A rail robot travel mechanism

Abstract

The present invention discloses a rail robot travel mechanism, comprising a rail and a drive device, wherein the drive device comprises a bracket, a connecting frame, a driven wheel arranged on the bracket, and a driving wheel and a driving member arranged on the connecting frame, wherein the connecting frame is movably connected to the bracket so that the driving wheel has a connected state in which the rail is pressed and an unlocked state in which the driving wheel is detached from the rail, wherein an elastic pressing component is provided on the bracket, wherein the elastic pressing component presses the connecting frame so that the driving wheel remains in the connected state, and wherein an unlocking component is provided on the connecting frame so that when the unlocking component is subjected to force and moves in the unlocking direction, the unlocking component drives the driving wheel on the connecting frame to detach from the rail and switch to the unlocked state. The above scheme can realize manual unlocking of the driving wheel by pulling the unlocking component so that the unlocking component drives the driving wheel on the connecting frame to move in a direction away from the rail and detaches the driving wheel from the rail.

Description

Technical Field

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

[0002] Track robots are a common type of inspection robot, widely used in various fields. In existing track robots, the drive wheels of their drive mechanisms are typically directly connected to the tracks. When the inspection robot malfunctions and requires maintenance, the drive wheels cannot detach from the tracks, creating resistance and increasing the difficulty of moving the track robot. Furthermore, when the track robot is moving, the motor connected to the drive wheels generates back electromotive force (EMF), which can potentially burn out the motor. Summary of the Invention

[0003] In order to overcome the deficiency in the prior art that the driving wheels of the inspection robot cannot leave the track during maintenance, the present invention provides a track robot travel mechanism, which can manually unlock the driving wheels by pulling the unlocking part so that the unlocking part will drive the driving wheels on the connecting frame to move away from the track and make the driving wheels leave the track.

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

[0005] A track robot travel mechanism includes a track and a drive device, the drive device includes a connecting frame, a bracket capable of moving along the length direction of the track, and a driving wheel and a driving member arranged on the connecting frame, the driving member is connected to the driving wheel in a transmission manner, 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 bracket is provided with an elastic pressing component, the elastic pressing component presses the connecting frame so that the driving wheel remains in the connected state, and the connecting frame is provided with an unlocking member, 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 and switch to the unlocked state.

[0006] 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 device 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 device 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.

[0007] Preferably, the connecting frame is provided with a connecting member, and the elastic pressing 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 connecting member to keep the driving wheel in a connected state. When the driving wheel is in an unlocked state, the connecting member is separated from the movable member. The above technical solution can realize the pressing effect of the elastic pressing assembly on the connecting member, so that the driving wheel presses against the track. At the same time, when the unlocking member is subjected to force, the connecting member can be separated from the first elastic member, causing the driving wheel to be separated from the track.

[0008] Preferably, the movable part has a pressing state, a limiting state and a transition state, and the 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 connecting part to keep the connecting part in the abutting state. When the connecting part is in the disengaging state and the movable part is in the limiting state, the movable part restricts the connecting part from switching from the disengaging state to the abutting state. When the movable part is in the transition state, the connecting part can switch between the disengaging state and the abutting state.

[0009] In the above technical solution, when the connecting member is in the disengaged state, the elastic force of the first elastic member causes the movable member to remain in the limited state. At this time, the movable member limits the switching of the connecting member from the disengaged state to the abutted state. Even if the connecting member is moved, the connecting member cannot be reset to the abutted state. When the connecting member is in the abutted state, the elastic force of the first elastic member and the reaction force of the connecting member on the movable member cause the movable member to remain in the abutted state. At this time, if the unlocking member is pulled in the unlocking direction, the force of the connecting member on the movable member causes the movable member to overcome the elastic force of the first elastic member and switch to the transition state. At this time, the connecting member will switch from the abutted state to the disengaged state. When the connecting member switches to the disengaged state, the connecting member is separated from the movable member. The movable member will switch to the limited state under the elastic force of the first elastic member. At this time, if the unlocking member is released, the connecting member will remain in the disengaged state. When it is necessary to switch the 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 connecting member to the abutted state. Finally, the movable member is released so that the 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 connecting member on the movable member. The above scheme can keep the connecting member stable in both the abutted state and the disengaged state. When the 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 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 device to move. And when the 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 connecting member during the inspection process.

[0010] Preferably, 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.

[0011] 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.

