Hanging type robot system

Abstract

The invention discloses a mounting type robot system, and belongs to the field of robots. Comprising a rail and a hanging type robot, the rail is hung and fixed through a hanging device, the rail comprises a wall plate and a pedal plate which are arranged in an inverted-T shape, symmetrical walking treads inclining downwards from the inner side to the outer side are formed on the top face of the pedal plate, and a groove-shaped structure with an upward opening is arranged on the upper portion of a machine body of the hanging type robot. The track is accommodated in the groove-shaped structure; a group of power wheels and a group of unpowered walking wheels are arranged on the two sides of the groove-shaped structure in the machine body respectively, the rotating axes of the power wheels are vertically arranged, the two groups of power wheels are pressed on the two sides of the wall plate respectively, and the power wheels are connected with a power motor; the outer ends of the rotating axes of the unpowered walking wheels incline downwards, and the two sets of unpowered walking wheels are pressed on the walking treads on the two sides correspondingly; the lower part of the body is connected with functional modules. The device can prevent the robot from rubbing the track, improves the stability of the robot during operation, and has the advantages of being small in size and simple in structure.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a mounted robot system. Background Art

[0002] Mounted robots are used in indoor ceilings (such as factories), tunnel ceilings and other application scenarios. They are mounted on fixed tracks on the top and walk along the tracks. Examples include inspection robots in tunnels or factories, fire-fighting robots in tunnels, etc.

[0003] Taking inspection robots as an example, they can provide safer, more efficient and accurate inspection services, saving time and labor costs for corporate users, and have become indispensable smart devices in many industries. In the field of transportation, inspection robots are often used for inspections in tunnels and other sections of the road.

[0004] Generally, it is necessary to set up a walking track on the top of the tunnel, etc., and the mounted robot walks on the walking track and performs corresponding functions. At present, most of the tracks used by mounted robots on the market are I-shaped structures. By adding guide wheels on the side, it is ensured that the robot does not scratch the side wall of the track during operation, which increases the complexity of robot design. Summary of the invention

[0005] The present invention provides a mounted robot system, which prevents the robot from scratching a track, improves the stability of the robot during operation, and has the advantages of small size and simple structure.

[0006] The present invention provides the following technical solutions:

[0007] A mounted robot system comprises a track and a mounted robot, wherein:

[0008] The track is suspended and fixed by a hanging device, and the track includes a vertically arranged wall panel and a tread panel located at the bottom end of the wall panel and arranged horizontally, the wall panel and the tread panel are in an inverted T shape as a whole, and the top surface of the tread panel forms symmetrical walking treads on both sides of the wall panel, and the walking tread has a slope surface with a set angle tilted downward from the inside to the outside;

[0009] The mounted robot comprises a body, an upper portion of the body is provided with a groove structure opening upward, and the track is accommodated in the groove structure;

[0010] A set of power wheels is arranged on both sides of the groove structure inside the fuselage, the rotation axis of the power wheels is arranged vertically, the two sets of power wheels are pressed on both sides of the wall plate respectively, and the power wheels are connected to power motors;

[0011] A set of unpowered running wheels is arranged on both sides of the groove structure inside the fuselage, and the outer ends of the rotation axes of the unpowered running wheels are arranged to be tilted downward, and the two sets of unpowered running wheels are pressed on the running treads on both sides of the wall panel respectively;

[0012] The lower part of the fuselage is connected with a functional module.

[0013] Further, the track includes a plurality of track units, and a connecting groove is provided on the track unit along the length direction, and the connecting groove extends from the end of the track unit along the length direction of the track unit, and two adjacent track units are fixedly connected through the connecting groove and the equipped connecting piece;

[0014] Both sides of one end of the connection groove opening have inwardly extending concave limiting parts, and the connection member includes a strip slider, which is inserted into the connection groove from one end of the track unit, and the strip slider has only the freedom to move along the length direction of the track unit under the restriction of the connection groove;

[0015] The strip-shaped slider is equipped with a first set of screws, which are connected to the strip-shaped slider and press and fix the strip-shaped slider and the concave limiting portion.

[0016] Furthermore, the track has an expansion joint at a set position, with two adjacent track units on both sides of the expansion joint, and at least one hollow slot is provided on the end faces of the track units on both sides of the expansion joint, and the hollow slot is arranged along the length direction of the track unit. The expansion joint is equipped with a track connecting pin, one end of the track connecting pin is fixed in the hollow slot of the track unit on one side of the expansion joint, and the other end slides freely in the hollow slot of the track unit on the other side of the expansion joint.

