A track robot

Abstract

The present invention discloses a track robot, comprising a track, a robot body, and a buffer device arranged at the end of the track for buffering the robot body, the robot body comprising a drive assembly and a detection assembly, the drive assembly being connected to the detection assembly so as to drive the detection assembly to move along the length direction of the track through the drive assembly, the drive assembly comprising a drive wheel, an elastic pressing assembly capable of pressing the drive wheel against the track, and an unlocking member capable of causing the drive wheel to detach from the track when subjected to an external force. The present invention provides a track robot that can cause the drive wheel of the drive assembly to detach from the track when the track robot collides with the buffer device, thereby physically disconnecting the drive structure from the track and making it less susceptible to damage, and the detection assembly and drive assembly in the track robot are arranged separately, which facilitates the maintenance and replacement of parts of the track robot.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, in particular to a track robot. Background Art

[0002] The rail robot is a commonly used inspection robot that is widely used in various fields. It is inevitable that the rail robot will malfunction during use. When the rail robot malfunctions and loses control and collides with the equipment at the end of the track, the rail robot will be damaged. In the prior art, there is a solution of setting an elastic buffer pad at the end of the track to buffer the inspection robot. During and after the buffering process, the drive mechanism can still drive the inspection robot to move. When the rail robot malfunctions, the drive mechanism may be damaged. When the rail robot malfunctions, it needs to be repaired or its parts replaced. In the prior art, the inspection component and the drive component of the rail robot are generally set as one piece, which is not conducive to the repair and replacement of the rail robot. Summary of the Invention

[0003] In order to overcome the problems in the prior art that when a track robot malfunctions, loses control and collides with the end of the track, the drive mechanism cannot be actively disconnected, which easily causes damage to the drive mechanism and is inconvenient to repair and replace after the drive mechanism is damaged, the present invention provides a track robot. When the track robot collides with a buffer device, the drive wheel of the drive component can be disengaged from the track, so that the drive structure is physically disconnected from the track and is not easily damaged. In addition, the detection component and the drive component in the track robot are arranged separately, which facilitates the repair and replacement of parts of the track robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A track robot comprises a track, a robot body and a buffering device arranged at the end of the track for buffering the robot body, the robot body comprising a driving assembly arranged on the track and capable of moving along the length direction of the track and a detection assembly arranged on the track and slidably connected to the track, the driving assembly being connected to the detection assembly so as to drive the detection assembly to move along the length direction of the track through the driving assembly, the driving assembly comprising a driving wheel, an elastic pressing assembly capable of pressing the driving wheel against the track, and an unlocking member capable of causing the driving wheel to detach from the track when subjected to external force.

[0006] In the above technical solution, when the robot body loses control and rushes toward the end of the track, the buffer device can buffer the robot body, thereby protecting the track robot. When the robot body loses control and rushes toward the end of the track, the buffer device abuts against the unlocking member, so that the drive wheel overcomes the clamping force of the elastic clamping assembly and leaves the track, causing the drive wheel to idle and no longer provide power to the robot body. This can make it easier to stop the robot body, and can also avoid the drive member and the burning caused by the drive wheel being stuck. After the drive wheel leaves the track, the robot body can move freely on the track, which is convenient for maintenance. The detection assembly and the drive assembly are separately arranged and are respectively arranged on the track, which is convenient for the maintenance and replacement of parts of the track robot.

[0007] Preferably, there are two driving assemblies, which are respectively arranged at the front and rear ends of the detection assembly.

[0008] In the above technical solution, in some occasions where the load is relatively large, such as when the mass of the detection component is large or the track slope is large, the power of the track robot can be increased by mounting two drive components to adapt to different usage scenarios.

[0009] Preferably, the driving assembly includes a driving member, a connecting frame, and a bracket capable of moving along the length direction of the track, the driving wheel, driving member and elastic pressing assembly are arranged on the connecting frame, the driving member is connected to the driving wheel in a transmission manner, and the connecting frame is movably connected to the bracket so that the driving wheel has a connected state that presses the track and an unlocked state that is detached from the track, the elastic pressing assembly presses the connecting frame so that the driving wheel remains in the connected state, and the unlocking member is arranged on the connecting frame so that when the unlocking member is subjected to force and moves in the unlocking direction, the unlocking member drives the driving wheel on the connecting frame to detach from the track and switch to the unlocked state.

