that the translation platform 2203 is a frame structure welded by multiple steel beams.

[0083] It should also be noted that a plurality of translation wheel sets 2206 are provided on the translation platform 2203. The translation wheel set 2206 includes a fixed seat, a load-bearing wheel 2207 and a hanging wheel 2208 rotatably mounted on the fixed seat. The load-bearing wheel 2207 and the hanging wheel 2208 are arranged in the second direction; a slide rail extending in the first direction is provided on the support member 210. The load-bearing wheel 2207 is used to support the translation platform 2203 and move along the slide rail; the hanging wheel 2208 is located below the support member 210 and abuts against the support member 210; thereby improving the reliability and stability of the movement of the translation platform 2203. For example, as Figure 2 shown, four translation wheel sets 2206 are provided on the translation platform 2203, and the translation wheel sets 2206 are respectively located at the corners of the translation platform 2203.

[0084] In some embodiments, the translation transmission member 2202 is a lead screw-nut transmission member or a gear-rack transmission member.

[0085] It should be noted that when the translation transmission member 2202 is a lead screw-nut transmission member, the translation transmission member 2202 includes a translation lead screw and a translation nut seat. The translation lead screw is rotatably mounted on the support member 210 and connected to the output shaft of the translation speed reducer 2205. The translation nut seat is threadedly connected to the translation lead screw, and the translation nut seat is connected to the translation platform 2203, thereby converting the rotational motion output by the translation drive member 2201 into a linear motion of the translation nut seat along the first direction. The translation platform 2203 moves with the translation nut seat, and the transmission efficiency and transmission accuracy are high.

[0086] It should also be noted that when the translation transmission member 2202 is a gear-rack transmission member, the translation transmission member 2202 includes a translation gear and a translation rack. The translation gear is mounted on the output shaft of the translation speed reducer 2205, and the translation rack is mounted on the translation platform 2203 and meshes with the translation gear, thereby converting the rotational motion output by the translation drive member 2201 into a linear motion of the translation rack along the first direction. The translation platform 2203 moves with the translation rack, and the load-bearing capacity is large.

[0087] In some embodiments, the steering assembly 230 includes a steering platform 2301 and a steering drive member 2302; the steering platform 2301 is rotatably arranged on the translation platform 2203; the steering drive member 2302 is arranged on the translation platform 2203, and the steering drive member 2302 can drive the steering platform 2301 to rotate around the second direction.

[0088] It should be noted that the steering drive member 2302 includes a steering motor 2303 and a steering speed reducer 2304. The rotating shaft of the steering motor 2303 is connected to the input shaft of the steering speed reducer 2304. The steering motor 2303 includes, but is not limited to, a servo motor and a stepper motor. The steering speed reducer 2304 is an independent component composed of a gear drive, a worm drive, and a gear-worm drive enclosed in a rigid housing to match the speed and transmit torque.

[0089] It should also be noted that the steering drive member 2302 can be directly connected to the steering platform 2301 to drive the steering platform 2301 to rotate around the second direction. Of course, the steering drive member 2302 can also be indirectly connected to the steering platform 2301 to drive the steering platform 2301 to rotate around the second direction. For example, as Figure 2 shown, the rotation drive member is indirectly connected to the steering platform 2301. The steering assembly 230 further includes a driving gear 2305 and a driven gear 2306. The driving gear 2305 is installed on the output shaft of the steering speed reducer 2304, and the driven gear is installed on the steering platform 2301 and meshes with the driving gear, so that the steering platform 2301 rotates around the second direction.

[0090] It should also be noted that, as Figure 4 、 Figure 8 shown, there is an angle between the initial track and the adjacent track, and this angle is generally less than 6 degrees. Therefore, the angle by which the steering assembly 230 drives the traveling device 10 to rotate around the second direction is less than 6°, and the traveling device 10 after rotating around the second direction is aligned with the adjacent track 50, and the traveling wheel 120 is directly above the adjacent track 50.

