A rail robot

Abstract

This application relates to the field of robotics, and in particular to a track-based robot, comprising a vehicle body, a magnetic attachment assembly, a track, a drive mechanism, and wheels. The drive mechanism is mounted on the vehicle body, and at least two wheels are provided, each rotatably connected to the vehicle body. The drive mechanism drives each wheel to move along the direction set on the track. The magnetic attachment assembly includes multiple magnets, each magnet being disposed on the vehicle body, with a gap between each magnet and the bottom of the track. The track has a running surface formed for each wheel to pass through. The vehicle body can be suspended on the track by the magnetic attraction of the magnets, and each wheel can always be tangent to the running surface by the magnetic attraction of the magnets. This application has the effect of making the track-based robot more stable when going up and down slopes, thereby improving the stability of the track-based robot during movement.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to an orbital robot. Background Technology

[0002] As robots are used in more and more applications, in situations where safety is a requirement, more and more track-mounted robots are being used to improve the reliability of equipment movement. Track-mounted robots can replace manual labor to complete inspection work in some dangerous situations, and their applications are becoming increasingly widespread.

[0003] Tracked robot systems are generally used in Class II explosive environments such as open-air plant areas of petrochemical enterprises. They employ Internet of Things infrared thermal imaging technology, computer image recognition technology, and 3D visualization technology. Based on track-based mobile detection, they can closely observe potential leak points in open-air plants. Once a high-temperature substance leak is detected, an automatic alarm can be triggered, achieving or even surpassing the effect of manual inspection. This reduces the labor intensity of manual inspection, lowers labor risks, and is of great significance for improving production safety.

[0004] Most track-mounted robots described in related technologies use a mounting method, attaching their main structure to a track (I-beam). They primarily rely on the top and side wheels of the robot to roll in contact with the top and sides of the track, respectively. Because multiple detection devices need to be installed on the robot's main body, and to improve stability and safety during operation, the top and side wheels are typically arranged in multiple sets, with transmission between these sets via connecting structures. This makes existing track-mounted robots heavy-duty. Consequently, when the robot travels on an incline, the change in the center of gravity causes significant variations in the pressure exerted by the front and rear wheels on the track, potentially leading to slippage of either the front or rear wheels. On steep inclines, this can even result in more serious issues such as rolling backward, causing instability during ascents and descents. Summary of the Invention

[0005] In order to make the track robot move more smoothly up and down slopes and improve the stability of the track robot when walking, this application provides a track robot.

[0006] The track robot provided in this application adopts the following technical solution: An orbital robot includes a body, a magnetic assembly, a track, a drive mechanism, and wheels. The drive mechanism is mounted on the vehicle body, and at least two wheels are provided. Each wheel is rotatably connected to the vehicle body, and the drive mechanism drives each wheel to travel along the direction of the track. The magnetic attraction assembly includes multiple magnet blocks, each of which is mounted on the vehicle body, and there is a gap between each magnet block and the bottom of the track. The track has a running surface for each of the wheels to pass through. The vehicle body can be suspended on the track by the magnetic attraction of each of the magnets. Each of the wheels can always be tangent to the running surface by the magnetic attraction of each of the magnets.

[0007] By adopting the above technical solution, during installation, the track is first fixed according to the path. Under the action of the magnetic blocks, the magnetic blocks generate a magnetic attraction force, allowing the vehicle body to adhere to the track and prevent it from falling off. The wheels are tangent to the track's walking surface. When the track robot walks horizontally, the sum of gravity and the track's supporting force, along with the magnetic attraction force, forms a balanced pair of forces. Therefore, when the magnetic attraction force meets the requirements, the drive mechanism rotates the wheels, enabling the track robot to walk normally in a horizontal state. When the track robot walks uphill, downhill, or vertically, the supporting force and the magnetic attraction force form a balanced pair of forces. Due to the presence of the magnetic attraction force, there is a supporting force between the walking surface and the wheels. According to force analysis, this increases friction, thus reducing slippage. The track robot is more stable uphill and downhill, improving its walking stability and even enabling stable vertical walking. This makes the track robot more flexible and expands its range of motion.

