A track-type robot single-track multi-machine switching system

Abstract

The invention discloses a track-type robot single-track multi-machine switching system, belonging to the technical field of tunnel engineering, wherein the track comprises two sections of first walking rails and a second walking rail located between the two first walking rails, wherein the second walking rail is driven to rotate and switches between a first position and a second position by power, and the switching system comprises: a base, fixedly mounted on a tunnel side wall; a turntable, rotatably connected to the base and driven to rotate by power, wherein the turntable has a plurality of workstations, each of which is provided with a docking rail capable of moving radially along the turntable, wherein the docking rail is used to place the track-type robot; a linkage assembly, arranged at the upper end of the turntable, wherein each docking rail moves toward the outside of the turntable when it moves to the docking workstation through the linkage assembly; through the position change of the first walking rail, the rotation of the turntable and the cooperation of the linkage assembly, the first walking rail can be docked with the docking rail, thereby replacing the track-type robot.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel engineering, and in particular to a track-type robot single-track multi-machine switching system. Background Art

[0002] When traditional track-mounted robots are replaced in a tunnel (for example, switching between track inspection robots and track cleaning robots), human intervention is required. The replacement process consumes manpower and material resources and affects the normal passage in the tunnel. With the development of technology, track-mounted robots currently mostly use an assembly line-style automatic switching system. The track-mounted robots move along the tracks in the tunnel to the machine room outside the tunnel (a place where multiple track-mounted robots are integrated) for replacement operations.

[0003] For the track-type robot switching system in the prior art, in order to set up the replacement device outside the tunnel, additional land leveling, infrastructure construction, protective facilities and other projects are required, which will increase the construction cost. In addition, in some long tunnels, the robot may need to spend a lot of time on the round trip, thereby reducing the actual time for tunnel inspection and maintenance, etc., affecting the working efficiency of the track-type robot. At present, the best solution for the above defects is to use the track middle section replacement, that is, to arrange the switching system in the middle section of the tunnel and integrate it with the middle section of the track to realize the switching of the track-type robot. Therefore, the current difficulties are as follows: First, most of the tunnel tracks are single-track. How to remove the track-type robot from the running track and replace it with a new track-type robot; second, considering the humid environment in the tunnel, it is inevitable to use too many drive parts in the switching system, so the possibility of electrical failure caused by the humid environment is also greatly increased.

[0004] To this end, it is necessary to provide a track-type robot single-track multi-machine switching system that can solve the above-mentioned defects. Summary of the invention

[0005] The embodiment of the present invention provides a track-type robot single-track multi-machine switching system to solve the problems in the prior art.

[0006] The embodiment of the present invention adopts the following technical scheme: a track-type robot single-track multi-machine switching system, which is arranged beside the tunnel track, the track-type robot self-drives and walks on the track, the track includes two sections of first walking rails and a second walking rail located between the two first walking rails, the second walking rail is driven to rotate by power and switches between a first position and a second position, the robot switching system includes: a base, fixedly installed on the side wall of the tunnel; a turntable, rotatably connected to the base and driven to rotate by power, the turntable has a plurality of stations, each station is equipped with a docking rail that can move radially along the turntable, the docking rail is used to place the track-type robot, wherein a station of the turntable close to the track is a docking station; a linkage component, arranged at the upper end of the turntable, through which each docking rail moves to the outside of the turntable when it moves to the docking station; when the second walking rail is in the first position, it docks with the two first walking rails; when the second walking rail is in the second position, it is directly opposite to the docking station of the turntable, so that when any docking rail moves to the docking station, it docks with the second walking rail.

[0007] Preferably, a slide rail is installed on each workstation, and a slide frame slidably connected thereto is correspondingly installed on each slide rail, and the docking rail is installed on the slide frame.

[0008] Preferably, the linkage assembly includes a cam and a first bracket, the cam is located above the turntable and in the middle of several workstations, the cam is fixedly connected to the tunnel wall through the first bracket, each sliding frame is equipped with a bull's eye wheel bearing, and each sliding frame is provided with a group of first elastic components on the side to elastically support the sliding frame, so that the bearing end of the bull's eye wheel bearing abuts against the cam, and each docking rail extends outward when moving to the docking station to achieve docking with the second walking rail in the second position.

