A rail robot with an emergency buffer device

Abstract

The present invention discloses a rail robot with an emergency buffer device, comprising a rail, a robot body, and a buffer device arranged near the end of the rail. When the robot body moves to a position near the end of the rail, the buffer device buffers the robot body. The robot body is provided with a driving wheel for driving the robot body to move along the length direction of the rail, an elastic pressing assembly for pressing the driving wheel against the rail, and an unlocking member for causing the driving wheel to detach from the rail. When the unlocking member is subjected to force and moves in the unlocking direction, it drives the driving wheel to detach from the rail. When the robot body moves to a position near the end of the rail, the elastic member abuts against the unlocking member to cause the unlocking member to move in the unlocking direction. In the above scheme, when the rail robot hits the buffer device, the driving wheel of the rail robot can be detached from the rail, so that the driving structure is physically disconnected from the rail.

Description

Technical Field

[0001] The present invention relates to the technical field of rail robots, in particular to a rail robot with an emergency buffer device. Background Art

[0002] Track robots are a common type of inspection robot, widely used in various fields. Failures are inevitable during use. When a track robot malfunctions and loses control, it can collide with equipment at the end of the track, potentially damaging the robot. Prior art solutions include elastic cushions at the end of the track to cushion the inspection robot. While this cushioning mechanism allows the inspection robot to move during and after the cushioning process, a malfunction in the track robot could damage the drive mechanism. Summary of the Invention

[0003] In order to overcome the problem in the prior art that a rail robot cannot actively disconnect its drive mechanism when it loses control and collides with the end of a rail, the present invention provides a rail robot with an emergency buffer device, which can cause the drive wheels of the rail robot to leave the rail when the rail robot collides with the buffer device, thereby physically disconnecting the drive structure from the rail.

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

[0005] A track robot with an emergency buffer device comprises a track, a robot body, and a buffer device arranged near the end of the track, the buffer device comprising a fixed frame and an elastic member arranged on the fixed frame, when the robot body moves to a position near the end of the track, the elastic member abuts against the robot body to buffer the robot body, the robot body is provided with a driving wheel for driving the robot body to move along the length direction of the track, an elastic pressing assembly for pressing the driving wheel against the track, and an unlocking member for making the driving wheel leave the track, when the unlocking member is subjected to force and moves in the unlocking direction, the driving wheel is driven off the track, and when the robot body moves to a position near the end of the track, the elastic member abuts against the unlocking member to make the unlocking member move in the unlocking direction.

[0006] In the above technical solution, when the robot body loses control and rushes toward the end of the track, the elastic member in 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 elastic member abuts against the unlocking member to move the unlocking member in the unlocking direction, causing the drive wheel to overcome the clamping force of the elastic clamping assembly and leave 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 avoid the drive member and the drive wheel from being stuck and burning. After the drive wheel leaves the track, the robot body can move freely on the track, making it easier to maintain.

[0007] 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.

[0008] 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.

[0009] Preferably, the robot body is provided with a connecting frame and a bracket that can move along the length direction of the track, the connecting frame is movably connected to the bracket, the driving wheel is installed on the connecting frame, the elastic clamping assembly is installed on the bracket, the elastic clamping assembly presses the connecting frame so that the driving wheel presses the track, and the unlocking member is provided 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 leave the track.

[0010] In the above technical solution, when the elastic clamping assembly presses the drive member against the track, the drive wheel rotates, driving the entire drive device to move on the track. When the track robot malfunctions and rushes towards the buffer device, the elastic member abuts the unlocking member, causing the unlocking member to move in the unlocking direction. At this time, the unlocking member drives the drive wheel on the connecting frame away from the track, causing the drive wheel to disengage from the track, thereby automatically unlocking the drive wheel.

[0011] Preferably, the unlocking member is provided with a guiding slope.

[0012] Preferably, the number of the buffer devices is multiple, and the multiple buffer devices are sequentially arranged along the length direction of the track. In the above technical solution, the multiple buffer devices can provide multi-level buffering for the robot body, thereby increasing the buffering effect.

[0013] Preferably, the elastic member is arranged to be inclined relative to the track, one end of the elastic member is connected to the fixing frame, and when the robot body moves to a position close to the end of the track, the robot body abuts against the other end of the elastic member to make the elastic member extend and retract along the inclined direction.