[0010] In the above technical solution, when the drive member is in the connected state, the drive wheel presses against the track, and the drive member drives the drive wheel to rotate while driving the entire drive assembly to move on the track. When the track robot malfunctions, the unlocking member can be pulled to move the unlocking member in the unlocking direction. At this time, the unlocking member will drive the drive wheel on the connecting frame to move away from the track, and the drive wheel will be separated from the track, thereby manually unlocking the drive wheel. After the drive wheel is manually unlocked, the drive assembly can move freely on the track, making the track robot more convenient to move and preventing the back electromotive force generated by the movement of the drive wheel from damaging the motor.

[0011] Preferably, a second connecting member is provided on the connecting frame, and the elastic clamping assembly includes a fixed member, a movable member and a first elastic member that elastically connects the movable member to the fixed member. The fixed member is fixed to the bracket, and the movable member presses against the second connecting member to keep the driving wheel in a connected state. When the driving wheel is in an unlocked state, the second connecting member is detached from the movable member.

[0012] The above technical solution can realize the pressing effect of the elastic pressing component on the second connecting member, so that the driving wheel presses the track. At the same time, when the unlocking member is subjected to force, the second connecting member can be separated from the first elastic member, so that the driving wheel can be separated from the track.

[0013] Preferably, the movable part has a pressing state, a limiting state and a transition state, and the second connecting part has an abutting state corresponding to the connection state of the driving wheel and a disengaging state corresponding to the unlocking state of the driving wheel. When the movable part is in the pressing state, the movable part presses against the second connecting part to keep the second connecting part in the abutting state. When the second connecting part is in the disengaging state and the movable part is in the limiting state, the movable part restricts the second connecting part from switching from the disengaging state to the abutting state. When the movable part is in the transition state, the second connecting part can switch between the disengaging state and the abutting state.

[0014] In the above technical solution, when the second connecting member is in the disengaged state, the elastic force of the first elastic member keeps the movable member in the limited state. At this time, the movable member limits the second connecting member from switching from the disengaged state to the abutting state. Even if the second connecting member is moved, the second connecting member cannot be reset to the abutting state. When the second connecting member is in the abutting state, the elastic force of the first elastic member and the reaction force of the second connecting member on the movable member keep the movable member in the abutting state. At this time, if the unlocking member is pulled in the unlocking direction, the force of the second connecting member on the movable member will cause the movable member to overcome the elastic force of the first elastic member and switch to the transition state. At this time, the second connecting member will switch from the abutting state to the disengaged state. When the second connecting member switches to the disengaged state, the second connecting member is separated from the movable member. The movable member will switch to the limited state under the action of the elastic force of the first elastic member. At this time, the unlocking member is released and the second connecting member will remain in the disengaged state. When it is necessary to switch the second connecting member from the disengaged state to the abutted state, it is necessary to manually press the movable member so that the movable member overcomes the elastic force of the first elastic member and switches to the transition state, and then switches the second connecting member to the abutted state. Finally, the movable member is released so that the second connecting member remains in the abutted state under the action of the elastic force of the first elastic member and the reaction force of the second connecting member on the movable member. The above scheme can keep the second connecting member stable in both the abutted state and the disengaged state. When the second connecting member remains in the disengaged state, it is convenient for workers to inspect and repair, and they do not have to pull the unlocking member all the time. When the second connecting member remains in the abutted state, the driving wheel can maintain the connection state of the clamping rail, so that the driving wheel can stably drive the driving assembly to move. And when the second connecting member is switched from the disengaged state to the abutted state, it is necessary to manually press the movable member to achieve it, so as to avoid misoperation causing the state switching of the second connecting member during the inspection process.

[0015] Preferably, the elastic pressing assembly includes a second elastic member, one end of the second elastic member is connected to the bracket, and the other end of the second elastic member is connected to the connecting frame.

[0016] In the above technical solution, the second elastic member can realize the pressing effect of the elastic pressing assembly on the second connecting member, so that the driving wheel presses the track. At the same time, when the unlocking member is subjected to force, the second connecting member can be separated from the first elastic member, so that the driving wheel can be separated from the track.

[0017] Preferably, a locking groove is provided on the connecting frame. When the second connecting member is in a disengaged state and the movable member is in a limited state, the second elastic member drives the connecting frame to move so that one end of the movable member extends into the locking groove to limit the switching state of the movable member.

[0018] In the above technical solution, the second elastic member can be used to increase the pressing force of the driving wheel on the track, and when the second connecting member is in the disengaged state, the second connecting member is reversely pressed against the movable member, so that the movable member extends into the locking groove, which can limit the switching state of the movable member, further increase the reliability of the driving wheel in the unlocked state, and avoid the state switching of the second connecting member during the maintenance process due to misoperation. In this solution, when the second connecting member needs to be switched from the disengaged state to the abutted state, it is necessary to first pull the unlocking member to disengage the movable member from the locking groove, and then press the movable member to make the movable member overcome the elastic force of the first elastic member and switch to the transition state, and then switch the second connecting member to the abutted state, and finally release the movable member so that it remains in the abutted state under the action of the elastic force of the first and second elastic members and the reaction force of the second connecting member on the movable member.