[0009] Preferably, the first elastic component includes at least a guide rod, a second bracket and a first spring, the guide rod is fixedly connected to the sliding frame and its axial direction is consistent with the sliding direction of the sliding frame, the second bracket is located beside the corresponding sliding frame and is fixedly connected to the turntable, the guide rod passes through the second bracket and slides with it, and the first spring is sleeved on the guide rod and is located between the second bracket and the sliding frame to elastically support the sliding frame.

[0010] Preferably, each sliding frame is provided with a locking assembly, which has at least one insertion rod that can move longitudinally. When the sliding frame moves to the docking station, the insertion rod can be inserted into the core structure on the second running rail in the second position to achieve locking of the second running rail and the docking rail.

[0011] Preferably, the locking assembly also includes: a baffle, which slides relative to the sliding frame along the sliding direction of the sliding frame; a second elastic assembly, which is installed on the sliding frame to elastically support the baffle; a third bracket, which is fixedly installed on the end of the sliding frame away from the center of the turntable, and a pulley is installed on the third bracket; a rope, one end of which is guided and transmitted by the pulley, and the two ends of the rope are respectively fixedly connected to the baffle and the insertion rod; when there is no track robot on the docking rail, the second elastic assembly pushes the baffle to move to the side away from the center of the turntable, and the insertion rod drops to the lower limit position. When a track robot enters the docking rail, the baffle is squeezed by the track robot to move to the side close to the center of the turntable, so as to drive the insertion rod to rise to the upper limit position.

[0012] Preferably, the third bracket is provided with a longitudinally arranged positioning hole, and the insertion rod is at least partially slidably connected in the positioning hole.

[0013] Preferably, the core structure is configured as a fixed block, which is fixedly mounted on the first walking rail, and has an arc surface at its side end and a socket located in the middle thereof; when the second walking rail is in the second position and there is no track robot on the docking rail, during the process of the docking rail moving to the docking station, the rotation of the turntable can enable the insertion rod to move from its lower limit position along the arc surface and enter the socket.

[0014] Preferably, a lifting assembly capable of driving the insertion rod to move upward is provided on the second walking rail.

[0015] Preferably, the lifting assembly includes a guide rod that longitudinally penetrates the second walking rail body and is slidably connected thereto, the lower end of the guide rod is connected to an arc block, and a group of third elastic components are provided on the side of the guide rod to give the guide rod an elastic force to move downward, and the side of the track-type robot close to the lower end of the track is provided with an arc portion, when the track-type robot moves to directly below the arc block, the arc block abuts against the arc portion; the top of the guide rod is fixedly connected to a paddle plate, and when the paddle plate rises, it can push the side wings at the top of the insertion rod to move the insertion rod upward.

[0016] At least one of the above technical solutions adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0017] Firstly, the present invention divides the track into segments of the first walking rail and the second walking rail. By changing the position of the first walking rail, rotating the turntable and cooperating with the linkage assembly, the first walking rail can be docked with the docking rail, thereby replacing the track-type robot. This design concept can directly complete the switching of the track-type robot in the tunnel. Compared with the prior art method that requires switching outside the tunnel, it saves the cost of the overall switching system to a certain extent and effectively improves the switching efficiency of the track-type robot.

[0018] Secondly, the present invention not only realizes the rotation of the turntable through the driving source at the turntable, but also cleverly utilizes the mechanical structure in the linkage assembly, so that after the turntable is rotated into place, it also completes the stable docking between the docking rail and the second walking rail. This innovative design enables the track-type robot to switch smoothly, greatly improves the working efficiency and reduces the complexity of operation. Secondly, the present invention greatly reduces the use of driving parts and instead adopts all mechanical structures. This change not only simplifies the structural design and reduces costs, but also improves the stability and reliability of the system. Compared with driving parts, mechanical structures have better durability and anti-interference performance, especially in the humid environment of such tunnels, and effectively avoids excessive electrical failures caused by environmental factors.