[0014] In the above technical solution, when the elastic member retracts in the inclined direction, it has a moving component in the vertical direction. When the elastic member retracts a certain distance, the robot body can pass through the buffer device and abut against the next buffer device for buffering.

[0015] Preferably, 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 moves forward to the position of the buffer device, the robot body abuts against the elastic member body to cause the elastic member body to contract, and when the robot body moves reversely to the position of the buffer device, the robot body 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.

[0016] In the above technical solution, when the elastic member is in a working state and the robot body is forwardly rushing toward the buffer device, the limiting portion limits the rotation of the elastic member body, and when the elastic member body contacts the robot body, it will deform to buffer the robot body. When the elastic member is in a working state and the robot body passes through the buffer device in the reverse direction, the robot body 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 can easily pass through the buffer device, making it convenient to reset the robot body. The forward direction mentioned in the above solution refers to the direction from the middle position of the track to the end position of the track in the length direction of the track. The reverse direction is the opposite direction to the forward direction.

[0017] Preferably, the elastic member includes a second torsion spring and a contact rod, one end of the contact rod is hinged to the fixed frame, and the second torsion spring is connected between the contact rod and the fixed frame. When the robot body moves to a position close to the end of the track, the other end of the contact rod abuts against the robot body to cause the second torsion spring to elastically deform to cushion the robot body.

[0018] In the above technical solution, when the robot body is rushing toward the elastic member, the robot body abuts against the contact rod, and causes the contact rod to overcome the second torsion spring and rotate, while buffering the robot body. After the contact rod rotates a certain distance, the robot body can pass through the contact rod and abut against the next buffer device for buffering.

[0019] Preferably, the fixing frame is fixed above the track. The solution can make the fixing frame avoid the robot body and avoid interference with the robot body.

[0020] Preferably, the elastic member is arranged parallel to the length direction of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the track robot in the present invention;

[0022] Figure 2 It is a structural schematic diagram of the buffer device in the present invention;

[0023] Figure 3 is a partial cross-sectional view of the track robot of the present invention;

[0024] Figure 4 is a cross-sectional view of the track robot of the present invention;

[0025] Figure 5 yes Figure 3 A partial enlarged view of point A in the middle.

[0026] In the figure: track 1, robot body 2, connecting frame 2.1, connecting part 2.1.1, bracket 2.2, driving wheel 2.3, unlocking mechanism 2.4, unlocking part 2.4.1, guide inclined surface 2.4.1.1, contact part 2.5, second inclined surface 2.5.1, elastic pressing assembly 2.6, fixing part 2.6.1, movable part 2.6.2, pressing spring 2.6.3, buffer device 3, fixing frame 3.1, limiting part 3.1.1, elastic part 3.2, elastic part body 3.2.1, first torsion spring 3.2.2, rotating frame 3.2.3, rotating wheel 3.3, first buffer device 4, second buffer device 5. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0028] Example 1:

[0029] like Figure 1 As shown, a track robot with an emergency buffer device includes a track 1, a robot body 2 capable of moving along the length direction of the track 1, and a buffer device 3 arranged near the end of the track 1, the buffer device 3 includes a fixed frame 3.1 and an elastic member 3.2 arranged on the fixed frame 3.1, when the robot body 2 moves to a position near the end of the track 1, the elastic member 3.2 abuts against the robot body 2 to buffer the robot body 2.

[0030] In the above technical solution, when the robot body 2 loses control and rushes toward the end of the track 1, the elastic member 3.2 in the buffer device 3 can buffer the robot body 2, thereby protecting the track robot.

[0031] Example 2:

[0032] like Figure 1 、 Figure 3 and Figure 5 As shown, on the basis of Example 1, the robot body 2 is provided with a driving wheel 2.3 for driving the robot body 2 to move along the length direction of the track 1, an elastic pressing component 2.6 for pressing the driving wheel 2.3 onto the track 1, and an unlocking mechanism 2.4 for making the driving wheel 2.3 disengage from the track 1, the unlocking mechanism 2.4 includes an unlocking member 2.4.1, and when the unlocking member 2.4.1 is subjected to force and moves in the unlocking direction, it drives the driving wheel 2.3 to disengage from the track 1, and when the robot body 2 moves to a position close to the end of the track 1, the elastic member 3.2 abuts against the unlocking member 2.4.1 to make the unlocking member 2.4.1 move in the unlocking direction.