[0019] Preferably, a buffer device for buffering the robot body is provided at the end of the track.

[0020] In the above technical solution, the buffer device can buffer the drive assembly, especially when the drive assembly fails, to prevent the drive assembly from rushing out of the track or colliding with components at the end of the track due to excessive speed.

[0021] Preferably, when the robot body moves to a position close to the end of the track, the buffer device abuts against the unlocking member to move the unlocking member in the unlocking direction.

[0022] The above technical solution can buffer the driving assembly through the buffer device when the driving assembly loses control and rushes toward the end of the track. At the same time, the buffer device can also move the unlocking member in the unlocking direction, so that the unlocking member drives the driving wheel on the connecting frame to leave the track and switch to the unlocked state, so that the driving wheel is in an idling state, thereby avoiding the driving member and the driving wheel from being burned due to being stuck.

[0023] Preferably, the buffer device includes at least a first buffer device and a second buffer device, the first buffer device and the second buffer device are arranged in sequence along the length direction of the track, and the first buffer device is arranged on the inner side of the second buffer device, the first buffer device and the unlocking member are staggered, and the second buffer device and the unlocking member are arranged correspondingly. When the robot body moves to the position of the first buffer device, the elastic member in the first buffer device abuts against the robot body to cushion the robot body. When the robot body passes the first buffer device and moves to the position of the second buffer device, the elastic member in the second buffer device abuts against the unlocking member to make the unlocking member move in the unlocking direction.

[0024] In the above technical solution, there are many reasons why the robot body may rush toward the buffer device. One possibility is a slippery track. In this case, the drive wheels do not need to be disconnected. Therefore, when the robot body moves to the position of the first buffer device, the first buffer device can be used alone to cushion the robot body. If the robot body can successfully slow down, it indicates that the robot body's speed is not high and the drive wheels are not continuously driving the robot body. If the robot body can pass the first buffer device and abut against the second buffer device, it indicates that the robot body's uncontrolled speed is relatively high and is not simply due to slippery tracks. Disconnecting the drive wheels is necessary to protect the drive element and increase the buffering effect. Therefore, the elastic member in the second buffer device abuts against the unlocking member, causing the unlocking member to move in the unlocking direction and derail the drive wheel from the track, causing the drive wheel to idle. In the above solution, the first buffer device is positioned inside the second buffer device, meaning that the first buffer device is closer to the middle of the track relative to the second buffer device. The first buffer device and the unlocking member are offset, meaning that when the robot body moves to the position of the first buffer device, the unlocking member does not contact the first buffer device, and there is no interference between the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 is a top view of the present invention;

[0027] Figure 3 This is a schematic diagram of the local structure of the robot body in the present invention Figure 1 ;

[0028] Figure 4 It is a schematic structural diagram of the track in the present invention;

[0029] Figure 5 is a cross-sectional view of the driving device of the present invention;

[0030] Figure 6 yes Figure 5 A partial enlarged view of point A in the middle;

[0031] Figure 7 It is a partial cross-sectional view of the elastic pressing assembly when the driving wheel is in the unlocked state in the present invention;

[0032] Figure 8 It is a partial cross-sectional view of the elastic pressing assembly when the driving wheel is in the connected state in the present invention;

[0033] Figure 9 This is a schematic diagram of the local structure of the present invention Figure 2 .

[0034] In the figure: track 1, track body 1.1, busbar 1.2, water baffle 1.3, avoidance gap 1.4, robot body 2, drive assembly 3, connecting frame 3.1, second connecting member 3.1.1 bracket 3.2, driving wheel 3.3, driving member 3.4, elastic pressing assembly 3.5, fixing member 3.5.1, movable member 3.5.2, first elastic member 3.5.3, second elastic member 3.5.4, unlocking member 3.6, guide slope 3.6.1, locking groove 3.7, detection assembly 4, first articulated ball head 5, second articulated ball head 6, first connecting member 7, connecting hole 7.1, first bolt 8, second bolt 9, buffer device 10, first buffer device 11, second buffer device 12. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0036] Example 1:

[0037] like Figure 1 As shown, a track 1 robot includes a track 1 and a robot body 2, wherein the robot body 2 includes a driving component 3 arranged on the track 1 and capable of moving along the length direction of the track 1 and a detection component 4 arranged on the track 1 and slidingly connected to the track 1, and the driving component 3 and the detection component 4 are detachably connected to each other so as to drive the detection component 4 to move along the length direction of the track 1 through the driving component 3.