[0017] Furthermore, a busbar is provided on each side of the upper part of the track, the two busbars are respectively positive and negative, a busbar fixing beam perpendicular to the track is provided on the top of the track, a busbar clamp is provided at each end of the busbar fixing beam, and the two busbar clamps clamp and fix the two busbars respectively;

[0018] A power-taking mechanism is arranged on the fuselage, and the power-taking mechanism includes a power receiving device for contacting the busbar, the power receiving device is located below the busbar, the power receiving device is connected to the power motor through a wire, and the power receiving device is connected to a lifting device, and the lifting device includes a pulling-down mechanism for pulling the power receiving device downward and a resetting mechanism for resetting the power receiving device upward.

[0019] Furthermore, the pull-down mechanism includes a pull wire and a winding motor, the winding motor is connected to a winding roller via an output shaft, the upper end of the pull wire is directly or indirectly connected to the power receiving device, and the lower end is connected to the winding roller.

[0020] Furthermore, a rope passing plate is arranged above the winding roller, and a rope passing hole is provided on the rope passing plate, and the pull wire is passed through the rope passing hole;

[0021] The winding roller is provided with a rope pressing plate, and the rope pressing plate squeezes the lower end of the pulling wire and connects it to the winding roller.

[0022] Furthermore, a busbar groove is provided on the side of the busbar, the bottom end of the busbar clamp has a clamp for clamping the busbar groove, the top end of the busbar clamp is connected to a suspension rod, an insulator is provided on the suspension rod, and the insulator is connected to the busbar fixing beam through a U-bolt;

[0023] The power receiving device comprises a power receiving slide plate, the top surface of which is used to contact the bottom end of the busbar, a pantograph support is connected to the bottom of the power receiving slide plate, an insulating block is arranged between the pantograph support and the power receiving slide plate, and the upper end of the pull wire is connected to the pantograph support;

[0024] A first set of vertical guide shafts is connected to the bottom of the insulating block, the first set of guide shafts is passed through the pantograph support and can move up and down relative to the pantograph support; a first shock-absorbing spring is arranged on the first set of guide shafts between the pantograph support and the insulating block, the first set of guide shafts extends downward from the bottom end of the pantograph support, and a limiting ring is arranged at the bottom end of the first set of guide shafts.

[0025] Furthermore, the busbar is wrapped with an insulating cover, the bottom end of the busbar clamp is buckled on the outside of the insulating cover, and the top end is connected to the busbar fixing beam; the bottom end of the insulating cover is provided with a busbar groove for exposing the busbar, and the busbar groove is arranged along the length direction of the busbar;

[0026] The power receiving device includes a brush, the brush is used to extend into the sliding contact groove and contact the sliding contact line, the brush is arranged on the upper part of the brush bracket, and the brush bracket is made of insulating material or has an insulating layer;

[0027] A guide block is arranged below the brush bracket, a second set of vertical guide shafts are connected to the bottom of the brush bracket, the second set of guide shafts are inserted into the guide block and can move up and down relative to the guide block; a second damping spring is arranged on the second set of guide shafts between the guide block and the brush bracket;

[0028] Guide plates are arranged on both sides of the brush bracket, and the guide plates extend downwardly from the brush bracket. The guide block is located in a guide space formed by the two guide plates.

[0029] Further, the reset mechanism includes a base frame, a first connecting arm rod, a second connecting arm rod and a tension spring;

[0030] The base frame is fixed inside the fuselage, the first connecting arm rod and the second connecting arm rod are arranged in parallel, one end of the first connecting arm rod and the second connecting arm rod are rotatably connected to the base frame, and the other end of the first connecting arm rod and the second connecting arm rod are rotatably connected to the guide block or the pantograph support, and the first connecting arm rod, the guide block / pantograph support, the second connecting arm rod and the base frame sequentially form a parallelogram structure;

[0031] One end of the tension spring is connected to the first connecting arm rod, and the other end is connected to the second connecting arm rod. The tension spring is in a tensioned state, and when the guide block / pantograph support moves downward, the tension spring tends to stretch.

[0032] Furthermore, the second connecting rod is located below the first connecting rod, and a limit switch is provided below the second connecting rod;

[0033] There are two power receiving devices and two reset mechanisms, which are respectively located on both sides of the slot structure. There is one winding motor, and the winding rollers are symmetrically distributed on both sides of the winding motor.