[0019] Thirdly, the mechanical structures in the locking assembly and the lifting assembly of the present invention cooperate with the linkage assembly and the rotation of the turntable, so that the second walking rail and the docking rail can be docked while ensuring the docking stability between the two through the cooperation between the insertion rod and the socket, thereby avoiding other factors such as instability or shaking at the docking point between the second walking rail and the docking rail that affect the smooth operation of the track-type robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0023] Figure 3 It is a schematic diagram of the two first running rails and the second running rails of the present invention being connected;

[0024] Figure 4 It is a plan view schematically showing the second running rail of the present invention being docked with the docking rail;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure when the second running rail of the present invention is docked with the docking rail;

[0026] Figure 6 It is a schematic diagram of a partial three-dimensional structure of the second running track of the present invention;

[0027] Figure 7 It is a partial three-dimensional structural cross-sectional view of the second running rail of the present invention;

[0028] Figure 8 for Figure 7 A local enlarged view of point A in FIG.

[0029] Reference numerals

[0030] 1-track robot; 11-arc-shaped portion; 2-first walking rail; 3-second walking rail; 31-first rotating shaft; 32-first rotating driving source; 4-base; 5-turntable; 51-docking rail; 52-slide rail; 53-slide frame; 54-second rotating shaft; 55-second rotating driving source; 6-linkage assembly; 61-cam; 62-first bracket; 63-bull's eye wheel bearing; 64-first elastic assembly; 641-guide rod; 642-second bracket; 643-first spring; 7-locking assembly; 71 -insertion rod; 711-side wing; 712-blocking piece; 72-blocking plate; 73-second elastic component; 731-first guide column; 732-second spring; 74-third bracket; 741-pulley; 742-positioning hole; 743-limiting cover; 75-rope; 76-fixing block; 761-arc surface; 762-insertion hole; 8-lifting component; 81-guide rod; 811-arc block; 812-push plate; 813-limiting part; 82-third elastic component; 821-fourth bracket; 822-third spring. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0033] Reference Figures 1 to 8 As shown, an embodiment of the present invention provides a track-type robot single-track multi-machine switching system, which is arranged beside the tunnel track. The track-type robot 1 is self-driven and walks on the track. The track includes two sections of first walking rails 2 and a second walking rail 3 located between the two first walking rails 2. The second walking rail 3 is driven to rotate and switch between a first position and a second position. Specifically, a first rotating shaft 31 is provided in the middle of the second walking rail 3, and a first rotating drive source 32 is fixedly connected to the top wall of the tunnel through a bracket. The first rotating drive source 32 is transmission-connected to the first rotating shaft 31 to drive the second walking rail 3 to switch between the first position and the second position.

[0034] The switching system mainly includes a base 4, a turntable 5 and a linkage assembly 6. The base 4 is fixedly installed on the side wall of the tunnel and should be located beside the second walking rail 3. A protective shell (such as Figure 1 The shell structure above the base shown in the figure) can protect the entire device from dust.

[0035] The turntable 5 is rotatably connected to the base 4 and is driven to rotate by power. Specifically, Figure 2 As shown, the turntable 5 has a second rotating shaft 54 ​​, which is connected to a second rotation driving source 55 , and the turntable 5 is driven to rotate by the second rotation driving source 55 .

[0036] The turntable 5 has a plurality of workstations, each of which is equipped with a docking rail 51 that can move radially along the turntable 5. The docking rail 51 is used to place the track-type robot 1, wherein a workstation of the turntable 5 close to the track is a docking workstation. Figure 2 and Figure 4 As shown, a slide rail 52 is installed on each work station, and a sliding frame 53 slidably connected thereto is correspondingly installed on each slide rail 52 , and the docking rail 51 is installed on the sliding frame 53 , so that the docking rail 51 can move radially along the turntable 5 .

[0037] The linkage assembly 6 is arranged at the upper end of the turntable 5, and each docking rail 51 moves to the outside of the turntable 5 when it moves to the docking station through the linkage assembly 6; when the second running rail 3 is in the first position, it docks with the two first running rails 2; when the second running rail 3 is in the second position, it faces the docking station of the turntable 5, so that when any docking rail 51 moves to the docking station, it docks with the second running rail 3. It should be noted that both ends of the second running rail 3 and the docking rail 51 are set as rounded surfaces (such as Figures 3 to 5 As shown), it is ensured that when the docking rail 51 and the second running rail 3 are docked under the action of their respective rotations, there will be no travel and position conflicts between the ends of the two, and they can be docked smoothly.