[0038] In the above technical solution, the detection component 4 and the drive component 3 are separately arranged and respectively arranged on the track 1. Different detection components 4 and drive components 3 can be replaced according to the actual needs of the inspection environment to increase the adaptability of the track 1 robot.

[0039] The detection component 4 is equipped with a plurality of rollers, which are in rolling connection with the track 1 so that the detection component 4 can slide relative to the track 1 .

[0040] Preferably, Figure 2 As shown, there are two driving components 3 , and the two driving components 3 are respectively arranged at the front and rear ends of the detection component 4 .

[0041] In the above technical solution, in some situations where the load is relatively large, such as when the detection assembly 4 is heavy or the track 1 is steep, the power of the track 1 robot can be increased by mounting two drive assemblies 3 to adapt to different usage scenarios. The two drive assemblies 3 are respectively located at the front and rear ends of the detection assembly 4, one providing pulling force and the other providing pushing force, which is more conducive to stably driving the detection assembly 4 to move.

[0042] like Figure 3As shown, a first articulated ball head 5 is installed on the driving component 3, and a second articulated ball head 6 is installed on the detection component 4. A first connecting member 7 is provided between the first articulated ball head 5 and the second articulated ball head 6. One end of the first connecting member 7 is connected to the first articulated ball head 5, and the other end of the first connecting member 7 is connected to the second articulated ball head 6.

[0043] The above technical solution can realize a soft connection between the detection component 4 and the drive component 3, making it convenient for the robot body 2 to pass through positions with a small turning radius or a large slope of the track 1.

[0044] Preferably, Figure 3 As shown, the first connecting member 7 is provided with a plurality of connecting holes 7.1 arranged in sequence along the length direction, and the first connecting member 7 is provided with a first bolt 8 and a second bolt 9. The first bolt 8 passes through one of the connecting holes 7.1 and is threadedly connected to the first articulated ball head 5, and the second bolt 9 passes through the other connecting hole 7.1 and is threadedly connected to the second articulated ball head 6.

[0045] The above technical solution can realize a detachable connection between the detection assembly 4 and the drive assembly 3. And by connecting the first bolt 8 and the second bolt 9 to different connection holes 7.1, the distance between the detection assembly 4 and the drive assembly 3 can be adjusted.

[0046] like Figure 4 As shown, the track 1 includes a track body 1.1 and a busbar 1.2 fixed on the track body 1.1, and a water baffle 1.3 arranged along the length direction of the track body 1.1. The upper end of the water baffle 1.3 is arranged above the busbar 1.2 and sealed and fixed to the track body 1.1, the lower end of the water baffle 1.3 is arranged below the busbar 1.2, and an avoidance gap 1.4 is provided between the lower end of the water baffle 1.3 and the track body 1.1.

[0047] In the above technical solution, the upper end of the water baffle 1.3 is arranged above the busbar 1.2 and is sealed and fixed to the track body 1.1. This can block water dripping from the track body 1.1 and allow the water to slide down along the outer wall of the water baffle 1.3, preventing water dripping from the track body 1.1 from entering the inner side of the water baffle 1.3, preventing the dripping water from corroding or short-circuiting the busbar 1.2, and also preventing the moving components arranged on the track body 1.1 and located inside the water baffle 1.3 from entering water, thereby increasing the stability of the moving components. The avoidance gap 1.4 allows part of the structure of the drive component 3 to extend into the space between the water baffle 1.3 and the track body 1.1.

[0048] Example 2:

[0049] like Figures 5 to 8As shown, on the basis of Example 1, the driving assembly 3 includes a connecting frame 3.1, a bracket 3.2 that can move along the length direction of the track 1, and a driving wheel 3.3 and a driving member 3.4 arranged on the connecting frame 3.1, the driving member 3.4 is transmission-connected to the driving wheel 3.3, the connecting frame 3.1 is movably connected to the bracket 3.2, so that the driving wheel 3.3 has a connected state of pressing the track 1 and an unlocked state of detaching from the track 1, an elastic pressing assembly 3.5 is provided on the bracket 3.2, and the elastic pressing assembly 3.5 presses the connecting frame 3.1 to keep the driving wheel 3.3 in the connected state, and an unlocking member 3.6 is provided on the connecting frame 3.1, so that when the unlocking member 3.6 is subjected to force and moves in the unlocking direction, the unlocking member 3.6 drives the driving wheel 3.3 on the connecting frame 3.1 to detach from the track 1 and switch to the unlocked state.