[0012] Preferably, the driving device further comprises a housing, one end of the unlocking member is arranged outside the housing, and the other end of the unlocking member extends into the housing and is connected to the connecting frame.

[0013] Preferably, the connecting frame is provided with a brake device connected to the driving wheel, and the brake device can stop the driving device on the track.

[0014] Preferably, a buffer device is provided near the end of the track, and the driving device contacts the buffer device when moving to the position where the buffer device is provided.

[0015] In the above technical solution, the buffer device can buffer the driving device, especially when the driving device fails, it can prevent the driving device from rushing out of the track or hitting the components at the end of the track due to excessive speed.

[0016] Preferably, a guide slope is provided at one end of the unlocking member, and when the driving device moves to a position close to the end of the track, the guide slope contacts the buffer device to move the unlocking member in the unlocking direction.

[0017] The above technical solution can buffer the driving device through the buffer device when the driving device 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, avoiding the driving member and the driving wheel from being stuck and burning.

[0018] Preferably, the elastic compression assembly includes a second elastic member, one end of which is connected to the bracket, and the other end of which is connected to the connecting frame. In the above technical solution, the second elastic member can realize the compression effect of the elastic compression assembly on the connecting member, so that the driving wheel is pressed against the track. At the same time, when the unlocking member is subjected to force, the connecting member can be separated from the first elastic member, causing the driving wheel to be separated from the track.

[0019] Preferably, a locking groove is provided on the connecting frame. When the 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.

[0020] 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 connecting member is in the disengaged state, the 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 connecting member during the maintenance process due to misoperation. In this solution, when it is necessary to switch the connecting member 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 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 connecting member on the movable member. 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 driving device in the present invention;

[0023] Figure 3 is a cross-sectional view of the driving device of the present invention;

[0024] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle;

[0025] Figure 5 This is a partial cross-sectional view of the elastic pressing assembly when the drive wheel is in the unlocked state in the present invention. Figure 1 ;

[0026] Figure 6 This is a partial cross-sectional view of the elastic pressing assembly when the drive wheel is in the connected state in the present invention. Figure 1 ;

[0027] Figure 7 This is a partial cross-sectional view of the elastic pressing assembly when the drive wheel is in the unlocked state in the present invention. Figure 2 ;

[0028] Figure 8 This is a partial cross-sectional view of the elastic pressing assembly when the drive wheel is in the connected state in the present invention. Figure 2 .

[0029] In the figure: bracket 1, connecting frame 2, clamping member 2.1, driven wheel 3, driving wheel 4, driving member 5, elastic pressing assembly 6, fixing member 6.1, movable member 6.2, first elastic member 6.3, second elastic member 6.4, unlocking member 7, guide slope 7.1, connecting member 8, housing 10, locking groove 12, third elastic member 13, track 100, support plate 101, driving device 200, buffer device 300, robot body 400. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1:

[0032] like Figures 1 to 6 As shown, a track robot travel mechanism includes a track 100, a driving device 200 and a robot body 400 connected to the driving device 200, the driving device 200 includes a connecting frame 2, a bracket 1 capable of moving along the length direction of the track 100, and a driving wheel 4 and a driving member 5 installed on the connecting frame 2, the driving member 5 is connected to the driving wheel 4 in a transmission manner, the connecting frame 2 is movably connected to the bracket 1, so that the driving wheel 4 has a connected state of pressing the track 100 and an unlocked state of detaching from the track 100, an elastic pressing component 6 is installed on the bracket 1, the elastic pressing component 6 presses the connecting frame 2 so that the driving wheel 4 remains in the connected state, and an unlocking member 7 is fixed on the connecting frame 2, so that when the unlocking member 7 is subjected to force and moves in the unlocking direction, the unlocking member 7 drives the driving wheel 4 on the connecting frame 2 to detach from the track 100 and switch to the unlocked state.

[0033] In the above technical solution, when the drive member 5 is in the connected state, the drive wheel 4 presses against the track 100. The drive member 5 drives the drive wheel 4 to rotate, and at the same time drives the entire drive device 200 to move on the track 100. When the track robot malfunctions, the unlocking member 7 can be pulled to move it in the unlocking direction. At this time, the unlocking member 7 drives the drive wheel 4 on the connecting frame 2 away from the track 100, and the drive wheel 4 is disengaged from the track 100, thereby manually unlocking the drive wheel 4. After the drive wheel 4 is manually unlocked, the drive device 200 can move freely on the track 100, making the track robot more convenient to move and preventing the back electromotive force generated by the movement of the drive wheel 4 from damaging the motor.