[0038] In this embodiment, if Figure 2As shown, four workstations are provided on the turntable 5, and the adjacent workstations are cross-arranged with the track-type robots 1. After the track-type robot 1 moves to the second walking rail 3, it stops on the second walking rail 3 by its own locking structure (which is the prior art of the track-type robot 1), and then the second walking rail 3 moves to the second position so that it is opposite to the docking workstation of the turntable 5. Under the action of the linkage assembly 6, the docking rail 51 on which the track-type robot 1 is not placed moves to the docking workstation and can move and extend radially along the turntable 5, so that the docking rail 51 is docked with the second walking rail 3, and then the track-type robot 1 located on the second walking rail 3 can be smoothly moved to the empty docking rail 51.

[0039] Subsequently, the turntable 5 continues to operate so that the docking rail 51 with the track-type robot 1 on the next station moves to the docking station, and then the new track-type robot 1 can be moved to the second walking rail 3, and then the second walking rail 3 rotates to the first position again to achieve docking with the two first walking rails 2, thereby completing the replacement of the two track-type robots 1. In summary, the switching of the two track-type robots 1 can be completed in the middle of the track, and it is applied in longer tunnels with high switching efficiency. In addition, during the switching process of the two track-type robots 1, the second walking rail 3 can be docked with the docking rail 51 only by the pure mechanical structure in the linkage assembly 6.

[0040] In some practical applications, based on any one or more of the above embodiments, the linkage assembly 6 can adopt the following structure to realize the rotation of the turntable 5 while moving the docking rail 51 to the outside of the turntable 5 so that it docks with the end of the second running rail 3.

[0041] like Figure 2 and Figure 5As shown, the linkage assembly 6 includes a cam 61 and a first bracket 62. The cam 61 is located above the turntable 5 and in the middle of several workstations. The cam 61 is fixedly connected to the tunnel wall through the first bracket 62. A bull's eye wheel bearing 63 is installed on each sliding frame 53. A group of first elastic components 64 are arranged on the side of each sliding frame 53 to elastically support the sliding frame 53, so that the bearing end of the bull's eye wheel bearing 63 is against the cam 61. When each docking rail 51 moves to the docking station, it extends outward to achieve docking with the second walking rail 3 in the second position. Specifically, the first elastic component 64 includes at least a guide rod 641, a second bracket 642 and a first spring 643. The guide rod 641 is fixedly connected to the sliding frame 53 and its axial direction is consistent with the sliding direction of the sliding frame 53. The second bracket 642 is located beside the corresponding sliding frame 53 and is fixedly connected to the turntable 5. The guide rod 641 passes through the second bracket 642 and slidably cooperates with it. The first spring 643 is sleeved on the guide rod 641 and is located between the second bracket 642 and the sliding frame 53 to elastically support the sliding frame 53.

[0042] In this embodiment, the first elastic component 64 can ensure that the bull's eye wheel bearing 63 on any sliding frame 53 always rests on the surface of the cam 61. The special shape of the cam 61 surface allows the docking rail 51 to follow the corresponding sliding frame 53 and move radially along the turntable 5 during the rotation of the turntable 5. When the docking rail 51 moves to the docking station, the docking rail 51 moves to the outermost side to complete the docking with the second walking rail 3.

[0043] In another practical application, based on any one or more of the above embodiments, each sliding frame 53 may be provided with a set of locking components 7, such as Figure 2 and Figure 4 As shown, the locking assembly 7 has at least one insert rod 71 that can move longitudinally. When the sliding frame 53 moves to the docking station, the insert rod 71 can be inserted into the core structure on the second walking rail 3 in the second position to achieve the locking of the second walking rail 3 and the docking rail 51. The locking of the insert rod 71 ensures the stable docking between the docking rail 51 and the second walking rail 3, avoiding the vibration caused by the movement of the track-type robot 1 to the docking point between the docking rail 51 and the second walking rail 3, which affects the docking stability between the two rails, thereby affecting the walking of the track-type robot 1.