[0008] Optionally, it also includes at least one guide wheel, which is rotatably connected to the vehicle body. The track includes a running base plate and a guide member. The running surface is formed on the running base plate, and the guide member is disposed on the running surface. The guide wheel can engage with the guide member.

[0009] By adopting the above technical solution, the guide wheel can engage with the guide component, which can improve the stability of the track robot during its movement. The guide component can play a guiding role, ensuring that the track robot can move in the preset direction.

[0010] Optionally, the vehicle body includes a main body and a base, the main body and the base are rotatably connected by bearings, the driving wheels and the guide wheels are rotatably connected to the base, the guide wheels are formed with circumferentially arranged grooves, and the guide members can be embedded in the grooves.

[0011] By adopting the above technical solution, under the action of the magnet, the guide can be completely embedded in the groove, and the groove can play a limiting role. Under the guidance of the guide, the guide wheel can drive the base to rotate, that is, realize the rotation of the vehicle body, so that the track robot can turn corners.

[0012] Optionally, the drive mechanism includes a transmission shaft, and the walking wheel, the guide wheel, and the magnet are coaxially arranged, so that the drive mechanism can drive the walking wheel and the guide wheel to rotate together.

[0013] By adopting the above technical solution, the walking wheels, guide wheels, and magnets are arranged coaxially, which makes the structure more compact, reduces the number of transmission components, and simplifies the structure of the drive components. This allows the track robot to be miniaturized. At the same time, the guide wheels and magnets can be directly integrated on the drive shaft, eliminating the need for separate support structures for the guide wheels and magnets, thus reducing the overall weight of the track robot. This improves the stability of the track robot during climbing and turning.

[0014] Optionally, each drive shaft may have two magnets, which are located on both sides of the guide wheel and are symmetrically arranged about the guide wheel.

[0015] By adopting the above technical solution, the forces on both sides of the walking wheels can be balanced, as can the forces on the guide wheels, thus enabling the track robot to have high stability during movement.

[0016] Optionally, the two walking wheels form a set of drive wheels, and the two walking wheels are located on both sides of the vehicle body. Multiple drive mechanisms are provided, and one drive mechanism drives only one set of drive wheels to rotate.

[0017] By adopting the above technical solution, the overall design is modular. The track robot can be designed with a set of front drive wheels and a set of rear drive wheels, and driven by two sets of drive mechanisms respectively. This can ensure balanced power output and high-precision position control during walking, making the track robot more stable when going up and down slopes.

[0018] Optionally, each of the wheels is provided with a magnet, and the magnet and the track can generate a magnetic attraction.

[0019] By adopting the above technical solution, the magnetic adsorption force can be further improved under the action of the magnet, thereby further improving the stability of the track robot when going up and down slopes.

[0020] Optionally, the magnet is disposed in each of the wheels by radial magnetization, and the cross-section of the magnet is bowl-shaped.

[0021] By adopting the above technical solution, the force when the wheels come into contact with the running surface is greater, which maximizes the effect of the magnet, improves the utilization rate of the magnet, and also reduces the weight of the vehicle body.

[0022] Optionally, it also includes a fall arrestor for support, which allows the vehicle body to be suspended on the track when the magnet loses its magnetic attraction.

[0023] By adopting the above technical solution, when the magnet block and magnet lose sufficient magnetic attraction due to an accident, the anti-fall component can play a supporting role, preventing the track robot from falling and improving safety.

[0024] Optionally, the side of each of the walking wheels that contacts the walking surface is covered with a rubber layer.

