A rail-mounted robot walking mechanism and a method of using the same

Abstract

The application discloses a hanging rail type robot walking mechanism, which comprises a walking rail, a connecting module is mounted on the outer surface of the walking rail, the connecting module comprises a connecting seat which is sleeved on the outer surface of the walking rail, the top wall of the connecting seat is provided with symmetrically arranged storage grooves one, the top wall of two groups of the storage grooves one is provided with micro electric push rods one, the top wall of the connecting seat is provided with symmetrically arranged connecting plates, the surfaces of the two groups of the connecting plates which are close to each other are provided with rollers through shaft pieces, and the outer surface of the rollers is provided with uniformly arranged protrusions; the output ends of the two groups of the micro electric push rods one are provided with limiting plates. When the hanging rail type robot walking mechanism is used, the micro electric push rod one is started, the limiting plate is driven to move downwards, the limiting plate limits the protrusions, the rollers cannot move under the external pushing force, and the stability of the connecting seat is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hanging rail robots, in particular to a hanging rail robot walking mechanism and a use method thereof. BACKGROUND

[0002] In the existing hanging rail robot walking mechanism, the installation structure of most friction wheels is relatively simple, and in the use process, the friction wheel and the walking track are prone to insufficient friction due to the wear of the friction wheel, which further leads to the phenomenon of robot shaking and inaccurate walking. Moreover, the existing hanging rail robot walking mechanism does not have a limiting structure when in use, which has certain defects.

[0003] The defects of the existing robot walking mechanism are:

[0004] 1. Patent document CN115026791A relates to a convenient-to-disassemble power distribution site hanging rail robot walking mechanism, which comprises a walking track, two groups of power taking slide contact assemblies, a group of carrier wave slide contact assemblies, a positioning barcode, a robot body walking component; the walking track is an I-shaped track; the positioning barcode is pasted on the side surface of the walking track; the robot body walking component comprises a walking guide part, a power taking communication part and a positioning part; the walking guide part comprises a walking frame, a walking wheel and four groups of guide wheel devices; the walking wheel is closely attached to the lower end surface of the walking track; the four groups of guide wheel devices are guided and matched with the upper and lower surfaces of the lower flange of the walking track through upper and lower guide wheels; the power taking communication part comprises two power taking slide arms and one carrier wave slide arm; the positioning part comprises a laser code scanning gun. The mechanism has good walking stability, convenient power taking, accurate movement positioning and self-discharging function. However, the hanging rail robot walking mechanism in the above-mentioned disclosure mainly considers how to improve its own stability and accurate movement positioning, and does not consider the problem that the existing hanging rail robot walking mechanism does not have a limiting structure when in use, which is easily moved by external pushing force.

[0005] 2、Patent document CN218052601U relates to the technical field of intelligent inspection robots, in particular to a hanging rail robot adjustable holding row walking mechanism, comprising a mounting frame and a walking track, one walking support is rotatably connected to each side of the mounting frame, a first walking support wheel is rotatably connected to each side of the two walking supports, a second walking support wheel is rotatably connected to each side of the two walking supports, an adjusting assembly is movably connected to one side of the mounting frame, and a friction wheel assembly is fixedly connected to one side of the adjusting assembly. The utility model has the advantages that through the setting of the adjustable pressure block made of rubber material, the pressure between the friction wheel and the walking track will decrease after the friction wheel is worn out. Since the adjustable pressure block is in a compressed state, it will have a tendency to recover due to the decrease in pressure, thereby causing the adjusting frame to rotate upward around the connecting shaft, thereby increasing the pressure between the friction wheel and the walking track, so that the friction wheel can work stably. However, the hanging rail robot adjustable holding row walking mechanism in the above-mentioned disclosure mainly considers how to increase the pressure between the friction wheel and the walking track, and does not consider the poor stability of the existing hanging rail robot walking mechanism in use;