[0044] Specifically, if Figure 2 , Figure 4 and Figure 5 As shown, one embodiment of the locking assembly 7 further includes a baffle 72 , a second elastic assembly 73 , a third bracket 74 and a rope 75 .

[0045] The baffle 72 slides relative to the sliding frame 53 along the sliding direction thereof; the second elastic component 73 is mounted on the sliding frame 53 to elastically support the baffle 72; in some practical applications, the second elastic component 73 includes a first guide post 731 and a second spring 732 mounted on the sliding frame 53, the first guide post 731 can be configured with two groups and both pass through the baffle 72 and slide with it, so as to support the baffle 72 and realize the relative sliding between the baffle 72 and the sliding frame 53, and the second spring 732 is arranged on the first guide post 731 and can be used to support the baffle 72, and the second spring 732 gives the baffle 72 an elastic force to move along the first guide post 731 away from the center of the turntable 5. A stop plate is also provided at the end of the first guide post 731 to prevent the baffle 72 from falling off the first guide post 731.

[0046] The third bracket 74 is fixedly mounted on one end of the sliding frame 53 away from the center of the turntable 5, and a pulley 741 is installed on the third bracket 74; one end of the rope 75 is guided and transmitted through the pulley 741, and the two ends thereof are respectively fixedly connected to the baffle 72 and the plug rod 71; specifically, a limit cover 743 is provided on the third bracket 74, and the limit cover 743 is located on the top of the pulley 741 to limit the rope 75 to always be located on the pulley 741.

[0047] Specifically, the third bracket 74 is provided with a longitudinally arranged positioning hole 742 (such as Figure 8 ), the insertion rod 71 is at least partially slidably connected to the positioning hole 742 to guide the insertion rod 71 and ensure the vertical movement of the insertion rod 71.

[0048] The plug-in structure corresponding to the locking assembly 7 is configured as a fixed block 76, which is fixedly installed on the first walking rail 2. The fixed block 76 has an arc surface 761 located at its side end and a socket 762 located in the middle thereof; when the second walking rail 3 is in the second position and there is no track-type robot 1 on the docking rail 51, during the process of the docking rail 51 moving to the docking station, the rotation of the turntable 5 can make the insertion rod 71 move from its lower limit position along the arc surface 761 and enter the socket 762.

[0049] In this embodiment, when there is no track-type robot 1 on the docking rail 51, that is, when the track-type robot 1 on the second walking rail 3 needs to be moved to the empty docking rail 51, since there is no track-type robot 1 on the docking rail 51, the second elastic component 73 pushes the baffle 72 to move to the side away from the center of the turntable 5 so that the baffle 72 moves to the outer limit position. Under the guidance of the rope 75, the insertion rod 71 is dropped to the lower limit position by gravity. At this time, the second walking rail 3 is rotated to the second position in advance, and then the turntable 5 is operated to move the docking rail 51 to the docking station. During this process, the insertion rod 71 can move up along the arc surface 761 and be placed on the top of the fixed block 76. As the turntable 5 rotates into place, the insertion rod 71 is dropped again by gravity and enters the insertion hole 762, completing the stable docking between the docking rail 51 and the second walking rail 3. At this time, the track-type robot 1 to be replaced on the second walking rail 3 can be moved to the docking rail 51.

[0050] When there is a track-type robot 1 on the docking rail 51, the track-type robot 1 squeezes the baffle 72 to move to the side close to the center of the turntable 5, and under the traction of the rope 75, the insertion rod 71 is driven to rise to the upper limit position. At this time, when the docking rail 51 is moved to the docking station through the rotation of the turntable 5, the bottom end of the insertion rod 71 is located above the fixed block 76, and the insertion rod 71 can be directly moved to the top of the insertion hole 762. Subsequently, the track-type robot 1 on the docking rail 51 moves toward the docking rail 51, and the baffle 72 is gradually reset under the action of the second elastic component 73, so that the insertion rod 71 drops again and is inserted into the insertion hole 762, completing the stable docking between the docking rail 51 and the second walking rail 3. At this time, the track-type robot 1 is still completely on the docking rail 51. At this time, the track-type robot 1 can smoothly enter the second walking rail 3. With the resetting of the second walking rail 3, the switching of the track-type robot 1 can be completed, so that the new track-type robot 1 moves on the first walking rail 2 and the second walking rail 3.