[0091] In some embodiments, the lifting assembly 240 includes a fixed platform 2401 and a lifting member 2402. The fixed platform 2401 is connected to the steering platform 2301, the lifting member 2402 is connected to the fixed platform 2401, the lifting member 2402 can output a linear motion along the second direction, and the output shaft of the lifting member 2402 is connected to the traveling platform 110.

[0092] It should be noted that, as Figure 6 shown, under the action of the lifting assembly 240, the traveling device 10 can move upward along the second direction, so that the traveling device 10 is suspended above the track of the initial track 40, and the distance between the traveling wheel 120 of the traveling device 10 and the track surface of the initial track 40 is 60 mm. At this time, the support member 210 abuts against the track surface of the initial track 40 to support the track traveling equipment. Then, the traveling device 10 is transferred through the translation assembly 220 and the steering assembly 230.

[0093] In some embodiments, the lifting member 2402 is a hydraulic cylinder or a lift.

[0094] It should be noted that the lift is a prior art, and its basic principle and structure will not be elaborated in this application. The lift can be a scissor lift or a linkage screw lift table including multiple screw lifts, and the linkage operation of multiple screw lifts can be achieved by one or two motors. For example, as Figure 2 shown, the lift is a linkage screw lift table including four screw lifts, and two screw lifts share one motor to make the two screw lifts sharing the same motor operate in linkage.

[0095] In some embodiments, the track walking device includes a sensing device 30 and a control device. The sensing device 30 is used to sense the relative pose between the walking device 10 and the adjacent track 50, and generate corresponding sensed electrical signals according to the relative pose and transmit them to the control device. The control device is used to receive the sensed electrical signals and control the operation of the transfer device 20 according to the sensed electrical signals.

[0096] It should be noted that the sensing device 30 includes a lifting sensor, a translation sensor, and a steering sensor;

[0097] The lifting sensor is installed on the fixed platform 2401. The lifting sensor is a distance measuring sensor. By the lifting sensor, the distance between the walking device 10 and the track surface of the track is sensed. When the walking device 10 is transferred, when the lifting sensor senses that the distance between the walking device 10 and the track surface of the track is 60 mm, the lifting sensor transmits the sensed electrical signal at this time to the control device, and the control device controls the lifting assembly 240 to stop working.

[0098] When the walking device 10 is transferred, when the translation sensor senses that the walking device 10 is directly above the adjacent track, that is, when the center line A of the walking device 10 is equidistant from the two tracks of the adjacent track 50, the translation sensor transmits the sensed electrical signal at this time to the control device, and the control device controls the translation assembly 220 to stop working;

[0099] The steering sensor, when the walking device 10 is transferred, when the steering sensor senses that the walking device 10 rotates to align with the adjacent track 50, the steering sensor transmits the sensed electrical signal at this time to the control device, and the control device controls the steering assembly 230 to stop working;

[0100] The track walking device further includes an auxiliary sensor. The auxiliary sensor is a distance measuring sensor. By the auxiliary sensor, the distance between the support member 210 and the track surface of the track is sensed. When the walking device 10 is transferred, when the auxiliary sensor senses that the distance between the support member 210 and the track surface of the track is 100 mm, the auxiliary sensor transmits the sensed electrical signal at this time to the control device, and the control device controls the lifting assembly 240 to stop working.

[0101] As shown Figure 10 in the following, at least one embodiment of the present application further provides a transfer method, including:

[0102] S101; arranging the transfer device 20 on the traveling device 10;

[0103] S102; when transferring the track, transferring the traveling device 10 from the initial track 40 to an adjacent track 50 intersecting with the initial track 40 through the transfer device 20, so that the traveling device 10 can travel on the adjacent track 50.