[0006] 3、Patent document WO2021196178A1 discloses a walking mechanism of an intelligent robot. The walking mechanism comprises a bottom mounting plate (1). The bottom of the bottom mounting plate (1) is provided with a driving wheel (2), the center of the bottom mounting plate (1) is formed with a center groove (3), the top of the bottom mounting plate (1) is fixedly connected with a fixed frame (4), the inside of the fixed frame (4) is formed with a movable groove (5), the inside of the movable groove (5) is fixedly connected with a first fixed block (6), and the side of the first fixed block (6) is fixedly connected with a flexible spring (7). A walking mechanism of an intelligent robot, by setting a first mechanism (9), the first mechanism (9) comprises a center connecting rod (901) and a rotating connecting roller (902), when the robot travels on a flat road, the rotating connecting roller (902) is not rotated by lapping on the bottom mounting plate (1), when the robot climbs over an obstacle, the rotating connecting roller (902) is separated from the bottom mounting plate (1) under the support of the obstacle, and can be rotated, temporarily achieving the function of the rotating connecting roller, thereby effectively preventing the intelligent robot from being jammed. However, the walking mechanism of the intelligent robot in the above-mentioned disclosure mainly considers how to reduce the probability of jamming of the intelligent robot when walking, and does not consider the poor balance of the existing hanging rail robot walking mechanism when moving in use;

[0007] 4. Patent document WO2018129837A1 discloses a robot walking mechanism, including: a protective cover assembly (A) and a mounting base (B), and the mounting base (B) is arranged on the lower side of the protective cover assembly; the externally input power acts on the first worm assembly (1) arranged in the protective cover assembly and is sequentially transmitted to the first worm wheel assembly (2), the second worm assembly (3), the second worm wheel assembly (4) and the third worm wheel assembly (7) arranged on the mounting base, so as to drive the first mechanical leg assembly (5), the second mechanical leg assembly (6) and the third mechanical leg assembly (9) to complete the linear bidirectional walking movement of the robot. By arranging a plurality of "worm - worm wheel" transmission mechanisms, the linear bidirectional walking movement of the robot can be realized under the condition of single - power input drive. The structure of the present invention is compact and simple, with small energy transmission loss during operation, low failure rate, low price, and wide application range. However, the robot walking mechanism in the above - mentioned disclosed document mainly considers how to reduce the energy transmission loss during the operation of the robot walking mechanism, and does not consider the problem that the existing rail - mounted robot walking mechanism is not convenient to disassemble and assemble during use, and the disassembly and assembly convenience is poor. Summary of the Invention

[0008] The purpose of the present invention is to provide a rail - mounted robot walking mechanism and its usage method to solve the problems raised in the above - mentioned background technology.

[0009] To achieve the above purpose, the present invention provides the following technical solution: a rail - mounted robot walking mechanism, including a walking track, a connection module is installed on the outer surface of the walking track, and the connection module is used to move on the walking track. The connection module includes a connection seat sleeved on the outer surface of the walking track, and the connection seat has a "return" - shaped structure;

[0010] Symmetrically arranged storage grooves one are provided on the top wall of the connection seat, and micro - electric push rods one are installed on the top walls of the two groups of storage grooves one. Symmetrically arranged connecting plates are installed on the top wall of the connection seat, and the connecting plates are located on both sides of the storage grooves one. Rollers are installed on the surfaces of the two groups of connecting plates close to each other through shaft parts, and evenly arranged convex blocks are installed on the outer surface of the rollers;

[0011] Limit plates are installed at the output ends of the two groups of micro - electric push rods one, and the limit plates are located outside the convex blocks, and the limit plates have an inverted "concave" - shaped structure.

[0012] Preferably, the inside of the connecting module is provided with a positioning module, and the positioning module is used for limiting the connecting module which is not moved, and the positioning module comprises a clamping groove arranged on the top of the walking track, the bottom wall of the clamping groove is provided with an iron bar, the top wall of the connecting seat is provided with a storage groove two which is located between the two groups of storage grooves one, the top wall of the storage groove two is provided with a micro electric push rod two, the output end of the micro electric push rod two is provided with a connecting block, the bottom of the connecting block is provided with a storage plate, the bottom of the storage plate is embeddedly provided with an electromagnet, and the storage plate is located on the inner side of the clamping groove.