[0034] Furthermore, the functional modules include one or more of a laser radar, a camera, a speaker, a microphone, a wetness detection module and a meteorological module.

[0035] Furthermore, a group of unpowered guide wheels are arranged on both sides of the groove structure inside the fuselage, the rotation axis of the unpowered guide wheels is arranged vertically, the unpowered guide wheels are located below the powered wheels, and the two groups of unpowered guide wheels are pressed on both sides of the tread panel respectively.

[0036] Furthermore, an anti-collision device is provided at the end of the track, and the anti-collision device includes an anti-collision seat, a hydraulic buffer and a collision column. The anti-collision seat is fixed on the track, and the hydraulic buffer and the collision column are arranged on the anti-collision seat. The axial directions of the hydraulic buffer and the collision column are parallel to the length direction of the track.

[0037] The present invention has the following beneficial effects:

[0038] The present invention designs the walking tread under the track as a slope with a certain angle. When the unpowered walking wheel runs on the walking tread, the center can be automatically adjusted due to its own gravity to ensure that the robot does not scrape against the side wall of the track wall. Compared with the I-beam structure track, it saves more materials and can support the robot without a lateral guide wheel structure without scraping the track, thereby improving the stability of the robot during operation and having a simple and reliable structure.

[0039] In addition, the present invention adopts a U-shaped structure with a groove structure for the body of the mounted robot, and accommodates the track in the groove structure. This structure allows both the powered wheels and the unpowered running wheels to be arranged inside the body, thereby reducing the volume of the mounted robot and reducing the complexity of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1 is an overall schematic diagram of a mounted robot system having a busbar and a power receiving device according to Example 1;

[0041] FIG2 is an overall schematic diagram of a mounted robot system having a busbar and a power receiving device according to Example 2;

[0042] FIG3 is a schematic diagram of the mounted robot in FIG2 ;

[0043] FIG4 is a schematic diagram of the internal structure of FIG2 ;

[0044] FIG5 is a side view of FIG4;

[0045] FIG6 is a schematic diagram of a power receiving device and a power taking mechanism thereof in Example 1;

[0046] FIG7 is a schematic diagram of a power receiving device and a power taking mechanism thereof in Example 2;

[0047] FIG8 is an overall schematic diagram of a track with a busbar of Example 2;

[0048] FIG9 is a top view of FIG8;

[0049] FIG10 is a schematic diagram of the end of FIG8;

[0050] FIG11 is a schematic diagram of a busbar of Example 2;

[0051] FIG12 is an overall schematic diagram of a track having a busbar of Example 1;

[0052] FIG13 is a side view of FIG12;

[0053] FIG14 is a schematic diagram of the busbar fixing beam of FIG12;

[0054] FIG15 is a schematic diagram of the hanging member of FIG12;

[0055] FIG16 is a schematic diagram of the extended hanging device of FIG12;

[0056] FIG17 is a schematic diagram of the end of FIG12;

[0057] FIG18 is a schematic diagram of a track;

[0058] FIG19 is a schematic diagram of the end surface structure of the track unit;

[0059] Figure 20 is a schematic diagram of the structure at the track expansion joint. DETAILED DESCRIPTION

[0060] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0061] The present invention provides a mounted robot system, as shown in FIG1-20, comprising a track 1 and a mounted robot 8, wherein:

[0062] The track 1 is suspended and fixed by a hanging device, and the track 1 includes a vertically arranged wall panel 101 and a tread panel 102 located at the bottom end of the wall panel 101 and arranged horizontally. The wall panel 101 and the tread panel 102 are in an inverted T shape as a whole. The top surface of the tread panel 102 forms symmetrical walking treads 103 on both sides of the wall panel 101, and the walking treads 103 have a slope surface with a set angle inclined downward from the inside to the outside.

[0063] The mounted robot 8 includes a fuselage 801 , and an upwardly open groove structure 802 is arranged on the upper part of the fuselage 801 . The groove structure 802 runs through the front and rear directions of the fuselage 801 . The groove structure 802 makes the cross-section of the fuselage 801 U-shaped, and the track 1 is accommodated in the groove structure 802 .