[0033] In the above technical solution, when the robot body 2 loses control and rushes toward the end of the track 1, the elastic member 3.2 abuts the unlocking member 2.4.1, causing the unlocking member 2.4.1 to move in the unlocking direction, allowing the drive wheel 2.3 to overcome the clamping force of the elastic clamping assembly 2.6 and detach from the track 1. This causes the drive wheel 2.3 to idle and no longer provide power to the robot body 2. This makes it easier to stop the robot body 2 and prevents the drive member and the drive wheel 2.3 from becoming stuck and burning. After the drive wheel 2.3 detaches from the track 1, the robot body 2 can move freely on the track 1, facilitating maintenance.

[0034] Preferably, Figure 4 As shown, the buffer device 3 includes at least a first buffer device 4 and a second buffer device 5, which are arranged in sequence along the length direction of the track 1, and the first buffer device 4 is arranged on the inner side of the second buffer device 5, the first buffer device 4 and the unlocking member 2.4.1 are staggered, and the second buffer device 5 and the unlocking member 2.4.1 are arranged correspondingly. When the robot body 2 moves to the position of the first buffer device 4, the elastic member 3.2 in the first buffer device 4 abuts against the robot body 2 to cushion the robot body 2. When the robot body 2 passes the first buffer device 4 and moves to the position of the second buffer device 5, the elastic member 3.2 in the second buffer device 5 abuts against the unlocking member 2.4.1 to make the unlocking member 2.4.1 move in the unlocking direction.

[0035] In the above technical solution, there are many reasons why the robot body 2 could rush toward the buffer device 3. One possibility is that the track 1 is slippery. In this case, the drive wheel 2.3 does not need to be disconnected. Therefore, when the robot body 2 moves to the position of the first buffer device 4, the first buffer device 4 can be used alone to buffer the robot body 2. If the robot body 2 can be successfully decelerated, it means that the robot body 2 is not moving very fast and the drive wheel 2.3 is not continuously driving the robot body 2. If the robot body 2 can pass the first buffer device 4 and abut against the second buffer device 5, 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 wheel 2.3 needs to be disconnected to protect the drive element and increase the buffering effect. Therefore, the elastic member 3.2 in the second buffer device 5 abuts against the unlocking member 2.4.1, which can move the unlocking member 2.4.1 in the unlocking direction and cause the drive wheel 2.3 to disengage from the track 1, causing the drive wheel 2.3 to idle. In the above embodiment, the first buffer device 4 is disposed inside the second buffer device 5, which means that the first buffer device 4 is closer to the center of the track 1 relative to the second buffer device 5. The first buffer device 4 and the unlocking member 2.4.1 are offset, which means that when the robot body 2 moves to the position of the first buffer device 4, the unlocking member 2.4.1 does not contact the first buffer device 4, and there is no interference between the first and second buffer devices.

[0036] Preferably, Figure 3 and Figure 5 As shown, the robot body 2 is provided with a connecting frame 2.1 and a bracket 2.2, and the bracket 2.2 is provided with a plurality of driven wheels so that the bracket 2.2 can move along the length direction of the track 1. The connecting frame 2.1 is movably connected to the bracket 2.2, and the driving wheel 2.3 is installed on the connecting frame 2.1. The elastic clamping assembly 2.6 is installed on the bracket 2.2. The elastic clamping assembly 2.6 presses the connecting frame 2.1 so that the driving wheel 2.3 presses the track 1, and the unlocking member 2.4.1 is provided on the connecting frame 2.1, so that when the unlocking member 2.4.1 is subjected to force and moves in the unlocking direction, the unlocking member 2.4.1 drives the driving wheel 2.3 on the connecting frame 2.1 to leave the track 1.

[0037] In the above technical solution, when the elastic pressing assembly 2.6 presses the driving member against the track 1, the driving wheel 2.3 rotates, driving the entire robot body 2 on the track 1. If the robot body 2 malfunctions and rushes toward the buffer device 3, the elastic member 3.2 abuts the unlocking member 2.4.1, causing the unlocking member 2.4.1 to move in the unlocking direction. At this time, the unlocking member 2.4.1 drives the driving wheel 2.3 on the connecting frame 2.1 away from the track 1, causing the driving wheel 2.3 to disengage from the track 1, thereby automatically unlocking the driving wheel 2.3.