[0013] Preferably, the outer surface of the walking track is provided with a balancing module, and the balancing module is used for improving the stability of the connecting module when moving, and the balancing module comprises a sliding groove arranged on the outer wall of the walking track, and the inner wall of the connecting seat is provided with a clamping block.

[0014] Preferably, one end of the walking track is provided with a limiting module, and the limiting module is used for limiting the connecting module, preventing the connecting module from falling off the walking track during movement, and the limiting module comprises a storage groove three arranged symmetrically on the top of the walking track, the clamping groove is located between the two groups of storage grooves three, the bottom wall of the storage groove three is provided with uniformly arranged insertion holes, the insertion holes are embeddedly provided with insertion rods, the top of the insertion rods is provided with a baffle which is embedded with the storage groove three, and the back of the baffle is provided with a pull ring.

[0015] Preferably, the inside of the walking track is a hollow structure, the storage groove three is in communication with the hollow part of the walking track, and the storage groove three is in a "concave" shape.

[0016] Preferably, the inside of the walking track is provided with a power walking module, and the power walking module is used for moving the connecting module, and the power walking module comprises a partition plate arranged on the bottom wall of the walking track, the outer wall of the partition plate is provided with a front and back arranged storage box, and the inner wall of the two groups of storage boxes is provided with a servo motor.

[0017] Preferably, the output end of the two groups of servo motors is provided with a chain wheel, one end of the chain wheel is connected with the inner wall of the walking track through a shaft, the outer surface of the chain wheel is engaged with a chain, and the chain is located on the inner side of the storage groove three, the chain is engaged with the protrusion, the inner wall of the walking track is provided with a support block which is located between the two groups of chain wheels and is used for supporting the chain.

[0018] Preferably, the bottom of the connecting seat is welded with a mounting plate, and the mounting plate is used for fixing the hanging rail type robot on the connecting seat.

[0019] Preferably, the use method of the hanging rail type robot walking mechanism is as follows:

[0020] S1, before using the hanging rail type robot walking mechanism, first of all, according to the need of use, the connecting seat is sleeved at one end of the walking rail, so that the clamping block can be aligned with the sliding groove, then the connecting seat is pushed, the roller is driven to rotate, so that the convex block on the surface of the roller can roll on the surface of the chain;

[0021] S2, when using the hanging rail type robot walking mechanism subsequently, first of all, the micro electric push rod one in the storage groove one is started, then the limiting plate can be driven to move downward, so that the limiting plate can cover one group of convex blocks on the surface of the roller, then the convex blocks can be limited by the limiting plate, so that the roller can no longer rotate;

[0022] S3, and during the use of the hanging rail type robot walking mechanism, the clamping block is always located in the sliding groove, and the convex blocks are limited by the limiting plate, so that the stability of the connecting seat moving on the walking rail can be improved to a certain extent;

[0023] S4, when the hanging rail type robot needs to be used, the servo motor stops rotating at this time, the chain stops moving, then the micro electric push rod two in the storage groove two is started, so that the connecting block can drive the storage plate to move downward, then the electromagnet is energized, so that the electromagnet can be attracted with the iron bar in the clamping groove, thereby the stability of the connecting seat stopping moving on the walking rail can be improved to a certain extent.

[0024] Preferably, in the step S1, the following steps are further included:

[0025] S11, when the connecting seat is pushed to move a distance, the baffle is limited to the opening end of the storage groove three through the embedding of the inserting rod and the inserting hole, so as to play a certain shielding effect on the connecting seat, then the hanging rail type robot can be fixed at the bottom of the connecting seat through the mounting plate;

[0026] In the step S2, the following steps are further included:

[0027] S21, then the servo motor in the storage box is started, then the chain wheel can be driven to rotate, since the chain wheel is meshed with the chain, then the chain can be driven to move in the storage groove three, and the connecting seat can be driven to move on the walking rail along with the movement of the chain.