[0051] In some practical applications, such as Figure 2 , Figures 4 to 8 As shown, based on the locking assembly 7 and the plug core structure, the second walking rail 3 is further provided with a lifting assembly 8 capable of driving the insertion rod 71 to move upward. The lifting assembly 8 can be electrically driven or hydraulically driven to achieve the up and down movement of the insertion rod 71, or a purely mechanical structure can be used to cooperate with the rotation of the turntable 5 and the linkage assembly 6 to achieve the adaptive movement of the insertion rod 71.

[0052] Specifically, the lifting assembly 8 includes a guide rod 81 that longitudinally penetrates the second walking rail 3 body and is slidably connected thereto, the lower end of the guide rod 81 is connected to an arc block 811 (the lower end of the guide rod 81 can also adopt a spherical structure), and a group of third elastic components 82 are provided on the side of the guide rod 81 to give the guide rod 81 an elastic force to move downward, and the side of the track-type robot 1 close to the lower end of the track is provided with an arc portion 11, when the track-type robot 1 moves to the bottom of the arc block 811, the arc block 811 abuts against the arc portion 11; the top of the guide rod 81 is fixedly connected to a dial plate 812, and when the dial plate 812 rises, it can push the side wing 711 at the top of the insertion rod 71 to move the insertion rod 71 upward.

[0053] In this embodiment, when the track-type robot 1 on the second walking rail 3 needs to be moved to the docking rail 51, the second walking rail 3 needs to be moved to the second position first, and the arc portion 11 on the track-type robot 1 is just below the arc block 811, and the arc block 811 is at the upper limit position. When the docking rail 51 moves to face the second walking rail 3, the insertion rod 71 is inserted into the insertion hole 762 (it should be noted that in the process of the insertion rod 71 moving up along the arc surface 761, the side wing 711 is located beside the dial plate 812. When the insertion rod 71 moves to the top of the fixed block 76, the side wing 711 is still located beside the dial plate 812, and at this time the height of the side wing 711 is higher than the dial plate 8 12, as the insertion rod 71 continues to move into the insertion hole 762, the side wing 711 also moves to the top of the dial plate 812), and the side wing 711 above the insertion rod 71 is still located above the dial plate 812 or is close to the upper end of the dial plate 812. As the track-type robot 1 moves toward the docking rail 51, the arc block 811 is affected by elastic force and gravity and drops to the lower limit position. The track-type robot 1 smoothly enters the docking rail 51. After the track-type robot 1 reaches the preset position, the track-type robot 1 pushes the baffle 72 to move during the movement, so that the insertion rod 71 is pulled out of the insertion hole 762 by the traction of the rope 75. At this time, the turntable 5 can be operated.

[0054] Subsequently, by rotating the turntable 5, the docking rail 51 with the new track-type robot 1 on the next station is moved to the docking station. Since there is no track-type robot 1 on the second walking rail 3 at this time, the dial plate 812 is at the lower limit position, and there is a track-type robot 1 on the new docking rail 51 at this time. Therefore, the insertion rod 71 is at the upper limit position. Therefore, during the movement of the docking rail 51 to the docking station, the side wing 711 of the insertion rod 71 on the station is always located above the dial plate 812. When the new track-type robot 1 moves from the docking rail 51 to the second walking rail 3, the baffle 72 will first reset, so that the insertion rod 71 is inserted into the socket 762, and the side wing 711 is also roughly against or close to the upper side of the dial plate 812. At this time, the new track-type robot 1 is still on the docking rail 51. Docking can ensure that the new track-type robot 1 can smoothly enter the second walking rail 3; when the new track-type robot 1 completely enters the second walking rail 3 and the arc portion 11 on the new track-type robot 1 moves to the arc block 811, under the action of the arc portion 11, the arc block 811 moves upward to the upper limit position, that is, pushes the guide rod 81 and the dial plate 812 to move upward together, and the upward movement of the dial plate 812 will push the side wing 711 to rise, so that the insertion rod 71 disengages from the socket 762, and the turntable 5 can continue to rotate about 30 degrees at this time to ensure that the docking rail 51 and the second walking rail 3 are docked, and the second walking rail 3 runs to the first position to dock with the two first walking rails 2, and the new track-type robot 1 can run on the first walking rail 2 and the second walking rail 3, thereby completing the switching of the track-type robot 1.