[0064] A set of power wheels 803 is arranged on both sides of the groove structure 802 inside the fuselage 901. The number of a set of power wheels 803 can be one or more, and the two sets of power wheels 803 are preferably arranged symmetrically. The rotation axis of the power wheel 803 is arranged vertically, that is, the power wheel 803 is arranged horizontally, and the two sets of power wheels 803 are pressed on both sides of the wall plate 101 respectively. The power wheel 803 is connected to a power motor 804 to provide power for the power wheel 803.

[0065] A set of non-powered running wheels 805 is arranged on both sides of the groove structure 802 inside the fuselage 801. There are multiple sets of non-powered running wheels 805. The outer ends of the rotation axes of the non-powered running wheels 805 are arranged to tilt downward, that is, the non-powered running wheels 805 are arranged to tilt. The two sets of non-powered running wheels 805 are respectively pressed on the running treads 103 on both sides of the wall plate 101 to provide support and guidance for the mounted robot.

[0066] The lower part of the fuselage 801 is connected with a functional module, which can be determined according to the task actually performed by the mounted robot. For example, assuming that the mounted robot is used for highway tunnel inspection, the functional module may include one or more of a laser radar 806, a camera 807, a speaker 808, a microphone 809, a wetness detection module 810 and a meteorological module 811.

[0067] Specifically, there are two laser radars 806 and two cameras 807. The two laser radars 806 are respectively arranged at the front and rear ends of the bottom of the fuselage 801. The two cameras 807 are also respectively arranged at the front and rear ends of the lower part of the fuselage 801. The speaker 808, the microphone 809, the wetness detection module 810 and the meteorological module 811 are arranged at the bottom of the fuselage 801.

[0068] The present invention designs the walking tread under the track as a slope with a certain angle. When the unpowered walking wheel runs on the walking tread, the center can be automatically adjusted due to its own gravity to ensure that the robot does not scrape against the side wall of the track wall. Compared with the I-beam structure track, it saves more materials and can support the robot without a lateral guide wheel structure without scraping the track, thereby improving the stability of the robot during operation and having a simple and reliable structure.

[0069] In addition, the present invention adopts a U-shaped structure with a groove structure for the body of the mounted robot, and accommodates the track in the groove structure. This structure allows both the powered wheels and the unpowered running wheels to be arranged inside the body, thereby reducing the volume of the mounted robot and reducing the complexity of the structure.

[0070] As an improvement to an embodiment of the present invention, the aforementioned track 1 includes a plurality of track units 104, and a connecting groove 105 is provided on the track unit 104 along the length direction. The connecting groove 105 extends from the end of the track unit 101 along the length direction of the track unit 101, and two adjacent track units 104 are fixedly connected by the connecting groove 105 and the equipped connecting piece 106.

[0071] Specifically, both sides of one end of the opening of the connecting groove 105 have inwardly extending concave limiting portions 107, and the connecting member 106 includes a strip slider, which is inserted into the connecting groove 105 from one end of the track unit 104, and the strip slider only has the freedom to move along the length direction of the track unit 104 under the restriction of the concave limiting portion 107 of the connecting groove 105.

[0072] The strip-shaped slider is equipped with a first set of screws 108 , and the first set of screws 108 and the washers 109 equipped therewith are connected to the strip-shaped slider, and press and fix the strip-shaped slider and the concave limiting portion 107 .

[0073] In order to facilitate the connection of the busbar fixing beam 425 , a slider nut 431 may be provided in the connection groove 105 , and the busbar fixing beam 425 may be fixed to the top of the track through the slider nut 431 .

[0074] The track 1 has an expansion joint at a set position, with two adjacent track units 104 on both sides of the expansion joint. At least one hollow slot 111 is provided on the end faces of the track units 104 on both sides of the expansion joint, and the hollow slot 111 is arranged along the length direction of the track unit 104. The expansion joint is equipped with a track connecting pin 112, one end of the track connecting pin 112 is fixed in the hollow slot 111 of the track unit 104 on one side of the expansion joint (for example, it can be fixed by a screw 113), and the other end slides freely in the hollow slot 111 of the track unit 104 on the other side of the expansion joint.

[0075] When the track expands or contracts, the unfixed side of the track connection pin can slide freely inside the hollow slot of the track unit to adapt to the change in the length of the track itself. The present invention is a non-rigid connection. Compared with the traditional rigid connection, it can automatically adjust the track gap under different temperature conditions, prevent the track from twisting and deforming due to temperature changes, and maintain the performance and stability of the track under different temperature conditions.