[0028] Compared with the prior art, the beneficial effects of the present application are:

[0029] 1. The hanging rail type robot walking mechanism, through the installation of the connecting module, the connecting seat, the storage groove one, the connecting plate, the roller, the micro electric push rod one and the limiting plate, the connecting seat is sleeved on the surface of the walking track before the hanging rail type robot walking mechanism is used, the micro electric push rod one in the storage groove one is started, then the limiting plate can be driven to move downwards, the limiting plate can cover the surface of one group of protrusions on the surface of the roller, thereby limiting the protrusions, so that the roller cannot move on the surface of the chain under the external pushing force, thereby improving the stability after the connecting seat is installed.

[0030] 2. The hanging rail type robot walking mechanism, through the installation of the connecting module, the connecting seat, the storage groove one, the connecting plate, the roller, the micro electric push rod one and the limiting plate, the connecting seat is sleeved on the surface of the walking track before the hanging rail type robot walking mechanism is used, the micro electric push rod one in the storage groove one is started, then the limiting plate can be driven to move downwards, the limiting plate can cover the surface of one group of protrusions on the surface of the roller, thereby limiting the protrusions, so that the roller cannot move on the surface of the chain under the external pushing force, thereby improving the stability after the connecting seat is installed.

[0031] 3. The hanging rail type robot walking mechanism, through the installation of the balancing module, the sliding groove and the clamping block, the clamping block is always located in the sliding groove, thereby improving the balance of the connecting seat during movement to a certain extent, thereby reducing the probability of shaking of the connecting seat during movement.

[0032] 4. The hanging rail type robot walking mechanism, through the installation of the limiting module, the storage groove three, the jack, the insertion rod, the baffle and the pull ring, when the hanging rail type robot walking mechanism needs to be overhauled, the pull ring is pulled upwards first, then the baffle is driven to move upwards, so that the insertion rod is no longer embedded in the jack, then the baffle can be taken out from the storage groove, and the micro electric push rod one is started, so that the limiting plate no longer limits the protrusions, then the connecting seat can be pushed, so that the roller can move on the surface of the chain, then the connecting seat can be taken off from one end of the walking track, thereby improving the convenience of disassembly and assembly of the connecting seat. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is the overall structure schematic diagram of the application;

[0034] Figure 2 It is the assembly structure schematic diagram of the limiting module of the application;

[0035] Figure 3 It is the assembly structure schematic diagram of the connecting seat of the application;

[0036] Figure 4 It is the plane assembly structure schematic diagram of the connecting module and the positioning module of the application;

[0037] Figure 5The schematic diagram of the planar assembly structure of the power walking module of the present application;

[0038] Figure 6 The schematic diagram of the planar assembly structure of the connecting seat of the present application;

[0039] Figure 7 The sectional view of the sprocket and chain of the present application;

[0040] Figure 8 The schematic diagram of the assembly structure of the walking track and limiting module of the present application;

[0041] Figure 9 The working flowchart of the present application.

[0042] In the figure: 1, walking track; 2, connecting module; 201, connecting seat; 202, storage groove one; 203, connecting plate; 204, roller; 205, micro electric push rod one; 206, limiting plate; 3, positioning module; 301, clamping groove; 302, iron bar; 303, storage groove two; 304, micro electric push rod two; 305, connecting block; 306, storage plate; 307, electromagnet; 4, balancing module; 401, sliding groove; 402, clamping block; 5, limiting module; 501, storage groove three; 502, jack; 503, insertion rod; 504, baffle; 505, pull ring; 6, power walking module; 601, partition; 602, storage box; 603, servo motor; 604, sprocket; 605, chain; 7, mounting plate. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, terms such as "installation", "provided with", "connection", etc. shall be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0046] Please refer to Figure 1 、 Figure 3 、 Figure 6 and Figure 9 For an embodiment provided by the present invention: A hanging-rail type robot walking mechanism includes a walking rail 1, a connection module 2 and a mounting plate7. The connection module 2 is installed on the outer surface of the walking rail 1 and is used to move on the walking rail 1. The connection module 2 includes a connection seat 201 sleeved on the outer surface of the walking rail 1, and the connection seat 201 is in a "hui" - shaped structure. On the top wall of the connection seat 201, there are symmetrically arranged storage grooves one 202. On the top walls of the two groups of storage grooves one 202, there are installed micro - electric push rods one 205. On the top wall of the connection seat 201, there are symmetrically arranged connecting plates 203, and the connecting plates 203 are located on both sides of the storage grooves one 202. On the surfaces of the two groups of connecting plates 203 close to each other, rollers 204 are installed through shaft parts. On the outer surface of the rollers 204, there are evenly arranged convex blocks. The output ends of the two groups of micro - electric push rods one 205 are both installed with limiting plates 206, and the limiting plates 206 are located outside the convex blocks. The limiting plates 206 are in an inverted "concave" - shaped structure. The bottom of the connection seat 201 is welded with a mounting plate 7, and the mounting plate 7 is used to fix the hanging - rail type robot on the connection seat 201.