[0055] The present invention realizes the rotation of the turntable 5 by the first driving source at the turntable 5, and ingeniously utilizes the mechanical structures in the linkage assembly 6, the locking assembly 7 and the lifting assembly 8, so that after the turntable 5 is rotated into place, the docking rail 51 and the second walking rail 3 are stably docked at the same time. This innovative design enables the track-type robot 1 to switch smoothly, greatly improves the working efficiency and reduces the operation complexity.

[0056] Secondly, the present invention greatly reduces the use of driving components and instead adopts all mechanical structures. This change not only simplifies the structural design and reduces costs, but also improves the stability and reliability of the system. Compared with driving components, mechanical structures have better durability and anti-interference properties, especially in the humid environment of such tunnels, and effectively avoid excessive electrical failures caused by environmental factors. It can effectively improve its service life and operating efficiency in humid environments. In addition, the present invention has also achieved remarkable results in saving energy. Due to the reduction in the use of driving components, the energy consumption of the system has been effectively reduced.

[0057] In summary, the present invention has significant beneficial effects in improving operating efficiency, reducing costs, adapting to humid environments, saving energy, etc.

[0058] like Figure 6 and Figure 8 As shown, in some practical applications, the third elastic component 82 can adopt a fourth bracket 821 and a third spring 822, the fourth bracket 821 is installed on the upper side of the second walking rail 3, and the guide rod 81 passes through the fourth bracket 821 and is slidably connected thereto, and the part of the guide rod 81 located between the fourth bracket 821 and the second walking rail 3 is provided with a limiting portion 813, and the third spring 822 is sleeved on the guide rod 81 and located between the limiting portion and the fourth bracket 821 to provide the guide rod 81 with an elastic force to move downward.

[0059] The insert rod 71 may also be provided with a blocking piece 712 (such as Figure 8 ), the diameter of the baffle is larger than the diameter of the insertion rod 71, and the baffle is located at the lower side of the third bracket 74. By arranging a spring (the spring is not shown in the figure) on the insertion rod 71 and making the spring located between the baffle and the third bracket 74, a downward force can be provided for the insertion rod 71, so that the downward movement of the insertion rod 71 does not rely solely on the gravity factor, thereby ensuring the movement accuracy of the insertion rod 71.

[0060] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A track-type robot single-track multi-machine switching system, arranged beside a tunnel track, wherein the track robot (1) is self-driven and walks on the track, characterized in that: The track comprises two sections of first running rails (2) and a second running rail (3) located between the two first running rails (2), the second running rail (3) being switched between a first position and a second position by rotating through power drive, and the switching system comprises: A base (4) is fixedly mounted on the side wall of the tunnel; A turntable (5) is rotatably connected to the base (4) and driven to rotate by power, the turntable (5) having a plurality of workstations, each of which is provided with a docking rail (51) capable of moving radially along the turntable (5), the docking rail (51) being used to place the track robot (1), wherein a workstation of the turntable (5) close to the track is a docking workstation; A linkage assembly (6) is arranged at the upper end of the turntable (5), and each docking rail (51) moves toward the outside of the turntable (5) when it moves to the docking station through the linkage assembly (6); When the second running rail (3) is in the first position, it docks with the two first running rails (2); when the second running rail (3) is in the second position, it faces the docking station of the turntable (5), so that when any docking rail (51) moves to the docking station, it docks with the second running rail (3); Each workstation is equipped with a slide rail (52), each slide rail (52) is equipped with a slide frame (53) slidably connected thereto, and the docking rail (51) is installed on the slide frame (53); Each sliding frame (53) is provided with a locking assembly (7), the locking assembly (7) having at least one longitudinally movable insertion rod (71), and when the sliding frame (53) moves to the docking station, the insertion rod (71) can be inserted into the insertion core structure on the second running rail (3) at the second position, so as to achieve locking of the second running rail (3) and the docking rail (51); The second walking rail (3) is provided with a lifting assembly (8) capable of driving the insertion rod (71) to move upward.