[0076] In order to facilitate the insertion of the track connecting pin 112 into the hollow slot 111 , insertion guides 114 are provided at both ends of the track connecting pin 112 .

[0077] One of the common solutions for mounted robots is to use batteries as a power source. However, battery-powered designs are difficult to support mounted robots to achieve a truly 7x24-hour uninterrupted working mode. Battery-powered solutions may require frequent return to charging stations to replenish energy when performing complex inspection tasks. Alternatively, power can be supplied by cables. However, when moving in tunnels, traditional cable power supply methods have problems such as cable wear, entanglement, and difficulty in management, resulting in unstable power supply.

[0078] In order to solve the above problems, the present invention arranges a busbar 401 (or 501) on each side of the upper part of the track 1, and the two busbars 401 (or 501) are respectively positive and negative electrodes. A busbar fixing beam 425 perpendicular to the track 1 is arranged on the top of the track 1, and a busbar clamp 404 (or 504) is respectively arranged at both ends of the busbar fixing beam 425. The two busbar clamps 404 (or 504) clamp and fix the two busbars 401 (or 501) respectively.

[0079] The fuselage 801 is provided with a power taking mechanism 4 (or 5), which includes a power receiving device 402 (or 502) for contacting the busbar 401 (or 501), the power receiving device 402 (or 502) being located below the busbar 401 (or 501), and the power receiving device 402 (or 502) being connected to the power motor 804 through a wire to supply power to the power motor 804. The power receiving device 402 (or 502) is connected with a lifting device, and the lifting device 402 (or 502) includes a pulling-down mechanism 507 for pulling the power receiving device downward and a resetting mechanism 508 for resetting the power receiving device 402 (or 502) upward.

[0080] The present invention is provided with a busbar and a power supply mechanism, aiming to solve the problem of continuous and stable power supply of the mounted robot during movement. The present invention supplies power to the mounted robot through the busbar, and realizes the automatic lifting and lowering of the power receiving device through the lifting device, which contacts or disconnects with the busbar, ensuring that the mounted robot obtains power supply when needed. It overcomes the defects of the existing battery power supply, realizes the 7x24-hour uninterrupted operation of the mounted robot, and greatly improves the frequency of operation of the mounted robot. In addition, the track system has a compact structure and stable performance.

[0081] In addition, it solves the problems of cable wear, entanglement and management difficulties in the existing cable power supply method, can provide continuous and stable power supply, and improve the reliability and efficiency of the power supply system. This power supply and power outage are completed through automatic control, which reduces human intervention, improves work efficiency, and has a simple structure and convenient maintenance. The lifting mechanism of the power receiving device ensures that the power receiving device is in reliable contact with the busbar when needed, reducing the possibility of poor contact, and detaches when not needed, avoiding long-term contact between the power receiving device and the busbar, thereby reducing wear and tear and increasing service life.

[0082] The present invention does not limit the specific structural form of the pull-down mechanism. In one example, the pull-down mechanism 507 includes a pull wire 519 and a winding motor 520. The winding motor 520 is connected to a winding roller 522 via an output shaft 521. The upper end of the pull wire 519 is directly or indirectly connected to the power receiving device 402 (or 502), and the lower end is connected to the winding roller 522.

[0083] When it is necessary to pull down, the winding motor 520 rotates, drives the winding roller 522, and winds the pull wire 520 on the winding roller 522, thereby pulling the power receiving device 402 (or 502) downward. The pull wire 519 can be a rope with high strength such as a steel wire rope, a polyester rope, or a polyethylene rope.

[0084] A rope plate 523 is arranged above the winding roller 522, and a rope hole 524 is provided on the rope plate 523, and the pull wire 519 is passed through the rope hole 524. When the winding motor 520 pulls and releases the pull wire 519, the rope plate 523 straightens the pull wire through the rope hole 524 to prevent winding and twisting.

[0085] In order to facilitate the fixing of the pull wire 519, a rope pressing plate 525 is provided on the winding roller 522, and the rope pressing plate 525 squeezes the lower end of the pull wire 519 and connects it to the winding roller 522. Preferably, the rope pressing plate 525 can be a part of the winding roller 522, and after the rope pressing plate 525 is connected to the winding roller 522, a complete roller is formed.