[0047] Further, before using this hanging - rail type robot walking mechanism, first pass the connection seat 201 through one end of the walking rail 1 so that the connection seat 201 can be sleeved on the surface of the walking rail 1. Then push the connection seat 201 so that the rollers 204 can rotate. Then, under the action of the convex blocks, it can move on the surface of the chain 605. Then, fix the hanging - rail type robot with the connection seat 201 through the mounting plate 7, and start the micro - electric push rod one 205 in the storage groove one 202 to drive the limiting plate 206 to move downward so that the limiting plate 206 can limit the convex blocks on the surface of the rollers 204, and then the rotation of the rollers 204 can be restricted, thereby improving the connection stability between the connection seat 201 and the walking rail 1.

[0048] Please refer to Figure 4The application provides a walking mechanism of a hanging rail type robot, which comprises a positioning module 3 and a balancing module 4, the inside of a connecting module 2 is internally provided with the positioning module 3, and the positioning module 3 is used for limiting the connecting module 2 which does not move, the positioning module 3 comprises a clamping groove 301 arranged on the top of a walking rail 1, the bottom wall of the clamping groove 301 is provided with an iron bar 302, the top wall of a connecting seat 201 is provided with a storage groove two 303, the storage groove two 303 is located between two groups of storage grooves one 202, the top wall of the storage groove two 303 is provided with a micro electric push rod two 304, the output end of the micro electric push rod two 304 is provided with a connecting block 305, the bottom of the connecting block 305 is provided with a storage plate 306, the bottom of the storage plate 306 is embeddedly provided with an electromagnet 307, the storage plate 306 is located on the inside of the clamping groove 301, the outer surface of the walking rail 1 is provided with the balancing module 4, and the balancing module 4 is used for improving the stability of the connecting module 2 when the connecting module 2 moves, the balancing module 4 comprises a sliding groove 401 arranged on the outer wall of the walking rail 1 on both sides, and the inner wall of the connecting seat 201 on both sides is provided with a clamping block 402, and the clamping block 402 is located on the inside of the sliding groove 401.

[0049] Further, in the process that the connecting seat 201 moves on the surface of the walking rail 1, the clamping block 402 is always located in the inside of the sliding groove 401, so that the balance stability of the connecting seat 201 when the connecting seat 201 moves is improved, and the shaking probability of the connecting seat 201 when the connecting seat 201 moves is reduced, and when the hanging rail type robot needs to be used, first, the servo motor 603 is turned off, then the micro electric push rod two 304 in the storage groove two 303 is started, then the storage plate 306 can be driven to move downwards under the action of the connecting block 305, and the electromagnet 307 is powered, so that the electromagnet 307 can be attracted to the iron bar 302, then the connecting seat 201 can be fixed on the walking rail 1, so that the probability that the connecting seat 201 moves due to external force in the process that the hanging rail type robot is used can be reduced to a certain extent.

[0050] Please refer to Figure 2 and Figure 8 The application provides a walking mechanism of a hanging rail type robot, which comprises a limiting module 5, one end of a walking rail 1 is provided with the limiting module 5, and the limiting module 5 is used for limiting a connecting module 2, so that the connecting module 2 is prevented from falling off the walking rail 1 in the moving process, the limiting module 5 comprises storage grooves three 501 symmetrically arranged on the top of the walking rail 1, a clamping groove 301 is located between the two groups of storage grooves three 501, the bottom wall of the storage groove three 501 is provided with uniformly arranged insertion holes 502, the insertion holes 502 are embeddedly provided with insertion rods 503, the top of the insertion rod 503 is provided with a baffle 504, the baffle 504 is embedded with the storage groove three 501, the back of the baffle 504 is provided with a pull ring 505, the inside of the walking rail 1 is a hollow structure, the storage groove three 501 penetrates through the hollow part of the walking rail 1, and the storage groove three 501 has a "concave" structure.