[0025] By adopting the above technical solution, the rubber layer can minimize wear and damage to the track. On the other hand, the rubber layer has advantages such as good grip and anti-slip properties, ensuring that a large frictional force is generated under the same magnetic adsorption force.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The track robot of this application includes a vehicle body, a magnetic attachment assembly, a drive mechanism, wheels, and a track. The magnetic attachment assembly includes magnets, and the wheels are provided in at least two pairs. The drive mechanism drives each wheel to rotate. The magnets are mounted on the vehicle body, and magnets are installed inside the wheels. During installation, the track is first fixed, and the wheels are placed tangentially to the track. Under the combined action of the magnets and the magnets on the wheels, the vehicle body can adhere to the track and will not fall off. When the track robot moves horizontally, the sum of gravity and the supporting force of the track, along with the magnetic attraction force, forms a balanced force. After the drive mechanism drives the wheels to rotate, the track robot can move normally in a horizontal state. When the track robot moves uphill, downhill, or vertically, the supporting force and the magnetic attraction force form a balanced force. When the friction force is greater than the gravity, the track robot can move stably. Due to the presence of the magnetic attraction force, the friction force is increased, thereby reducing slippage. The track robot is more stable when moving uphill or downhill. 2. This application includes a base and guide wheels. The base and the vehicle body are rotatably connected. The guide wheels are rotatably mounted on the base. A drive mechanism drives the guide wheels to rotate. The track includes a walking base plate and guide components. The guide wheels have grooves formed on them for the guide components to embed. When the track robot is on the track, it is attracted by the magnetic blocks and magnets, causing the walking wheels to be tangential to the walking base plate. The guide components can be fully embedded in the guide wheels. The drive mechanism drives the walking wheels and guide wheels to rotate together. Under the guidance of the guide components, the guide wheels can drive the base to rotate, thus realizing the rotation of the vehicle body. This allows the track robot to navigate curves and move stably in the preset direction of the track. 3. This application includes a fall protection component, which consists of a support arm and a rotating wheel. The support arm is connected to the base, and the rotating wheel is rotatably connected to the support arm. When the track robot moves, the rotating wheel moves synchronously on the top surface of the walking platform. When the magnet block and magnet lose sufficient magnetic attraction due to an accident, the rotating wheel can attach to the walking platform to provide support, preventing the track robot from falling and improving safety. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the orbital robot in this application after the protective cover is hidden; Figure 2 This is a side view of the track robot in this application after it is connected to the track; Figure 3 This is a schematic diagram of the structure of the track robot in this application after it is equipped with a protective shell; Figure 4 This is a schematic diagram of the installation of the walking wheel, guide wheel, magnet block and drive shaft in this application; Figure 5 This is a cross-sectional view of the magnet on the walking wheel in this application; Figure 6 This is a cross-sectional view of the track in this application; Figure 7 This is a schematic diagram of the orbital robot in this application; Figure 8 This is a schematic diagram of the fall protection component in this application.

[0028] Explanation of reference numerals in the attached drawings: 1. Walking wheel; 2. Vehicle body; 21. Main body; 22. Base; 3. Magnetic suction assembly; 31. Magnet block; 32. Protective cover; 4. Track; 41. Walking base plate; 42. Walking surface; 43. Guide component; 5. Drive mechanism; 51. Motor; 52. Drive wheel; 53. Driven wheel; 54. Synchronous belt; 55. Drive shaft; 6. Guide wheel; 61. Groove; 7. Fall protection assembly; 71. Support arm; 72. Connecting rod; 73. Rotating wheel. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0030] This application discloses an orbital robot, referring to... Figure 1 and Figure 2The track robot includes a vehicle body 2, a magnetic suction component 3, a track 4, a drive mechanism 5, and walking wheels 1. The drive mechanism 5 is mounted on the vehicle body 2. There are at least two walking wheels 1, each of which is rotatably connected to the vehicle body 2. The drive mechanism 5 drives each walking wheel 1 to move along the direction set by the track 4. The magnetic suction component 3 is set on the vehicle body 2. Under the action of the magnetic suction component 3, the vehicle body 2 can be suspended on the track 4. Under the action of the magnetic suction component 3, each walking wheel 1 can always be in contact with the track 4.