[0034] One side of the connecting frame 2 is hinged to the bracket 1, allowing the connecting frame 2 to rotate relative to the bracket 1 in a vertical plane. The other side of the connecting frame 2 is connected to the bracket 1 via the elastic clamping assembly 6. This solution allows the connecting frame 2 to be movably connected to the bracket 1. Only one elastic clamping assembly 6 is required on the side away from the hinge.

[0035] The drive device 200 also includes a housing 10. One end of the unlocking member 7 is disposed outside the housing 10, while the other end of the unlocking member 7 extends into the housing 10 and is connected to the connecting frame 2. The connecting frame 2 is provided with a brake device connected to the drive wheel 4. The brake device can stop the drive device 200 on the track 100.

[0036] The bracket 1 is provided with a position-limiting member for limiting the position of the connecting frame 2. In the above technical solution, when the driving wheel 4 is in the unlocked state, the position-limiting member contacts the connecting frame 2, thereby limiting the position of the connecting frame 2.

[0037] Preferably, a buffer device 300 is provided near the end of the track 100 , and when the driving device 200 moves to the position where the buffer device 300 is provided, the driving device 200 contacts the buffer device 300 for buffering.

[0038] In the above technical solution, the buffer device 300 can buffer the driving device 200, especially when the driving device 200 fails, to prevent the driving device 200 from rushing out of the track 100 or hitting the components at the end of the track 100 due to excessive speed.

[0039] Preferably, a guiding slope 7.1 is provided at one end of the unlocking member 7. When the driving device 200 moves to a position close to the end of the track 100, the guiding slope 7.1 contacts the buffer device 300 to move the unlocking member 7 in the unlocking direction.

[0040] The above technical solution can buffer the driving device 200 through the buffer device 300 when the driving device 200 loses control and rushes toward the end of the track 100. At the same time, the buffer device 300 can also move the unlocking member 7 in the unlocking direction, thereby driving the driving wheel 4 on the connecting frame 2 to disengage from the track 100 and switch to the unlocked state through the unlocking member 7, so that the driving wheel 4 is in an idling state, thereby avoiding the driving member 5 and the driving wheel 4 from being stuck and burning.

[0041] Preferably, the driving device 200 also includes a driven wheel 3 mounted on the bracket 1, and the driven wheel 3 is connected to the track 100 so that the driving device 200 can move along the length direction of the track 100. A support plate 101 is provided on the track 100, and the driven wheel 3 is arranged above the support plate 101. The driving wheel 4 is arranged below the support plate 101. When the driving wheel 4 is in a connected state, the driven wheel 3 presses the support plate 101 downward, and the driving wheel 4 presses the support plate 101 upward.

[0042] In the above technical solution, the driven wheel 3 and the driving wheel 4 are respectively arranged on the upper and lower sides of the support plate 101. The driven wheel 3 and the driving clamping support plate 101 can be clamped by the elastic clamping component 6, and the driving wheel 4 is not easy to slip, and the drive is more stable.

[0043] There are four driven wheels 3, two of which are arranged on one side of the track 100 and arranged one behind the other, and the other two driven wheels 3 are arranged on the other side of the track 100 and arranged one behind the other. The driving wheel 4 is arranged at the center of the four driven wheels 3. This technical solution can ensure that the driven wheels 3 and the driving wheels 4 are evenly distributed on the track 100, the force is evenly distributed, and the driving is more stable.

[0044] Example 2:

[0045] like Figures 1 to 6 As shown, based on Example 1, a connecting member 8 is fixed to the connecting frame 2, and the elastic pressing assembly 6 includes a fixed member 6.1, a movable member 6.2, and a first elastic member 6.3 that elastically connects the movable member 6.2 to the fixed member 6.1. The fixed member 6.1 is fixed to the bracket 1, and the movable member 6.2 presses against the connecting member 8 to keep the drive wheel 4 in a connected state. When the drive wheel 4 is in an unlocked state, the connecting member 8 is disengaged from the movable member 6.2. The above technical solution can realize the compression effect of the elastic pressing assembly 6 on the connecting member 8, so that the drive wheel 4 presses against the track 100. At the same time, when the unlocking member 7 is subjected to force, the connecting member 8 can be disengaged from the first elastic member 6.3, so that the drive wheel 4 is disengaged from the track 100.