[0050] In the above technical solution, when the driving member 3.4 is in the connected state, the driving wheel 3.3 presses the track 1, and the driving member 3.4 drives the driving wheel 3.3 to rotate while driving the entire driving assembly 3 to move on the track 1. When the track 1 robot fails, the unlocking member 3.6 can be pulled to move the unlocking member 3.6 in the unlocking direction. At this time, the unlocking member 3.6 will drive the driving wheel 3.3 on the connecting frame 3.1 to move away from the track 1, and the driving wheel 3.3 will be separated from the track 1, thereby manually unlocking the driving wheel 3.3. After the driving wheel 3.3 is manually unlocked, the driving assembly 3 can move freely on the track 1, making the movement of the track 1 robot more convenient and preventing the back electromotive force generated by the movement of the driving wheel 3.3 from damaging the motor.

[0051] The bracket 3.2 is provided with a plurality of driven wheels, which are rollingly connected to the track 1 so that the bracket 3.2 can slide relative to the track 1. One side of the connecting frame 3.1 is hinged to the bracket 3.2 so that the connecting frame 3.1 can rotate relative to the bracket 3.2 in a vertical plane. The other side of the connecting frame 3.1 is connected to the bracket 3.2 via an elastic clamping assembly 3.5. The scheme can realize the movable connection between the connecting frame 3.1 and the bracket 3.2. And only one elastic clamping assembly 3.5 needs to be provided on the side away from the hinge. The connecting frame 3.1 is provided with a brake device, which is connected to the driving wheel 3.3. A support plate is provided on the track 1, the driven wheel is provided above the support plate, and the driving wheel 3.3 is provided below the support plate. When the driving wheel 3.3 is in the connected state, the driven wheel presses the support plate downward, and the driving wheel 3.3 presses the support plate upward.

[0052] The connecting frame 3.1 is provided with a second connecting member 3.1.1, and the elastic pressing assembly 3.5 includes a fixed member 3.5.1, a movable member 3.5.2 and a first elastic member 3.5.3 that elastically connects the movable member 3.5.2 to the fixed member 3.5.1. The fixed member 3.5.1 is fixed to the bracket 3.2, and the movable member 3.5.2 is pressed against the second connecting member 3.1.1 to keep the driving wheel 3.3 in the connected state. When the driving wheel 3.3 is in the unlocked state, the connecting member is separated from the movable member 3.5.2.

[0053] The above technical solution can realize the pressing effect of the elastic pressing component 3.5 on the second connecting member 3.1.1, so that the driving wheel 3.3 presses the track 1. At the same time, when the unlocking member 3.6 is subjected to force, the second connecting member 3.1.1 can be separated from the first elastic member 3.5.3, so that the driving wheel 3.3 can be separated from the track 1.

[0054] Preferably, one end of the movable member 3.5.2 is hinged to the fixed member 3.5.1, and the other end of the movable member 3.5.2 is pressed against the connecting member.

[0055] Preferably, the movable part 3.5.2 has a pressing state, a limiting state and a transition state, and the second connecting part 3.1.1 has an abutting state corresponding to the connection state of the driving wheel 3.3 and a disengaged state corresponding to the unlocking state of the driving wheel 3.3. When the movable part 3.5.2 is in the pressing state, the movable part 3.5.2 presses against the second connecting part 3.1.1 to keep the second connecting part 3.1.1 in the abutting state. When the second connecting part 3.1.1 is in the disengaged state and the movable part 3.5.2 is in the limiting state, the movable part 3.5.2 restricts the second connecting part 3.1.1 from switching from the disengaged state to the abutting state. When the movable part 3.5.2 is in the transition state, the second connecting part 3.1.1 can switch between the disengaged state and the abutting state.