[0031] Under the action of the magnetic attraction component 3, when the magnetic attraction force meets the requirements, the vehicle body 2 can be suspended on the track 4 without falling. When the track robot walks horizontally, the sum of gravity and the supporting force of the track 4, along with the magnetic attraction force, forms a pair of balanced forces. After the drive mechanism 5 drives the walking wheels 1 to rotate, the track robot can achieve normal horizontal walking. When the track robot walks uphill or downhill or vertically, the supporting force and the magnetic attraction force form a pair of balanced forces. Due to the existence of the magnetic attraction force, there is a supporting force between the track 4 and the walking wheels 1. According to the force analysis, this increases the friction force, thus reducing slippage. The track robot is more stable when going uphill or downhill, improving the stability of the track robot when walking.

[0032] Specifically, refer to Figure 3 and Figure 4 The vehicle body 2 includes a main body 21 and a base 22, with the base 22 connected to the upper surface of the main body 21. The drive mechanism 5 includes a motor 51, a drive wheel 52, a driven wheel 53, a synchronous belt 54, and a drive shaft 55. The motor 51 is mounted on the main body 21. The drive wheel 52 is fixedly connected to the output shaft of the motor 51. The drive shaft 55 is rotatably connected to the base 22. The driven wheel 53 is fixedly connected to the drive shaft 55. The synchronous belt 54 is sleeved between the drive wheel 52 and the driven wheel 53. At least two traveling wheels 1 are provided, with two traveling wheels 1 located on each side of the vehicle body 2. Each traveling wheel 1 is mounted on the drive shaft 55, i.e., each traveling wheel 1 is rotatably connected to the vehicle body 2. In this way, the motor 51 drives the drive shaft 55 to rotate, which in turn drives the traveling wheels 1 to rotate, thereby enabling the vehicle body 2 to move forward.

[0033] In this embodiment, a synchronous belt drive, which offers relatively stable transmission, is selected for the stable movement of the track robot. Of course, other transmission methods that meet the requirements can also be used, but will not be specifically described in this embodiment. To further improve stability, a speed reducer can also be installed to enhance the high-precision speed and position control of the walking wheel 1.

[0034] Two walking wheels 1 form a set of drive wheels. Multiple sets of drive wheels can be configured, and multiple drive mechanisms 5 can be configured, with each drive mechanism 5 driving only one set of drive wheels. In this embodiment, two sets of drive wheels and two drive mechanisms 5 are configured: one set of front drive wheels and one set of rear drive wheels. This satisfies the driving requirements while ensuring the miniaturization and lightweight design of the track robot, reducing the difficulty of turning and climbing. The two walking wheels 1 in each set are driven by a motor 51, achieving a modular design of the drive device. Based on force-position hybrid control, independent drive by the automatic electronic speed controller is achieved, ensuring balanced power output and high-precision position control during the track robot's movement.

[0035] It should be noted that track-mounted robots can be driven by three methods: hydraulic, pneumatic, and electric. Hydraulic drives offer high output power and fast response. However, hydraulic drive systems are sensitive to temperature changes and prone to leakage, which negatively impacts the robot's control precision. Pneumatic drives suffer from low output force and poor stability. Therefore, electric drives are preferred, as they are generally small in size, lightweight, powerful, and highly precise.

[0036] Furthermore, servo motors are preferred for electrical drive, as they offer high control precision and extremely short response times, maintaining good performance even during extended operation. The track-based robot requires high stability and precision to ensure the quality of inspection work; additionally, it needs significant driving force to overcome its own weight, load, and magnetic attraction, ensuring flexible movement. Therefore, a DC servo motor drive is preferred for electrical drive, and the drive wheels can be modularly designed to form drive modules for easy assembly and disassembly. Encoders can be used to achieve precise speed and position control of the walking wheels 1, and the forward and reverse rotation of motor 51 enables the reciprocating motion of the track-based robot. Encoder control and the forward and reverse rotation control of motor 51 are technologies well-known to those skilled in the art and will not be specifically described in this embodiment.