[0038] Preferably, one side of the connecting frame 2.1 is hinged to the bracket 2.2, allowing the connecting frame 2.1 to rotate relative to the bracket 2.2 in a vertical plane. The other side of the connecting frame 2.1 is connected to the bracket 2.2 via the elastic clamping assembly 2.6. This solution allows the connecting frame 2.1 to be movably connected to the bracket 2.2, and only one elastic clamping assembly 2.6 is required on the side away from the hinge.

[0039] Preferably, a connecting member 2.1.1 is fixed to the connecting frame 2.1, and the elastic pressing assembly 2.6 includes a fixed member 2.6.1, a movable member 2.6.2, and a compression spring 2.6.3 that elastically connects the movable member 2.6.2 to the fixed member 2.6.1. The fixed member 2.6.1 is fixed to the bracket 2.2, and the movable member 2.6.2 presses against the connecting member 2.1.1 to enable the driving wheel 2.3 to press against the track 1. When the driving wheel 2.3 is in the unlocked state, the connecting member 2.1.1 is disengaged from the movable member 2.6.2. The above technical solution can realize the compression effect of the elastic pressing assembly 2.6 on the connecting member 2.1.1 to enable the driving wheel 2.3 to press against the track 1. At the same time, when the unlocking member 2.4.1 is subjected to force, the connecting member 2.1.1 can be disengaged from the compression spring 2.6.3, causing the driving wheel 2.3 to be disengaged from the track 1.

[0040] Preferably, when the driving wheel 2.3 disengages from the track 1, the connecting member 2.1.1 is in a disengaged state, and when the driving wheel 2.3 presses the track 1, the connecting member 2.1.1 is in an abutting state, one end of the movable member 2.6.2 is hinged to the fixed member 2.6.1, and the other end of the movable member 2.6.2 presses against the connecting member 2.1.1, and the compression spring 2.6.3 is a torsion spring. The movable part 2.6.2 has a pressing state, a limiting state and a transition state, and the connecting part 2.1.1 has an abutting state and a disengaging state. When the movable part 2.6.2 is in the pressing state, the movable part 2.6.2 presses against the connecting part 2.1.1 to keep the connecting part 2.1.1 in the abutting state. When the connecting part 2.1.1 is in the disengaging state and the movable part 2.6.2 is in the limiting state, the movable part 2.6.2 limits the connecting part 2.1.1 from switching from the disengaging state to the abutting state. When the movable part 2.6.2 is in the transition state, the connecting part 2.1.1 can switch between the disengaging state and the abutting state.

[0041] In the above technical solution, when the connecting member 2.1.1 is in the disengaged state, the elastic force of the compression spring 2.6.3 keeps the movable member 2.6.2 in the limited state. At this time, the movable member 2.6.2 restricts the connecting member 2.1.1 from switching from the disengaged state to the abutted state. Even if the connecting member 2.1.1 is moved, the connecting member 2.1.1 cannot be reset to the abutted state. When the connecting member 2.1.1 is in the abutting state, the elastic force of the compression spring 2.6.3 and the reaction force of the connecting member 2.1.1 on the movable member 2.6.2 keep the movable member 2.6.2 in the abutting state. At this time, if the unlocking member 2.4.1 is pulled in the unlocking direction, the force of the connecting member 2.1.1 on the movable member 2.6.2 will cause the movable member 2.6.2 to overcome the elastic force of the compression spring 2.6.3 and switch to the transition state. At this time, the connecting member 2.1.1 will switch from the abutting state to the disengaged state. When the connecting member 2.1.1 switches to the disengaged state, the connecting member 2.1.1 disengages from the movable member 2.6.2, and the movable member 2.6.2 will switch to the limited state under the elastic force of the compression spring 2.6.3. At this time, the unlocking member 2.4.1 is released and the connecting member 2.1.1 will remain in the disengaged state. When it is necessary to switch the connecting member 2.1.1 from the disengaged state to the abutted state, it is necessary to manually press the movable member 2.6.2 so that the movable member 2.6.2 overcomes the elastic force of the compression spring 2.6.3 and switches to the transition state, then switch the connecting member 2.1.1 to the abutted state, and finally release the movable member 2.6.2 so that the connecting member 2.1.1 remains in the abutted state under the action of the elastic force of the compression spring 2.6.3 and the reaction force of the connecting member 2.1.1 on the movable member 2.6.2.