[0086] The busbar and the power receiving device of the present invention have various specific structural forms, and two examples are given below:

[0087] Example 1:

[0088] The side of the busbar 401 is provided with a busbar groove 403, the bottom of the busbar clamp 404 has a clamp for clamping the busbar groove 403, the top of the busbar clamp 404 is connected to the suspension rod 426, the suspension rod 426 is provided with an insulator 427, and the insulator 427 is connected to the busbar fixed beam 425 through a U-bolt 428. A washer 429 is provided on the top of the insulator 427, the suspension rod 426 is sleeved with a slotted nut 430, the slotted nut 430 is equipped with a corresponding cotter pin, and the slotted nut 430 and the washer 429 fix the insulator 427 to the suspension rod 426.

[0089] To prevent the busbar 401 from moving or shaking, the busbar 401 is fixed by a feeder clamp 432. The busbar 401 can be formed by splicing multiple sections, and the splicing parts are connected by a busbar intermediate connector 433.

[0090] Correspondingly, the power receiving device 402 includes a power receiving slide plate, the top surface of which is used to contact the bottom end of the busbar 401, and a pantograph support 407 is connected to the bottom of the power receiving slide plate as a structural support of the power receiving slide plate, and the upper end of the pull wire 519 is connected to the pantograph support 407. An insulating block 408 is provided between the pantograph support 407 and the power receiving slide plate to insulate the power receiving slide plate from other structures.

[0091] A vertical first group of guide shafts 409 are connected to the bottom of the insulating block 408. The first group of guide shafts 409 are inserted into the pantograph support 407 and can move up and down relative to the pantograph support 407. A first damping spring 410 is arranged on the first group of guide shafts 409 between the pantograph support 407 and the insulating block 408 to provide a buffering effect when the power receiving slide plate contacts the busbar. The first group of guide shafts 409 extend downward from the bottom end of the pantograph support 407, and a limiting ring 411 is arranged at the bottom end of the first group of guide shafts 409 to prevent the first group of guide shafts 409 from slipping out of the pantograph support 407 upward.

[0092] Example 2:

[0093] The busbar 501 is wrapped with an insulating cover 503, the bottom end of the busbar clamp 504 is buckled on the outside of the insulating cover 503, and the top end is connected to the busbar fixing beam 425; the bottom end of the insulating cover 503 is provided with a busbar groove 505 that exposes the busbar 501, and the busbar groove 505 is arranged along the length direction of the busbar 501.

[0094] Correspondingly, the power receiving device 502 includes a brush, which is vertically arranged on the upper part of the brush bracket 509. The brush is used to extend into the sliding contact groove 505 and contact the sliding contact line 501. The brush bracket 509 serves as a support for the brush and is used to connect with other components. The brush bracket 509 is made of insulating material or has an insulating layer, which is used to insulate the brush from other structures.

[0095] A guide block 510 is arranged below the brush bracket 509, and a second set of vertical guide shafts 511 are connected to the bottom of the brush bracket 509. The second set of guide shafts 511 pass through the guide block 510 and can move up and down relative to the guide block 510; a second shock-absorbing spring 512 is arranged on the second set of guide shafts 511 between the guide block 510 and the brush bracket 509, which is used to provide a buffering effect when the brush contacts the busbar.

[0096] Guide plates 513 are provided on both sides of the brush bracket 509 . The guide plates 513 extend downward from the brush bracket 509 . The guide block 510 is located in a guide space formed by the two guide plates 513 , providing guidance for the up and down movement of the guide block 510 .

[0097] The present invention does not limit the specific structural form of the reset mechanism. As an example, the reset mechanism 508 includes a base frame 514 , a first connecting arm rod 515 , a second connecting arm rod 516 and a tension spring 517 .

[0098] The base frame 514 is fixed inside the fuselage 801, the first connecting arm rod 515 and the second connecting arm rod 516 are arranged in parallel, one end of the first connecting arm rod 515 and the second connecting arm rod 516 are rotatably connected (e.g., hinged) to the base frame 514, and the other end is rotatably connected to the guide block 510 or the pantograph support 407, and the first connecting arm rod 515, the guide block 510 / the pantograph support 407, the second connecting arm rod 516 and the base frame 514 sequentially form a parallelogram structure. Since the connection is a rotatable connection, the formed parallelogram structure can be rotated and deformed.

[0099] One end of the tension spring 517 is connected to the first connecting arm 515, and the other end is connected to the second connecting arm 516. The tension spring 517 is in a tensioned state, and when the guide block 510 / pantograph support 407 moves downward, the tension spring 517 tends to stretch.