[0051] Further, when the hanging rail type robot walking mechanism needs to be overhauled, first pull the pull ring 505 upwards, then drive the insertion rod 503 to separate from the insertion hole 502, so that the baffle 504 no longer blocks the gap of the storage groove three 501, then start the micro electric push rod one 205, drive the limiting plate 206 to move upwards, so that the limiting plate 206 no longer limits the protrusion, then the connecting seat 201 can be removed from the walking rail 1, thereby improving the convenience of installing the connecting seat 201 to a certain extent.

[0052] Please refer to Figure 5 and Figure 7 , the application provides a kind of embodiment: a kind of hanging rail type robot walking mechanism, including power walking module 6, the inside of walking rail 1 is equipped with power walking module 6, and power walking module 6 is used to drive connecting module 2 to move, power walking module 6 includes the partition 601 installed in the bottom wall of walking rail 1, the outer wall of both sides of partition 601 is equipped with front and rear arrangement storage box 602, the inner wall of one side of two groups of storage box 602 is equipped with servo motor 603, the output end of two groups of servo motor 603 is equipped with chain wheel 604, and one end of chain wheel 604 is connected with the inner wall of both sides of walking rail 1 by shaft piece, chain wheel 604 is engaged with chain 605 on outer surface, and chain 605 is located in the inside of storage groove three 501, chain 605 is engaged with protrusion, the surface of the inner wall of both sides of walking rail 1 and storage box 602 is installed with support block, and support block is located in the middle of two groups of chain wheel 604, support block is used to support chain 605.

[0053] Further, when the hanging rail type robot walking mechanism needs to be used, first start servo motor 603 in storage box 602, then chain wheel 604 can be driven to rotate, since chain wheel 604 is engaged with chain 605, then chain 605 can be driven to move in storage groove three 501, and connecting seat 201 can be driven to move on walking rail 1 along with the movement of chain 605.

[0054] Further, the use method of the hanging rail type robot walking mechanism is as follows:

[0055] S1, before using the hanging rail type robot walking mechanism, first, according to the need of use, the connecting seat 201 is sleeved on one end of the walking rail 1, so that the clamping block 402 can be aligned with the sliding groove 401, then push the connecting seat 201, drive the roller 204 to rotate, so that the protrusion on the surface of the roller 204 can roll on the surface of the chain 605;

[0056] S2, in the subsequent use of the track robot walking mechanism, first start the micro electric push rod 1 205 in the storage groove 1 202, then can drive the limit plate 206 to move down, so that the limit plate 206 can cover one group of protrusions on the surface of the roller 204, then can limit the protrusions through the limit plate 206, so that the roller 204 no longer rotates;

[0057] S3, and in the process of using the track robot walking mechanism, the clamping block 402 is always located inside the sliding groove 401, and the protrusions are limited by the limit plate 206, so that the stability of the connecting seat 201 moving on the walking track 1 can be improved to a certain extent;

[0058] S4, when the track robot needs to be used, the servo motor 603 stops rotating, the chain 605 stops moving, then the micro electric push rod 2 304 in the storage groove 2 303 is started, so that the connecting block 305 can drive the storage plate 306 to move down, then the electromagnet 307 is powered, so that the electromagnet 307 can be attracted to the iron bar 302 in the clamping groove 301, thereby improving the stability of the connecting seat 201 when stopping moving on the walking track 1 to a certain extent.

[0059] In step S1, the following steps are further included:

[0060] S11, when the connecting seat 201 is pushed to move a distance, the baffle 504 is limited to the opening end of the storage groove 3 501 through the embedding of the plug rod 503 and the plug hole 502, thereby playing a certain shielding effect on the connecting seat 201, then the track robot can be fixed at the bottom of the connecting seat 201 through the mounting plate 7;

[0061] In step S2, the following steps are further included:

[0062] S21, then start the servo motor 603 in the storage box 602, then the chain wheel 604 can be driven to rotate, since the chain wheel 604 is meshed with the chain 605, then the chain 605 can be driven to move in the storage groove 3 501, and the connecting seat 201 can be driven to move on the walking track 1 along with the movement of the chain 605.