[0037] Of course, refer to Figure 2 and Figure 3The main body 21 is equipped with multiple detection devices (not shown in the figure), such as: a starlight camera, an infrared imager, a wireless charging device, a battery, a gas sensor, an obstacle avoidance sensor, a temperature sensor, a position sensor, and a contact data transmission module. The temperature sensor ensures that the ambient temperature and the surface temperature of track 4 do not exceed the normal operating range, preventing demagnetization at high temperatures and loss of magnetic attraction. The obstacle avoidance sensor prevents foreign objects on track 4 from preventing the robot from moving normally. The position sensor senses the position of the robot. The contact data transmission module can transmit data via lines, providing confidentiality. The starlight camera, infrared imager, and gas sensor are working components that detect abnormal conditions such as pipeline leaks and high temperatures. This application eliminates the gimbal design and uses five sets of cameras to meet all-around monitoring needs, further reducing the size and weight of the robot and improving its flexibility.

[0038] It should be noted that the track robot is powered by a battery, and this track robot uses an explosion-proof wireless charger, which greatly improves convenience and safety. Of course, it is necessary to do a good job of matching the motor 51 with the drive power supply: based on a precise analysis of the torque and speed requirements of the motor 51, the optimal power matching motor 51 and reducer are selected to maximize the lightweight design of the robot.

[0039] Furthermore, referring to Figure 2 and Figure 4 The magnetic assembly 3 includes multiple magnet blocks 31, each of which is mounted on the vehicle body 2. In this embodiment, to facilitate installation and improve structural compactness, each magnet block 31 is connected to the drive shaft 55 via bearings, and there is a gap between each magnet block 31 and the bottom of the track 4. To protect each magnet block 31, a protective cover 32 is provided on the bottom of the base 22, which serves to shield it. Under the magnetic attraction of the magnet blocks 31, the vehicle body 2 can be stably suspended on the track 4. This reduces the need for auxiliary support wheels, lowers the overall weight, and reduces wear on the track 4, thus protecting it.

[0040] Of course, refer to Figure 2 and Figure 5 To further enhance the magnetic adsorption force, each traveling wheel 1 is equipped with a magnet (not shown in the figure), which can generate a magnetic adsorption effect between the magnet and the track 4. Considering the contact method between the traveling wheel 1 and the track 4, the magnet is installed in each traveling wheel 1 by radial magnetization, which makes the force when the traveling wheel 1 contacts the track 4 larger, that is, maximizes the effect of the magnet. The cross-section of each magnet is bowl-shaped, which can improve the utilization rate of the magnet and reduce the weight of the vehicle body 2; on the other hand, it provides convenience for the installation and detachment of the track robot.

[0041] It should be noted that the materials of the magnet block 31 and the magnet are preferably permanent magnet materials (hard magnet materials). The basic characteristics of permanent magnet materials are that they can generate a large magnetic field in the working space and have a large coercivity. Among the permanent magnet materials, ferrite, rare earth cobalt, iron-chromium-cobalt, neodymium-iron-boron and alnico are preferred. In this embodiment, no specific limitation is made on the permanent magnet material.

[0042] Specifically, refer to Figure 2 and Figure 6 The track 4 includes a traveling base plate 41, on which a traveling surface 42 is formed for each traveling wheel 1 to pass through. Each traveling wheel 1, under the magnetic attraction of each magnet 31, can always be tangent to the traveling surface 42. The main body 21 and the base 22 are rotatably connected by bearings. The traveling wheels 1 can act as guides, moving along the direction of the traveling base plate 41, thus enabling the vehicle body 2 to turn. In this way, the traveling wheels 1 both meet the requirements for movement and achieve the purpose of guidance.