[0100] When the pull-down mechanism 507 pulls the guide block 510 / pantograph support 407 downward, one end of the parallelogram-shaped guide block 510 / pantograph support 407 moves downward, and the tension spring 517 stretches. When the downward pulling force of the pull-down mechanism 507 disappears, the tension spring 517 returns to its original position and shortens, pulling the guide block 510 / pantograph support 407 upward.

[0101] For the power receiving device 502 of Example 2, the upper end of the pull wire 519 may be connected to the first connecting arm rod 515 or the second connecting arm rod 516 .

[0102] As a preferred embodiment, the second connecting arm 516 is located below the first connecting arm 515, and a limit switch 518 is provided below the second connecting arm 516. When the second connecting arm 516 touches the limit switch 518 during the descent process, the winding motor is automatically controlled to stop to prevent damage caused by excessive travel.

[0103] Since the busbar has two positive and negative poles, there are two power receiving devices 402 (or 502) and two reset mechanisms 508, which are respectively located on both sides of the slot structure 802. There is one winding motor 520, and the winding rollers 522 are symmetrically distributed on both sides of the winding motor 520, respectively cooperating with the two power receiving devices.

[0104] In one example, a set of non-powered guide wheels 812 is respectively arranged on both sides of the groove structure 802 inside the fuselage 801, and the number of a set of non-powered guide wheels 812 is at least one. The rotation axis of the non-powered guide wheel 812 is arranged vertically, that is, the non-powered guide wheel 812 is arranged horizontally, and the non-powered guide wheel 812 is located below the power wheel 803. In addition, the two sets of non-powered guide wheels 812 are respectively pressed on both sides of the tread plate 102, and cooperate with the side of the tread plate 102 for guidance.

[0105] In order to prevent the mounted robot from losing control and colliding with the end of the track 1 and damaging it, the present invention is provided with an anti-collision device 7 at the end of the track 1, and the anti-collision device 7 includes an anti-collision seat 701, a hydraulic buffer 702 and a collision column 703. The anti-collision seat 701 is fixed on the track 1, and the hydraulic buffer 702 and the collision column 703 are arranged on the anti-collision seat 701. The axial directions of the hydraulic buffer 702 and the collision column 703 are parallel to the length direction of the track 1 and face the inner side of the end of the track 1.

[0106] The present invention does not limit the specific structural form of the hanging device. In one example, the hanging device includes one or more of a hanging piece 601 , an anti-fall safety rope 602 , an anti-tilt hanging piece 606 , an end fixing hanger 607 and an extended hanging device 614 .

[0107] The hanger 601 includes a hanger base 603 and a clamp 604 arranged below the hanger base 603. The hanger base 603 is connected to the clamp 604 through a bolt sleeve 605 with adjustable length. The upper part of the wall panel 101 is concave and narrowed to form a hanging part 110. The clamp 604 is clamped on the hanging part 110, and the top of the hanger base 603 is suspended and fixed on the top of the tunnel or factory building.

[0108] The bottom end of the anti-falling safety rope 602 is fixed in the connecting groove 105, and the top end is suspended and fixed on the tunnel or the top of the workshop. The bottom end of the anti-falling safety rope 602 can be fixed by a slider nut pre-arranged in the connecting groove 105.

[0109] The anti-tilt hanger 606 includes an anti-tilt hanger base 608 and a first connecting plate 609 fixed below the anti-tilt hanger base 608. The first connecting plate 609 is fixed to the upper part of the wall plate 101 by a second set of screws 610. The connection between the anti-tilt hanger and the track is a rigid connection, which can prevent the track from tilting.

[0110] The end fixing hanger 607 includes an end fixing hanger base 611 and a second connecting plate 612 fixed below the end fixing hanger base 611 . The second connecting plate 612 is fixed to the end of the track 1 by a third set of screws 613 .

[0111] The extended hanging device 614 includes an extended hanging device base 615 and an extended clamp 616 connected below the extended hanging device base 615. The extended clamp 616 is clamped on the hanging part 110, and the top of the extended hanging device base 615 is suspended and fixed on the top of the tunnel or factory building.

[0112] The extended hanging device 614 is provided with a ring hanging device 617 on both sides. The bottom of the ring hanging device 617 is fixed to the hanging part 110 by a clamp 604, and the top of the ring hanging device 617 is fixed to the extended hanging device base 615 by an inclined basket bolt 618.