[0063] Working principle: first, fix the track robot on the bottom of the connecting seat 201 through the mounting plate 7, then start the micro electric push rod 1 205, drive the limit plate 206 to move down, so that the limit plate 206 can limit the protrusions, then start the servo motor 603, drive the chain wheel 604 to rotate, so that the chain 605 can drive the connecting seat 201 to move on the walking track 1;

[0064] When the hanging rail robot needs to be used, the servo motor 603 stops rotating at this time, and then the micro electric push rod two 304 in the storage groove two 303 is started, so that the connecting block 305 can drive the storage plate 306 to move downward, and then the electromagnet 307 is powered, so that the electromagnet 307 can be attracted with the iron bar 302 in the clamping groove 301, thereby improving the stability of the connecting seat 201 when stopping moving on the walking track 1 to a certain extent.

[0065] When the hanging rail robot walking mechanism needs to be overhauled, first pull the pull ring 505 upward, then drive the insertion rod 503 to separate from the insertion hole 502, so that the baffle 504 no longer blocks the gap of the storage groove three 501, then start the micro electric push rod one 205, drive the limiting plate 206 to move upward, so that the limiting plate 206 no longer limits the protruding block, then the connecting seat 201 can be taken off from the walking track 1.

[0066] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and range of the equivalent elements of the claims are intended to be embraced in the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. A hanging rail robot walking mechanism comprising a walking rail (1), characterized in that: A connection module (2) is installed on the outer surface of the walking track (1), and the connection module (2) is used to move on the walking track (1). The connection module (2) includes a connection seat (201) sleeved on the outer surface of the walking track (1), and the connection seat (201) is in a "return" shape structure; On the top wall of the connection seat (201), there are symmetrically arranged storage grooves one (202). On the top walls of the two groups of storage grooves one (202), micro-electric push rods one (205) are installed. On the top wall of the connection seat (201), there are symmetrically arranged connecting plates (203), and the connecting plates (203) are located on both sides of the storage groove one (202). On the surfaces of the two groups of connecting plates (203) close to each other, rollers (204) are installed through shaft parts. On the outer surface of the rollers (204), there are evenly arranged bumps; On the output ends of the two groups of micro-electric push rods one (205), limit plates (206) are installed, and the limit plates (206) are located outside the bumps. The limit plates (206) are in an inverted "concave" shape structure; A positioning module (3) is installed inside the connection module (2), and the positioning module (3) is used to limit the unmoved connection module (2). The positioning module (3) includes a card slot (301) arranged on the top of the walking track (1). On the bottom wall of the card slot (301), an iron bar (302) is installed. On the top wall of the connection seat (201), there is a storage groove two (303), and the storage groove two (303) is located in the middle of the two groups of storage grooves one (202). On the top wall of the storage groove two (303), a micro-electric push rod two (304) is installed. On the output end of the micro-electric push rod two (304), a connection block (305) is installed. On the bottom of the connection block (305), a storage plate (306) is installed. Inside the bottom of the storage plate (306), an electromagnet (307) is installed by embedding, and the storage plate (306) is located inside the card slot (301); A balance module (4) is installed on the outer surface of the walking track (1), and the balance module (4) is used to improve the stability when the connection module (2) moves. The balance module (4) includes sliding grooves (401) arranged on the outer walls on both sides of the walking track (1). On the inner walls on both sides of the connection seat (201), clamping blocks (402) are installed, and the clamping blocks (402) are located inside the sliding grooves (401).