[0056] In the above technical solution, when the second connecting member 3.1.1 is in the disengaged state, the elastic force of the first elastic member 3.5.3 keeps the movable member 3.5.2 in the limited state. At this time, the movable member 3.5.2 restricts the second connecting member 3.1.1 from switching from the disengaged state to the abutted state. Even if the second connecting member 3.1.1 is moved, the second connecting member 3.1.1 cannot be restored to the abutted state. When the second connecting member 3.1.1 is in the abutting state, the elastic force of the first elastic member 3.5.3 and the reaction force of the second connecting member 3.1.1 on the movable member 3.5.2 keep the movable member 3.5.2 in the abutting state. At this time, if the unlocking member 3.6 is pulled in the unlocking direction, the force of the second connecting member 3.1.1 on the movable member 3.5.2 will cause the movable member 3.5.2 to overcome the elastic force of the first elastic member 3.5.3 and switch to the transition state. At this time, the second connecting member 3.1.1 will switch from the abutting state to the disengaged state. When the second connecting member 3.1.1 switches to the disengaged state, the second connecting member 3.1.1 disengages from the movable member 3.5.2, and the movable member 3.5.2 will switch to the limited state under the elastic force of the first elastic member 3.5.3. At this time, the unlocking member 3.6 is released and the second connecting member 3.1.1 will remain in the disengaged state. When it is necessary to switch the second connecting member 3.1.1 from the disengaged state to the abutted state, it is necessary to manually press the movable member 3.5.2 so that the movable member 3.5.2 overcomes the elastic force of the first elastic member 3.5.3 and switches to the transition state, and then switches the second connecting member 3.1.1 to the abutted state. Finally, the movable member 3.5.2 is released so that the second connecting member 3.1.1 remains in the abutted state under the action of the elastic force of the first elastic member 3.5.3 and the reaction force of the second connecting member 3.1.1 on the movable member 3.5.2. The above scheme can keep the second connecting member 3.1.1 stable in both the abutted state and the disengaged state. When the second connecting member 3.1.1 remains in the disengaged state, it is convenient for workers to inspect and repair it, and they do not have to keep pulling the unlocking member 3.6. When the second connecting member 3.1.1 remains in the abutted state, the driving wheel 3.3 can maintain the connection state of the compression track 1, so that the driving wheel 3.3 can stably drive the driving assembly 3 to move. When the second connecting member 3.1.1 is switched from the disengaged state to the abutted state, it is necessary to manually press the movable member 3.5.2 to achieve the switch, thereby avoiding misoperation resulting in the state switching of the second connecting member 3.1.1 during maintenance.

[0057] Preferably, the elastic pressing assembly 3.5 includes a second elastic member 3.5.4, one end of the second elastic member 3.5.4 is connected to the bracket 3.2, and the other end of the second elastic member 3.5.4 is connected to the connecting frame 3.1.

[0058] In the above technical solution, the second elastic member 3.5.4 can realize the pressing effect of the elastic pressing assembly 3.5 on the second connecting member 3.1.1, so that the driving wheel 3.3 presses the track 1. At the same time, when the unlocking member 3.6 is subjected to force, the second connecting member 3.1.1 can be separated from the first elastic member 3.5.3, so that the driving wheel 3.3 can be separated from the track 1.

[0059] Preferably, a locking groove 3.7 is provided on the connecting frame 3.1. When the second connecting member 3.1.1 is in the disengaged state and the movable member 3.5.2 is in the limited state, the second elastic member 3.5.4 drives the connecting frame 3.1 to move so that one end of the movable member 3.5.2 extends into the locking groove 3.7 to limit the switching state of the movable member 3.5.2.

[0060] In the above technical solution, the second elastic member 3.5.4 can be used to increase the clamping force of the clamping drive wheel 3.3 on the track 1, and when the second connecting member 3.1.1 is in a disengaged state, the second connecting member 3.1.1 is reversely pressed against the movable member 3.5.2, so that the movable member 3.5.2 extends into the locking groove 3.7, which can limit the switching state of the movable member 3.5.2, further increase the reliability of the driving wheel 3.3 in the unlocked state, and avoid misoperation causing the state switching of the second connecting member 3.1.1 during maintenance. In this solution, when the second connecting member 3.1.1 needs to be switched from the disengaged state to the abutted state, it is necessary to first pull the unlocking member 3.6 to disengage the movable member 3.5.2 from the locking groove 3.7, and then press the movable member 3.5.2 to make the movable member 3.5.2 overcome the elastic force of the first elastic member 3.5.3 and switch to the transition state, and then switch the second connecting member 3.1.1 to the abutted state, and finally release the movable member 3.5.2 so that it remains in the abutted state under the action of the elastic force of the first elastic member 3.5.3 and the second elastic member 3.5.4 and the reaction force of the second connecting member 3.1.1 on the movable member 3.5.2.

[0061] It can be understood that in another embodiment, a clamping member may be provided on the connecting frame, and the elastic pressing assembly includes a fixed member, a movable member hinged to the fixed member at one end, a first elastic member elastically connecting the movable member to the fixed member, and a third elastic member arranged on the connecting frame, the fixed member is fixed to the bracket, and the third elastic member presses against the connecting frame to keep the driving wheel in a connected state. When the driving wheel is in an unlocked state, one end of the movable member presses against the clamping member under the action of the first elastic member to keep the connecting frame and the driving wheel in an unlocked state.