[0046] Preferably, one end of the movable member 6.2 is hinged to the fixed member 6.1, and the other end of the movable member 6.2 abuts against the connecting member 8, and the first elastic member 6.3 is a torsion spring. The movable member 6.2 has an abutting state, a limiting state, and a transition state. The connecting member 8 has an abutting state corresponding to the connected state of the drive wheel 4 and a disengaged state corresponding to the unlocked state of the drive wheel 4. When the movable member 6.2 is in the abutting state, the movable member 6.2 abuts against the connecting member 8 to maintain the connecting member 8 in the abutting state. When the connecting member 8 is in the disengaged state and the movable member 6.2 is in the limiting state, the movable member 6.2 restricts the connecting member 8 from switching from the disengaged state to the abutting state. When the movable member 6.2 is in the transition state, the connecting member 8 can switch between the disengaged state and the abutting state.

[0047] In the above technical solution, when the connecting member 8 is in the disengaged state, the elastic force of the first elastic member 6.3 keeps the movable member 6.2 in the limited state. At this time, the movable member 6.2 limits the switching of the connecting member 8 from the disengaged state to the abutting state. Even if the connecting member 8 is moved, the connecting member 8 cannot be reset to the abutting state. When the connecting member 8 is in the abutting state, the elastic force of the first elastic member 6.3 and the reaction force of the connecting member 8 on the movable member 6.2 keep the movable member 6.2 in the abutting state. At this time, if the unlocking member 7 is pulled in the unlocking direction, the force of the connecting member 8 on the movable member 6.2 causes the movable member 6.2 to overcome the elastic force of the first elastic member 6.3 and switch to the transition state. At this time, the connecting member 8 will switch from the abutting state to the disengaged state. When the connecting member 8 switches to the disengaged state, the connecting member 8 is separated from the movable member 6.2. The movable member 6.2 will switch to the limited state under the elastic force of the first elastic member 6.3. At this time, the unlocking member 7 is released and the connecting member 8 will remain in the disengaged state. When it is necessary to switch the connecting member 8 from the disengaged state to the abutted state, it is necessary to manually press the movable member 6.2 so that the movable member 6.2 overcomes the elastic force of the first elastic member 6.3 and switches to the transition state, then switch the connecting member 8 to the abutted state, and finally release the movable member 6.2 so that the connecting member 8 remains in the abutted state under the action of the elastic force of the first elastic member 6.3 and the reaction force of the connecting member 8 on the movable member 6.2.

[0048] The above solution allows the connecting member 8 to be stably maintained in both the abutting and disengaging states. When the connecting member 8 is in the disengaging state, it is convenient for workers to perform maintenance without having to constantly pull the unlocking member 7. When the connecting member 8 is in the abutting state, the driving wheel 4 can maintain a connection state with the clamping rail 100, so that the driving wheel 4 can stably drive the driving device 200. Furthermore, when the connecting member 8 is switched from the disengaged state to the abutting state, manual pressing of the movable member 6.2 is required to achieve this, thus avoiding misoperation that may cause the state of the connecting member 8 to switch during maintenance.

[0049] Preferably, the elastic pressing assembly 6 includes a second elastic member 6.4, one end of the second elastic member 6.4 is connected to the bracket 1, and the other end of the second elastic member 6.4 is connected to the connecting frame 2. A locking groove 12 is provided on the connecting frame 2. When the connecting member 8 is in a disengaged state and the movable member 6.2 is in a limited state, the second elastic member 6.4 drives the connecting frame 2 to move so that one end of the movable member 6.2 extends into the locking groove 12 to limit the switching state of the movable member 6.2.

[0050] In the above technical solution, the second elastic member 6.4 can be used to increase the pressing force of the driving wheel 4 on the rail 100, and when the connecting member 8 is in the disengaged state, the connecting member 8 is reversely pressed against the movable member 6.2, so that the movable member 6.2 extends into the locking groove 12, which can limit the switching state of the movable member 6.2, further increase the reliability of the driving wheel 4 in the unlocked state, and avoid misoperation causing the state switching of the connecting member 8 during the maintenance process. In this solution, when the connecting member 8 needs to be switched from the disengaged state to the abutted state, it is necessary to first pull the unlocking member 7 to disengage the movable member 6.2 from the locking groove 12, and then press the movable member 6.2 to make the movable member 6.2 overcome the elastic force of the first elastic member 6.3 and switch to the transition state, and then switch the connecting member 8 to the abutted state, and finally release the movable member 6.2 so that it remains in the abutted state under the action of the elastic force of the first elastic member 6.3 and the second elastic member 6.4 and the reaction force of the connecting member 8 on the movable member 6.2.