[0043] Reference Figure 6 and Figure 7 The track 4 also includes a guide member 43, which is disposed on the walking surface 42. At least one guide wheel 6 is rotatably connected to the vehicle body 2. The guide wheel 6 has a circumferentially formed groove 61, and the guide member 43 can be embedded in the groove 61 to achieve a snap-fit ​​engagement. Under the action of magnetic adsorption, the guide member 43 can be completely embedded in the groove 61, and the groove 61 can also play a limiting role. Under the guidance of the guide member 43, the guide wheel 6 can drive the base 22 to rotate, thereby realizing the turning of the vehicle body 2. At the same time, it can ensure that the vehicle body 2 is always parallel to the walking surface 42, so that the vehicle body 2 does not tilt. This allows the track robot to achieve stable cornering.

[0044] Specifically, refer to Figure 3 and Figure 4 The walking wheel 1 and guide wheel 6 are coaxially arranged, and the drive mechanism 5 can drive both the walking wheel 1 and guide wheel 6 to rotate together. The coaxial arrangement of the walking wheel 1 and guide wheel 6 makes the structure more compact, reduces the number of transmission components, and simplifies the structure of the drive assembly, thus enabling the track robot to be miniaturized. At the same time, the guide wheel 6 can be directly integrated into the drive shaft 55, eliminating the need for a separate support structure for the guide wheel 6, thereby reducing the overall weight of the track robot. This improves the stability of the track robot during climbing and turning.

[0045] It should be noted that, to ensure strength, both the traveling wheels 1 and the guide wheels 6 are made of metal. This could potentially damage the track 4 during movement. Therefore, the side of each traveling wheel 1 that contacts the traveling surface 42 is covered with a rubber layer (not shown in the figure), and the groove 61 of the guide wheel 6 also has the same rubber layer. The rubber layer minimizes wear and damage to the track 4, and also provides advantages such as good grip and anti-slip properties, ensuring a large frictional force under the same magnetic attraction force.

[0046] Reference Figure 3 and Figure 4 Each drive shaft 55 has two magnet blocks 31, which are coaxially arranged with the walking wheel 1 and the guide wheel 6. The two magnet blocks 31 are located on both sides of the guide wheel 6 and are symmetrically arranged about the guide wheel 6. This ensures that the walking wheel 1 on both sides is subjected to balanced forces, and also ensures that the guide wheel 6 is subjected to balanced forces. In this way, the track robot can have high stability during walking.

[0047] It should be noted that the vehicle body 2 adopts an integrated design, combined with an overall lightweight and miniaturized design, and independent drive of the front and rear sets of drive wheels, enabling the track robot in this application to achieve small-radius cornering.

[0048] In this embodiment, the walking base plate 41 is made of carbon steel plate, the guide component 43 is made of stainless steel pipe, and the surface of the track 4 needs to be treated with anti-corrosion. The anti-corrosion process will not be described in detail. Different fixing methods can be adopted according to the specific location of the track 4 on site. The fixing methods can be divided into four modes: installation with a separate column, installation and fixing using the on-site steel structure, installation and fixing using on-site pipelines, and wall installation. Of course, the track is divided into a maintenance section, a parking area, a track replacement section, and a heat insulation section. The maintenance section facilitates the replacement of damaged tracks; the parking area is an area where backup machines are set on both sides or the top and bottom sides of the charging room to meet the needs of dual robot inspection; the track replacement section is a section of track set up for the track robot to enter the parking area from the working area. When the track robot exits the inspection operation and returns to the parking area, the track replacement personnel connect the track in the parking area to the main track, and the track robot enters the parking area; the heat insulation section is to isolate the two ends of the track section in the area where leakage may occur from the normal track with polymer material to prevent high temperature from being transmitted along the track, thus achieving a heat insulation effect.