[0042] The above solution allows the connector 2.1.1 to remain stable in both the engaged and disengaged states. When the connector 2.1.1 remains in the disengaged state, it facilitates maintenance by eliminating the need for workers to constantly pull on the unlocking member 2.4.1. When the connector 2.1.1 remains in the engaged state, the drive wheel 2.3 remains in a state of compression against the track 1, allowing the drive wheel 2.3 to stably drive the robot body 2. Furthermore, switching the connector 2.1.1 from the disengaged state to the engaged state requires manual pressing of the movable member 2.6.2, preventing misoperation that could cause the connector 2.1.1 to switch state during maintenance.

[0043] Preferably, the unlocking member 2.4.1 is provided with a guiding inclined surface 2.4.1.1.

[0044] It can be understood that in another embodiment, a clamping member is 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.

[0045] 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.

[0046] Example 3:

[0047] like Figure 2 As shown, based on Example 1, the number of the buffer devices 3 is multiple, and the multiple buffer devices 3 are sequentially arranged along the length direction of the track 1. In the above technical solution, the multiple buffer devices 3 can perform multi-level buffering on the robot body 2 to increase the buffering effect.

[0048] Preferably, the fixing frame 3.1 is fixed above the track 1, the elastic member 3.2 is arranged obliquely relative to the track 1, the upper end of the elastic member 3.2 is connected to the fixing frame 3.1, and when the robot body 2 moves to a position close to the end of the track 1, the robot body 2 abuts against the lower end of the elastic member 3.2, so that the elastic member 3.2 extends and retracts along the inclined direction.

[0049] In the above technical solution, when the elastic member 3.2 retracts in the inclined direction, it has a vertical movement component. When the elastic member 3.2 retracts a certain distance, the robot body 2 can pass through the buffer device 3 and abut against the next buffer device 3 for buffering. The fixed frame 3.1 is fixed above the track 1, so that the fixed frame 3.1 can avoid the robot body 2 and avoid interference with the robot body 2.

[0050] Preferably, the elastic member 3.2 includes an elastic member body 3.2.1, a first torsion spring 3.2.2 and a rotating frame 3.2.3, the rotating frame 3.2.3 is hinged to the fixed frame 3.1, the elastic member body 3.2.1 is installed on the rotating frame 3.2.3, the fixed frame 3.1 is provided with a limit portion 3.1.1, the elastic member 3.2 has a working state in which the rotating frame 3.2.3 abuts against the limit portion 3.1.1 and an avoidance state in which the rotating frame 3.2.3 is separated from the limit portion 3.1.1, the first torsion spring 3.2.2 is connected to The rotating frame 3.2.3 is arranged between the fixed frame 3.1 to keep the elastic member 3.2 in the working state. When the robot body 2 moves forward to the position of the buffer device 3, the robot body 2 abuts against the elastic member body 3.2.1 to make the elastic member body 3.2.1 contract. When the robot body 2 moves reversely to the position of the buffer device 3, the robot body 2 abuts against the elastic member body 3.2.1 to make the rotating frame 3.2.3 disengage from the limiting part 3.1.1 and switch the elastic member 3.2 to the avoidance state.

[0051] In the above technical solution, when the elastic member 3.2 is in working condition and the robot body 2 is forwardly rushing toward the buffer device 3, the limiting portion 3.1.1 limits the rotation of the elastic member body 3.2.1, and the elastic member body 3.2.1 will deform when in contact with the robot body 2 to buffer the robot body 2. When the elastic member 3.2 is in working condition and the robot body 2 passes through the buffer device 3 in the reverse direction, the robot body 2 contacts the elastic member body 3.2.1, and drives the elastic member body 3.2.1 and the rotating frame 3.2.3 to rotate relative to the fixed frame 3.1, so that the robot body 2 can easily pass through the buffer device 3, 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.

[0052] Preferably, a rotating wheel 3.3 is provided at the end of the elastic member 3.2 that contacts the robot body 2, and the elastic member 3.2 contacts the robot body 2 via the rotating wheel 3.3. This structure can reduce the friction between the elastic member 3.2 and the robot body 2, thereby reducing the wear on the robot body 2 during buffering.

[0053] Preferably, the robot body 2 is provided with a contact piece 2.5 for contacting the elastic piece 3.2, and the contact piece 2.5 has a second inclined surface 2.5.1.