2. The track-mounted robot walking mechanism according to claim 1, characterized in that: One end of the walking track (1) is provided with a limit module (5), and the limit module (5) is used to limit the connection module (2) to prevent the connection module (2) from falling off the walking track (1) during the movement. The limit module (5) includes symmetrically arranged storage grooves three (501) on the top of the walking track (1). The card slot (301) is located in the middle of the two groups of storage grooves three (501). On the bottom wall of the storage groove three (501), there are evenly arranged jacks (502). Inside the jacks (502), inserting rods (503) are installed by embedding. On the top of the inserting rods (503), a baffle plate (504) is installed, and the baffle plate (504) is fitted with the storage groove three (501). On the back of the baffle plate (504), a pull ring (505) is installed.

3. The track-mounted robot walking mechanism according to claim 2, characterized in that: The walking track (1) is internally hollow, the storage groove three (501) is in communication with the hollow part of the walking track (1), and the storage groove three (501) is in a "concave" shape.

4. The track-mounted robot walking mechanism according to claim 1, characterized in that: The walking track (1) is internally mounted with a power walking module (6), and the power walking module (6) is used to drive the connecting module (2) to move.

5. The track-bound robot walking mechanism according to claim 4, characterized in that The output ends of the two groups of servo motors (603) are both mounted with chain wheels (604), one end of the chain wheel (604) is connected with the two side inner walls of the walking track (1) through a shaft piece, the outer surface of the chain wheel (604) is in meshing connection with a chain (605), the chain (605) is located on the inner side of the storage groove three (501), the chain (605) is in meshing connection with the protruding blocks, and the surfaces of the two side inner walls of the walking track (1) and the storage boxes (602) that are close to each other are mounted with supporting blocks, the supporting blocks are located in the middle of the two groups of chain wheels (604), and the supporting blocks are used to support the chain (605).

6. The track-bound robot walking mechanism according to claim 1, characterized in that: The bottom of the connecting seat (201) is welded with a mounting plate (7), and the mounting plate (7) is used to fix the hanging rail type robot on the connecting seat (201).

7. The method of using a track-bound robot walking mechanism according to any one of claims 1-6, characterized in that, The use method of the hanging rail type robot walking mechanism is as follows: S1, before using the hanging rail type robot walking mechanism, first, according to the use needs, the connecting seat (201) is sleeved on one end of the walking track (1), so that the clamping block (402) can be aligned with the sliding groove (401), then the connecting seat (201) is pushed to drive the roller (204) to rotate, so that the protruding blocks on the surface of the roller (204) can roll on the surface of the chain (605); S2, when using the hanging rail type robot walking mechanism subsequently, first, the micro electric push rod one (205) in the storage groove one (202) is started, then the limiting plate (206) can be driven to move downwards, so that the limiting plate (206) can cover one group of protruding blocks on the surface of the roller (204), then the protruding blocks can be limited by the limiting plate (206), so that the roller (204) no longer rotates; S3, and during the use of the hanging rail type robot walking mechanism, the clamping block (402) is always located in the inside of the sliding groove (401), and the protruding blocks are limited by the limiting plate (206), so that the stability of the connecting seat (201) when moving on the walking track (1) can be improved to a certain extent. S4, when the need to use the hanging rail robot, at this time the servo motor (603) stop rotating, chain (605) stop moving, then start the micro electric push rod two (304) in the storage groove two (303), so that the connecting block (305) can drive the storage plate (306) to move down, then power on the electromagnet (307), so that the electromagnet (307) can be attracted with the iron bar (302) in the card slot (301), thereby to a certain extent can improve the stability of the connecting seat (201) on the walking track (1) stop moving.

8. The method of using a track-bound robot walking mechanism according to claim 7, characterized in that In step S1, also includes the following steps: S11, when the push connecting seat (201) moves a distance, through the insertion of the rod (503) and the insertion of the hole (502) of the baffle (504) to the opening end of the storage groove three (501) is limited, thereby to the connecting seat (201) play a certain shielding effect, then can be fixed in the bottom of the connecting seat (201) through the installation plate (7) hanging rail robot; In step S2, also includes the following steps: S21, then start the servo motor (603) in the storage box (602), then can drive the sprocket (604) rotation, because the sprocket (604) and chain (605) meshing connection, then can drive the chain (605) in the storage groove three (501) move, and with the movement of the chain (605) to drive the connecting seat (201) on the walking track (1) move.

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