[0104] In some embodiments, transferring the traveling device 10 from the initial track 40 to an adjacent track 50 intersecting with the initial track 40 through the transfer device 20, so that the traveling device 10 can travel on the adjacent track 50, includes:

[0105] As shown Figure 6 in the following, suspending the traveling device 10 through the lifting assembly 240 and making the support member 210 abut against the track surface of the initial track 40;

[0106] As shown Figure 7 in the following, adjusting the distance between the traveling device 10 and the adjacent track 50 in the first direction through the translation assembly 220;

[0107] As shown Figure 8 in the following, adjusting the included angle between the traveling device 10 and the adjacent track 50 through the steering assembly 230;

[0108] As shown Figure 9 in the following, suspending the support member 210 through the lifting assembly 240 and making the traveling device 10 abut against the track surface of the adjacent track 50.

[0109] Although the present invention has been described with reference to the preferred embodiments, various modifications can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An orbital walking device, characterized in that, Comprising: A traveling device that can travel on an initial track; And A transfer device disposed on the bottom of the traveling device; Wherein, the transfer device is used to transfer the traveling device from the initial track to an adjacent track intersecting the initial track, so that the traveling device can travel on the adjacent track; The traveling device includes: A traveling platform; and Traveling wheels rotatably disposed on the traveling platform, and the traveling wheels are used to support the traveling platform to travel on the initial track and the adjacent track; The transfer device includes: A support member extending in a first direction; A translation assembly disposed on the support member, and the translation assembly can drive the traveling device to move along the first direction to adjust the distance between the traveling device and the adjacent track in the first direction; A steering assembly disposed on the translation assembly, and the steering assembly can drive the traveling device to rotate around a second direction to adjust the included angle between the traveling device and the adjacent track; A lifting assembly disposed on the steering assembly, the lifting assembly is connected to the transfer device, and the lifting assembly can drive the traveling device and the support member to move in the second direction, so that the traveling device is suspended and the support member abuts against the track surface of the initial track, or the support member is suspended and the traveling device abuts against the track surface of the adjacent track.

2. The rail walking device according to claim 1, characterized in that, The translation assembly includes: A translation driving member disposed on the support member; A translation transmission member disposed on the support member, the translation transmission member is connected to the translation driving member, and the translation transmission member can transform the rotational motion output by the translation driving member and output a linear motion along the first direction; A translation platform movably disposed on the support member, the translation platform is connected to the translation transmission member and can move along the first direction under the action of the translation transmission member.

3. The rail walking device according to claim 2, characterized in that, The translation transmission member is a lead screw nut transmission member or a gear rack transmission member.

4. The rail walking device according to claim 2, wherein, The steering assembly includes: A steering platform rotatably disposed on the translation platform; A steering driving member disposed on the translation platform, and the steering driving member can drive the steering platform to rotate around the second direction.

5. The rail walking device according to claim 4, wherein The lifting assembly includes: A fixed platform connected to the steering platform; A lifting member connected to the fixed platform, the lifting member can output a linear motion along the second direction, and the output shaft of the lifting member is connected to the traveling platform.

6. The rail walking device according to claim 5, wherein, The lifting member is a hydraulic cylinder or a lift.

7. The rail walking device according to claim 1, wherein The track traveling device includes: A sensing device for sensing the relative pose between the traveling device and the adjacent track, and generating a corresponding sensing electrical signal according to the relative pose and transmitting it to a control device; A control device for receiving the sensing electrical signal and controlling the operation of the transfer device according to the sensing electrical signal.

8. A transfer method for an orbital walking device according to any one of claims 1-7, characterized in that, Comprising: Disposing a transfer device on a traveling device; When transferring to an adjacent track, the traveling device is transferred from the initial track to an adjacent track intersecting with the initial track by means of the transfer device, so that the traveling device can travel on the adjacent track.

9. The transfer method according to claim 8, wherein Transferring the traveling device from the initial track to an adjacent track intersecting with the initial track by means of the transfer device, so that the traveling device can travel on the adjacent track, includes: Suspending the traveling device by means of a lifting assembly and making the support member abut against the track surface of the initial track; Adjusting the distance between the traveling device and the adjacent track in a first direction by means of a translation assembly; Adjusting the included angle between the traveling device and the adjacent track by means of a steering assembly; Suspending the support member by means of a lifting assembly and making the traveling device abut against the track surface of the adjacent track.

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