[0051] It is understood that in another embodiment, Figures 7 and 8 As shown, a clamping member 2.1 is provided on the connecting frame 2, and the elastic pressing assembly 6 includes a fixed member 6.1, a movable member 6.2 hinged at one end to the fixed member 6.1, a first elastic member 6.3 elastically connecting the movable member 6.2 to the fixed member 6.1, and a third elastic member 13 arranged on the connecting frame 2, the fixed member 6.1 is fixed to the bracket 1, and the third elastic member 13 presses against the connecting frame 2 to keep the driving wheel 4 in a connected state. When the driving wheel 4 is in an unlocked state, one end of the movable member 6.2 presses against the clamping member 2.1 under the action of the first elastic member 6.3 to keep the connecting frame 2 and the driving wheel 4 in an unlocked state.

[0052] 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.

[0053] Example 3:

[0054] In accordance with Example 1, the elastic compression assembly includes a second elastic member, one end of which is connected to the bracket, and the other end of which is connected to the connecting frame. In the above technical solution, the second elastic member can realize the elastic compression assembly's compression effect on the connecting member, so that the driving wheel presses against the track. At the same time, when the unlocking member is subjected to force, the connecting member can be separated from the first elastic member, causing the driving wheel to be separated from the track.

Claims

1. A rail robot travel mechanism, comprising a rail and a drive device, wherein the drive device comprises a connecting frame, a bracket movable along the length of the rail, a drive wheel and a drive member disposed on the connecting frame, the drive member being in driving connection with the drive wheel, and wherein: The connecting frame is movably connected to the bracket so that the driving wheel has a connection state of pressing the track and an unlocking state of detaching from the track. The bracket is provided with an elastic pressing component, which presses the connecting frame to keep the driving wheel in the connection state. The connecting frame is provided with an unlocking member, 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 unlocking state. The connecting frame is provided with a connecting piece, the elastic pressing assembly includes a fixed piece, a movable piece and a first elastic piece that elastically connects the movable piece to the fixed piece, the fixed piece is fixed to the bracket, the movable piece presses against the connecting piece to keep the driving wheel in a connected state, and when the driving wheel is in an unlocked state, the connecting piece is separated from the movable piece; The movable part has a pressing state, a limiting state and a transition state, and the 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 connecting part to keep the connecting part in the abutting state. When the connecting part is in the disengaging state and the movable part is in the limiting state, the movable part restricts the connecting part from switching from the disengaging state to the abutting state. When the movable part is in the transition state, the connecting part can switch between the disengaging state and the abutting state.

2. A rail robot travel mechanism according to claim 1, characterized in that: The driving device further comprises a housing, one end of the unlocking member is arranged outside the housing, and the other end of the unlocking member extends into the housing and is connected to the connecting frame.

3. The rail robot travel mechanism according to claim 1, characterized in that: A brake device is provided on the connecting frame, and the brake device is connected to the driving wheel.

4. The rail robot travel mechanism according to claim 1, characterized in that: A buffer device is provided at a position near the end of the track, and the driving device contacts the buffer device when it moves to the position where the buffer device is provided.

5. The rail robot travel mechanism according to claim 4, characterized in that: A guide slope is provided at one end of the unlocking member. When the driving device moves to a position close to the end of the track, the guide slope contacts the buffer device to move the unlocking member in the unlocking direction.

6. The rail robot travel mechanism 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.

7. The rail robot travel mechanism according to claim 6, characterized in that: A locking groove is provided on the connecting frame. When the 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 and the connecting member is reversely pressed against the movable member to limit the switching state of the movable member.

8. A rail robot travel mechanism, comprising a rail and a drive device, the drive device comprising a connecting frame, a bracket movable along the length of the rail, a drive wheel and a drive member disposed on the connecting frame, the drive member being in driving connection with the drive wheel, characterized in that: The connecting frame is movably connected to the bracket so that the driving wheel has a connection state of pressing the track and an unlocking state of detaching from the track. The bracket is provided with an elastic pressing component, which presses the connecting frame to keep the driving wheel in the connection state. The connecting frame is provided with an unlocking member, 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 unlocking state. The connecting frame is provided with a clamping member, and the elastic pressing assembly includes a fixed member, a movable member hinged at one end to the fixed member, a first elastic member elastically connecting the movable member to the fixed member, and a third elastic member provided 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.

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