[0062] In the above technical solution, when the drive wheel is in the connected state, the unlocking member can be pulled to switch the drive wheel and the connecting frame to the unlocked state. When the drive wheel switches to the unlocked state, the movable member is pressed against the retaining member under the action of the first elastic member to limit the position, preventing the connecting frame and the drive wheel from returning to the unlocked state. When resetting is required, the movable member can be manually rotated to disengage the retaining member, and under the action of the third elastic member, the drive wheel is pressed against the track again.

[0063] Example 3:

[0064] like Figure 1 As shown, based on Example 2, a buffer device 10 for buffering the robot body 2 is provided at the end of the track 1.

[0065] In the above technical solution, the buffer device 10 can buffer the drive assembly 3, especially when the drive assembly 3 fails, to prevent the drive assembly 3 from rushing out of the track 1 or hitting the components at the end of the track 1 due to excessive speed.

[0066] One end of the unlocking member 3.6 is provided with a guiding inclined surface 3.6.1. When the driving assembly 3 moves to a position close to the end of the track 1, the guiding inclined surface contacts the buffer device 10 to move the unlocking member 3.6 in the unlocking direction.

[0067] Preferably, when the robot body 2 moves to a position close to the end of the track 1, the buffer device 10 abuts against the unlocking member 3.6 to move the unlocking member 3.6 in the unlocking direction.

[0068] The above technical solution can buffer the drive assembly 3 through the buffer device 10 when the drive assembly 3 loses control and rushes toward the end of the track 1. At the same time, the buffer device 10 can also move the unlocking member 3.6 in the unlocking direction, so that the unlocking member 3.6 drives the driving wheel 3.3 on the connecting frame 3.1 to disengage from the track 1 and switch to the unlocked state, so that the driving wheel 3.3 is in an idling state, thereby preventing the drive member 3.4 and the driving wheel 3.3 from being stuck and burning.

[0069] Preferably, Figure 5 and Figure 9As shown, the buffer device 10 includes at least a first buffer device 11 and a second buffer device 12, which are arranged in sequence along the length direction of the track 1, and the first buffer device 11 is arranged on the inner side of the second buffer device 12, the first buffer device 11 and the unlocking member 3.6 are staggered, and the second buffer device 12 is arranged corresponding to the unlocking member 3.6. When the robot body 2 moves to the position of the first buffer device 11, the elastic member in the first buffer device 11 abuts against the robot body 2 to cushion the robot body 2. When the robot body 2 passes the first buffer device 11 and moves to the position of the second buffer device 12, the elastic member in the second buffer device 12 abuts against the unlocking member 3.6 to move the unlocking member 3.6 in the unlocking direction.

[0070] In the above technical solution, there are many reasons why the robot body 2 could rush toward the buffer device 10. One possibility is that the track 1 is slippery. In this case, the drive wheels do not need to be disconnected. Therefore, when the robot body 2 moves to the position of the first buffer device 11, the first buffer device 11 can be used alone to cushion the robot body 2. If the robot body 2 can successfully slow down, it means that the robot body 2 is not moving at a high speed and the drive wheels are not continuously driving the robot body 2. If the robot body 2 can pass the first buffer device 11 and abut against the second buffer device 12, it means that the robot body 2 is running out of control at a high speed and is not simply caused by the slippery track 1. The drive wheels need to be disconnected to protect the drive components and increase the buffering effect. Therefore, the elastic member in the second buffer device 12 abuts against the unlocking member 3.6, causing the unlocking member 3.6 to move in the unlocking direction and disengage the drive wheel 3.3 from the track 1, causing the drive wheel to idle. In the above solution, the first buffer device 11 is located inside the second buffer device 12, which means that the first buffer device 11 is closer to the center of the track 1 than the second buffer device 12. The staggered arrangement of the first buffer device 11 and the unlocking member 3.6 means that when the robot body 2 moves to the position of the first buffer device 11, the unlocking member 3.6 does not contact the first buffer device 11, and there is no interference between the two.

[0071] The elastic member includes an elastic member body, a first torsion spring and a rotating frame, the rotating frame is hinged to the fixed frame, the elastic member body is installed on the rotating frame, and the fixed frame is provided with a limiting portion. The elastic member has a working state in which the rotating frame abuts against the limiting portion and an avoidance state in which the rotating frame is separated from the limiting portion. The first torsion spring is connected between the rotating frame and the fixed frame to keep the elastic member in the working state. When the robot body 2 moves forward to the position of the buffer device 10, the robot body 2 abuts against the elastic member body to cause the elastic member body to contract. When the robot body 2 moves reversely to the position of the buffer device 10, the robot body 2 abuts against the elastic member body to cause the rotating frame to separate from the limiting portion and cause the elastic member to switch to the avoidance state.