[0049] Reference Figure 7 and Figure 8 When the magnet block 31 and the magnet lose sufficient magnetic attraction due to an accident, a fall protection component 7 is also installed on the vehicle body 2 to prevent the track robot from falling. When the magnet block 31 loses its magnetic attraction, the vehicle body 2 can be suspended on the track 4 under the action of the fall protection component 7.

[0050] Reference Figure 7and Figure 8 Specifically, the fall arrestor 7 includes a support arm 71, a connecting rod 72, and a rotating wheel 73. The support arm 71 is rotatably connected to the base 22 to facilitate adjustment of the installation angle. The connecting rod 72 is connected to the support arm 71, and the axis of the connecting rod 72 is parallel to the traveling surface 42. The rotating wheel 73 is rotatably connected to the end of the connecting rod 72 away from the support arm 71, and the rotating wheel 73 can travel on the top surface of the traveling base plate 41. When the traveling wheel 1 travels along the track 4, the rotating wheel 73 rotates accordingly. In the event of an accident, the support arm 71 and the rotating wheel 73 ensure that the vehicle body 2 will not fall off the track 4.

[0051] Of course, multiple fall protection components 7 can be provided. In this embodiment, four fall protection components 7 are provided, and the four fall protection components 7 are arranged in a rectangular shape to ensure safety and stability.

[0052] To achieve a lightweight design for the track robot, the material of the vehicle body 2 needs to meet the requirements of being lightweight, high-strength, heat-resistant, and wear-resistant. Preferred materials include specialized aluminum alloys resistant to seawater corrosion and aerospace-grade aluminum alloys. When the inherent corrosion resistance of the metal material is insufficient, a protective layer can be applied to its surface to isolate the metal from the water mist layer and prevent corrosion. Electroplating or spraying methods can be used. The track robot needs to be kept in a high-humidity environment for extended periods and requires cleaning after operation, necessitating specialized waterproof and sealing designs. It should also possess explosion-proof performance, i.e., employing an explosion-proof shell to meet national explosion-proof standards. Specific details are not provided in this embodiment.

[0053] Of course, appropriate weight and center of gravity design are also important for track robots, as they can effectively improve performance. This means comprehensively considering the performance requirements of track robots, such as motion performance and load-bearing capacity, and performing global optimization on the power of the track robot's motor 51, the diameter of the walking wheel 1, structural parameters, overall weight, and center of gravity distribution. This ensures that the track robot achieves optimal comprehensive performance in terms of motion performance and overall weight through reasonable component selection, structural design, and layout optimization.

[0054] The implementation principle of a track robot according to this application embodiment is as follows: First, track 4 is laid, and a suitable fixing method is determined according to the path planning. After track 4 is laid, the track robot is placed on track 4. Under the combined action of magnet block 31 and magnet, the vehicle body 2 can be suspended on track 4, and each walking wheel 1 can abut against the walking surface 42. The guide member 43 can be embedded in the groove 61 of the guide wheel 6. After confirming that the position of the track robot is correct, the anti-fall component 7 is adjusted so that the rotating wheel 73 abuts against the top surface of the walking base plate 41. The detection devices are turned on, and the drive mechanism 5 drives the walking wheel 1 to walk along the setting direction of the guide member 43. When the track robot walks horizontally, the sum of gravity and the supporting force of track 4 and the magnetic attraction force are a pair of balanced forces. Therefore, when the magnetic attraction force meets the requirements, after the drive mechanism 5 drives the walking wheel 1 to rotate, the track robot can achieve normal walking in a horizontal state. When the track robot moves uphill or downhill or vertically, the supporting force and the magnetic attraction force are a pair of balanced forces. Due to the presence of the magnetic attraction force, there is a supporting force between the walking surface 42 and the walking wheel 1. According to the force analysis, the friction force can be increased, which can reduce the occurrence of slippage. The track robot is more stable when going uphill or downhill, which improves the stability of the track robot when walking. It can even achieve stable vertical walking, making the track robot more flexible and further expanding its range of motion, that is, it can achieve horizontal turning, vertical turning, horizontal walking, vertical walking and small radius turning.