[0054] It can be understood that in another embodiment, the elastic member 3.2 includes a second torsion spring and a contact rod, one end of the contact rod is hinged to the fixed frame 3.1, and the second torsion spring is connected between the contact rod and the fixed frame 3.1. When the robot body 2 moves to a position close to the end of the track 1, the other end of the contact rod abuts against the robot body 2 to make the second torsion spring elastically deform to cushion the robot body 2.

[0055] In the above technical solution, when the robot body 2 is rushing toward the elastic member 3.2, the robot body 2 abuts against the contact rod, and causes the contact rod to overcome the second torsion spring and rotate, while buffering the robot body 2. After the contact rod rotates a certain distance, the robot body 2 can pass through the contact rod and abut against the next buffer device 3 for buffering.

[0056] Example 4:

[0057] Based on Example 1, the elastic member is arranged parallel to the length direction of the track.

Claims

1. A rail robot with an emergency buffer device, characterized in that: The robot comprises a track, a robot body, and a buffer device arranged near an end of the track, the buffer device comprising a fixing frame and an elastic member arranged on the fixing frame, when the robot body moves to a position near the end of the track, the elastic member abuts against the robot body to buffer the robot body, the robot body is provided with a driving wheel for driving the robot body to move along the length direction of the track, an elastic pressing assembly for pressing the driving wheel against the track, and an unlocking member for making the driving wheel leave the track, when the unlocking member is subjected to force and moves in the unlocking direction, the driving wheel is driven to leave the track, and when the robot body moves to a position near the end of the track, the elastic member abuts against the unlocking member to make the unlocking member move in the unlocking direction; The robot body is provided with a connecting frame and a bracket that can move along the length direction of the track. The connecting frame is movably connected to the bracket. The driving wheel is mounted on the connecting frame. The elastic pressing assembly is mounted on the bracket. The elastic pressing assembly presses the connecting frame so that the driving wheel presses the track. The unlocking member is provided 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 leave the track. A connecting piece is fixed on the connecting frame, and the elastic pressing assembly includes a fixing piece, a movable piece and a pressing spring that elastically connects the movable piece to the fixing piece, and the fixing piece is fixed to the bracket. One end of the movable part is hinged to the fixed part, and the other end of the movable part is pressed against the connecting part so that the driving wheel presses the track. At this time, the connecting part is in an abutting state. When the driving wheel is in an unlocked state, the connecting part is separated from the movable part. At this time, the connecting part is in a disengaged state. The movable part has a pressing state, a limiting state and a transition state. When the connecting part is in the disengaged state, the elastic force of the compression spring keeps the movable part in the limiting state. At this time, the movable part restricts the connecting part from switching from the disengaged state to the abutting state; when the movable part is in the transition state, the connecting part can switch between the disengaged state and the abutting state; when the connecting part is in the abutting state and the movable part is in the pressing state, the movable part presses against the connecting part to keep the connecting part in the abutting state.

2. The rail robot with an emergency buffer device according to claim 1, 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.

3. The rail robot with an emergency buffer device according to claim 1, characterized in that: The unlocking piece is provided with a guiding inclined surface.

4. The rail robot with an emergency buffer device according to claim 1, characterized in that: The elastic member is arranged to be inclined relative to the track, and one end of the elastic member is connected to the fixing frame. When the robot body moves to a position close to the end of the track, the robot body abuts against the other end of the elastic member to make the elastic member expand and contract along the inclined direction.

5. The rail robot with an emergency buffer device according to claim 4, characterized in that: 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 moves forward to the position of the buffer device, the robot body abuts against the elastic member body to cause the elastic member body to contract. When the robot body moves reversely to the position of the buffer device, the robot body 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.

6. The rail robot with an emergency buffer device according to claim 1, characterized in that: The elastic member includes a second torsion spring and a contact rod, one end of the contact rod is hinged to the fixed frame, and the second torsion spring is connected between the contact rod and the fixed frame. When the robot body moves to a position close to the end of the track, the other end of the contact rod abuts against the robot body to cause the second torsion spring to elastically deform to cushion the robot body.

7. A rail robot with an emergency buffer device according to claim 4, 5 or 6, characterized in that: The fixing frame is fixed above the track.

8. The rail robot with an emergency buffer device according to claim 1, characterized in that: The elastic member is arranged parallel to the length direction of the track.

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