[0072] In the above technical solution, when the elastic member is in a working state and the robot body 2 is forwardly rushing toward the buffer device 10, the limiting portion limits the rotation of the elastic member body, and when the elastic member body contacts the robot body 2, it will deform to buffer the robot body 2. When the elastic member is in a working state and the robot body 2 passes through the buffer device 10 in the reverse direction, the robot body 2 contacts the elastic member body and drives the elastic member body and the rotating frame to rotate relative to the fixed frame, so that the robot body 2 can easily pass through the buffer device 10, making it convenient to reset the robot body 2. The forward direction mentioned in the above solution refers to the direction from the middle position of the track 1 to the end position of the track 1 in the longitudinal direction of the track 1. The reverse direction is the opposite direction to the forward direction.

Claims

1. A rail robot comprising a rail, a robot body, and a buffer device disposed at the end of the rail for buffering the robot body, characterized in that: The robot body includes a driving assembly disposed on the track and capable of moving along the length direction of the track, and a detection assembly disposed on the track and slidably connected to the track, wherein the driving assembly is connected to the detection assembly so as to drive the detection assembly to move along the length direction of the track through the driving assembly, and the driving assembly includes a driving wheel, an elastic pressing assembly capable of pressing the driving wheel against the track, and an unlocking member capable of causing the driving wheel to detach from the track when subjected to an external force; The driving assembly includes a driving member, a connecting frame, and a bracket that can move along the length direction of the track, the driving wheel, the driving member and the elastic pressing assembly are arranged on the connecting frame, the driving member is transmission-connected to the driving wheel, the connecting frame is movably connected to the bracket, so that the driving wheel has a connected state that presses the track and an unlocked state that is separated from the track, the elastic pressing assembly presses the connecting frame to keep the driving wheel in the connected state, and the unlocking member is arranged on the connecting frame, so that when the unlocking member is subjected to force and moves in the unlocking direction, the unlocking member drives the driving wheel on the connecting frame to separate from the track and switch to the unlocked state; The connecting frame is provided with a second connecting member, the elastic pressing assembly includes a fixed member, a movable member and a first elastic member elastically connecting the movable member to the fixed member, the fixed member is fixed to the bracket, the movable member presses against the second connecting member to keep the driving wheel in the connected state, and when the driving wheel is in the unlocked state, the second connecting member is separated from the movable member; The movable part has a pressing state, a limiting state and a transition state. The second connecting part has an abutting state corresponding to the connection state of the driving wheel and a disengaging state corresponding to the unlocking state of the driving wheel. When the movable part is in the pressing state, the movable part presses against the second connecting part to keep the second connecting part in the abutting state. When the second connecting part is in the disengaging state and the movable part is in the limiting state, the movable part restricts the second connecting part from switching from the disengaging state to the abutting state. When the movable part is in the transition state, the second connecting part can switch between the disengaging state and the abutting state.

2. A rail robot according to claim 1, characterized in that: There are two drive assemblies, which are respectively arranged at the front and rear ends of the detection assembly.

3. A rail robot according to claim 1, characterized in that: The elastic pressing assembly includes a second elastic member, one end of the second elastic member is connected to the bracket, and the other end of the second elastic member is connected to the connecting frame.

4. A rail robot according to claim 3, characterized in that: A locking groove is provided on the connecting frame. When the second connecting member is in a disengaged state and the movable member is in a limited state, the second elastic member drives the connecting frame to move so that one end of the movable member extends into the locking groove to limit the switching state of the movable member.

5. The rail robot according to claim 1, wherein: A buffer device for buffering the robot body is provided at the end of the track.

6. A rail robot according to claim 5, characterized in that: When the robot body moves to a position close to the end of the track, the buffer device abuts against the unlocking member to move the unlocking member in an unlocking direction.

7. A rail robot according to claim 6, characterized in that: The buffer device includes at least a first buffer device and a second buffer device, which are arranged in sequence along the length direction of the track, and the first buffer device is arranged on the inner side of the second buffer device. The first buffer device and the unlocking member are staggered, and the second buffer device is arranged corresponding to the unlocking member. When the robot body moves to the position of the first buffer device, the elastic member in the first buffer device abuts against the robot body to cushion the robot body. When the robot body passes over the first buffer device and moves to the position of the second buffer device, the elastic member in the second buffer device abuts against the unlocking member to move the unlocking member in the unlocking direction.

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