[0055] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A track-mounted robot, characterized in that: It includes a vehicle body (2), a magnetic suction assembly (3), a track (4), a drive mechanism (5), and wheels (1); The drive mechanism (5) is mounted on the vehicle body (2), and at least two walking wheels (1) are provided. Each walking wheel (1) is rotatably connected to the vehicle body (2). The drive mechanism (5) drives each walking wheel (1) to walk along the direction set by the track (4). The magnetic suction assembly (3) includes a plurality of magnet blocks (31), each of the magnet blocks (31) is disposed on the vehicle body (2), and there is a gap between each of the magnet blocks (31) and the bottom of the track (4); The track (4) has a running surface (42) formed on it for each of the walking wheels (1) to pass through. The vehicle body (2) can be suspended on the track (4) under the magnetic attraction of each of the magnet blocks (31). Each of the walking wheels (1) can always be tangent to the running surface (42) under the magnetic attraction of each of the magnet blocks (31). Each of the walking wheels (1) is provided with a magnet, and the magnet and the track (4) can generate a magnetic adsorption effect; It also includes a fall protection assembly (7) for support, which allows the vehicle body (2) to be suspended on the track (4) under the action of the fall protection assembly (7) when the magnet block (31) loses its magnetic attraction. The fall arrestor assembly (7) includes a support arm (71), a connecting rod (72), and a rotating wheel (73). The support arm (71) is rotatably connected to the vehicle body (2), the connecting rod (72) is connected to the support arm (71), the axis of the connecting rod (72) is parallel to the running surface (42), and the rotating wheel (73) is rotatably connected to the end of the connecting rod (72) away from the support arm (71). The rotating wheel (73) can travel on the top surface of the running surface (42).

2. The orbital robot according to claim 1, characterized in that: It also includes at least one guide wheel (6), which is rotatably connected to the vehicle body (2). The track (4) includes a walking base plate (41) and a guide member (43). The walking surface (42) is formed on the walking base plate (41), and the guide member (43) is disposed on the walking surface (42). The guide wheel (6) can engage with the guide member (43).

3. The orbital robot according to claim 2, characterized in that: The vehicle body (2) includes a main body (21) and a base (22). The main body (21) and the base (22) are rotatably connected by bearings. The driving wheel (1) and the guide wheel (6) are rotatably connected to the base (22). The guide wheel (6) has a circumferentially arranged groove (61) formed on it. The guide member (43) can be embedded in the groove (61).

4. The orbital robot according to claim 3, characterized in that: The drive mechanism (5) includes a transmission shaft (55), and the walking wheel (1), the guide wheel (6) and the magnet block (31) are coaxially arranged. The drive mechanism (5) can drive the walking wheel (1) and the guide wheel (6) to rotate together.

5. The orbital robot according to claim 4, characterized in that: Two magnet blocks (31) are provided on each of the drive shafts (55), and the two magnet blocks (31) are located on both sides of the guide wheel (6) and are symmetrically arranged about the guide wheel (6).

6. The orbital robot according to claim 1, characterized in that: The two walking wheels (1) form a set of drive wheels. The two walking wheels (1) are located on both sides of the vehicle body (2). Multiple drive mechanisms (5) are provided. Each drive mechanism (5) drives only one set of drive wheels to rotate.

7. The orbital robot according to claim 1, characterized in that: The magnet is installed in each of the walking wheels (1) by radial magnetization, and the cross-section of the magnet is bowl-shaped.

8. The orbital robot according to claim 1, characterized in that: Each of the walking wheels (1) has a rubber layer covering the side that contacts the walking surface (42).

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