2. A track-type robot single-track multi-machine switching system according to claim 1, characterized in that: The linkage assembly (6) comprises a cam (61) and a first bracket (62). The cam (61) is located above the turntable (5) and in the middle of a plurality of workstations. The cam (61) is fixedly connected to the tunnel wall via the first bracket (62). A bull's eye wheel bearing (63) is mounted on each sliding frame (53). A group of first elastic components (64) are arranged on the side of each sliding frame (53) to elastically support the sliding frame (53) so that the bearing end of the bull's eye wheel bearing (63) abuts against the cam (61). When each docking rail (51) moves to the docking station, it extends outward to dock with the second walking rail (3) at the second position.

3. A track-type robot single-track multi-machine switching system according to claim 2, characterized in that: The first elastic component (64) comprises at least a guide rod (641), a second bracket (642) and a first spring (643); the guide rod (641) is fixedly connected to the sliding frame (53) and its axial direction is consistent with the sliding direction of the sliding frame (53); the second bracket (642) is located beside the corresponding sliding frame (53) and is fixedly connected to the turntable (5); the guide rod (641) passes through the second bracket (642) and slidably cooperates with the second bracket (642); the first spring (643) is sleeved on the guide rod (641) and is located between the second bracket (642) and the sliding frame (53) to elastically support the sliding frame (53).

4. The track-type robot single-track multi-machine switching system according to claim 1, characterized in that: The locking assembly (7) further comprises: The baffle (72) slides relative to the sliding frame (53) along the sliding direction thereof; A second elastic component (73) is mounted on the sliding frame (53) to elastically support the baffle (72); A third bracket (74) is fixedly mounted on an end of the sliding bracket (53) away from the center of the rotating disc (5), and a pulley (741) is mounted on the third bracket (74); A rope (75), one end of which is guided and driven by a pulley (741), and the two ends of which are respectively fixedly connected to the baffle (72) and the insertion rod (71); When there is no track robot (1) on the docking rail (51), the second elastic component (73) pushes the baffle (72) to move toward a side away from the center of the turntable (5), and the insertion rod (71) descends to a lower limit position. When the track robot (1) enters the docking rail (51), the track robot (1) squeezes the baffle (72) to move toward a side close to the center of the turntable (5), thereby driving the insertion rod (71) to rise to an upper limit position.

5. A track-type robot single-track multi-machine switching system according to claim 4, characterized in that: The third bracket (74) is provided with a longitudinally arranged positioning hole (742), and the insertion rod (71) is at least partially slidably connected in the positioning hole (742).

6. A track-type robot single-track multi-machine switching system according to claim 4, characterized in that: The insert structure is configured as a fixed block (76), the fixed block (76) being fixedly mounted on the first walking rail (2), the fixed block (76) having an arc surface (761) at its side end and an insertion hole (762) at its middle; when the second walking rail (3) is in the second position and there is no track robot (1) on the docking rail (51), during the process of the docking rail (51) moving to the docking station, the rotation of the turntable (5) enables the insert rod (71) to move from its lower limit position along the arc surface (761) and enter the insertion hole (762).

7. The track-type robot single-track multi-machine switching system according to claim 1, characterized in that: The lifting assembly (8) includes a guide rod (81) that longitudinally penetrates the second walking rail (3) body and is slidably connected thereto, the lower end of the guide rod (81) is connected to an arc block (811), and a group of third elastic components (82) are provided on the side of the guide rod (81) to give the guide rod (81) an elastic force to move downward, and the track robot (1) is provided with an arc portion (11) on the side close to the lower end of the track, and when the track robot (1) moves to the bottom of the arc block (811), the arc block (811) abuts against the arc portion (11); the top of the guide rod (81) is fixedly connected to a dial plate (812), and when the dial plate (812) rises, it can push the side wing (711) at the top of the insertion rod (71) to move the insertion rod (71) upward.

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