[0113] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mounted robot system, characterized in that: Includes track and mounted robots, including: The track is suspended and fixed by a hanging device, and the track includes a vertically arranged wall panel and a tread panel located at the bottom end of the wall panel and arranged horizontally, the wall panel and the tread panel are in an inverted T shape as a whole, and the top surface of the tread panel forms symmetrical walking treads on both sides of the wall panel, and the walking tread has a slope surface with a set angle tilted downward from the inside to the outside; The mounted robot comprises a body, an upper portion of the body is provided with a groove structure opening upward, and the track is accommodated in the groove structure; A set of power wheels is arranged on both sides of the groove structure inside the fuselage, the rotation axis of the power wheels is arranged vertically, the two sets of power wheels are pressed on both sides of the wall plate respectively, and the power wheels are connected to power motors; A set of unpowered running wheels is arranged on both sides of the groove structure inside the fuselage, and the outer ends of the rotation axes of the unpowered running wheels are arranged to be tilted downward, and the two sets of unpowered running wheels are pressed on the running treads on both sides of the wall panel respectively; The lower part of the fuselage is connected with a functional module.

2. The mounted robot system according to claim 1, characterized in that: The track includes multiple track units, each of which is provided with a connecting groove along the length direction, the connecting groove extending from the end of the track unit along the length direction of the track unit, and two adjacent track units are fixedly connected through the connecting groove and the equipped connecting piece; Both sides of one end of the connection groove opening have inwardly extending concave limiting parts, and the connection member includes a strip slider, which is inserted into the connection groove from one end of the track unit, and the strip slider has only the freedom to move along the length direction of the track unit under the restriction of the connection groove; The strip-shaped slider is equipped with a first set of screws, which are connected to the strip-shaped slider and press and fix the strip-shaped slider and the concave limiting portion.

3. The mounted robot system according to claim 2, characterized in that: The track has an expansion joint at a set position, with two adjacent track units on both sides of the expansion joint. At least one hollow slot is provided on the end faces of the track units on both sides of the expansion joint, and the hollow slot is arranged along the length direction of the track unit. The expansion joint is equipped with a track connecting pin, one end of the track connecting pin is fixed in the hollow slot of the track unit on one side of the expansion joint, and the other end slides freely in the hollow slot of the track unit on the other side of the expansion joint.

4. The mounted robot system according to claim 2, characterized in that: A busbar is provided on each side of the upper part of the track, the two busbars are positive and negative respectively, a busbar fixing beam perpendicular to the track is provided on the top of the track, a busbar clamp is provided at each end of the busbar fixing beam, and the two busbar clamps clamp and fix the two busbars respectively; A power-taking mechanism is arranged on the fuselage, and the power-taking mechanism includes a power receiving device for contacting the busbar, the power receiving device is located below the busbar, the power receiving device is connected to the power motor through a wire, and the power receiving device is connected to a lifting device, and the lifting device includes a pulling-down mechanism for pulling the power receiving device downward and a resetting mechanism for resetting the power receiving device upward.

5. The mounted robot system according to claim 4, characterized in that: The pull-down mechanism comprises a pull wire and a winding motor, wherein the winding motor is connected to a winding roller via an output shaft, the upper end of the pull wire is directly or indirectly connected to the power receiving device, and the lower end is connected to the winding roller.

6. The mounted robot system according to claim 5, characterized in that: A rope passing plate is arranged above the winding roller, and a rope passing hole is arranged on the rope passing plate, and the pulling wire is passed through the rope passing hole; The winding roller is provided with a rope pressing plate, which squeezes the lower end of the pull wire and connects it to the winding roller.

7. The mounted robot system according to claim 5, characterized in that: The side of the busbar is provided with a busbar groove, the bottom of the busbar clamp has a clamp for clamping the busbar groove, the top of the busbar clamp is connected to a suspension rod, an insulator is provided on the suspension rod, and the insulator is connected to the busbar fixing beam through a U-bolt; The power receiving device comprises a power receiving slide plate, the top surface of which is used to contact the bottom end of the busbar, a pantograph support is connected to the bottom of the power receiving slide plate, an insulating block is arranged between the pantograph support and the power receiving slide plate, and the upper end of the pull wire is connected to the pantograph support; A first set of vertical guide shafts is connected to the bottom of the insulating block, the first set of guide shafts is passed through the pantograph support and can move up and down relative to the pantograph support; a first shock-absorbing spring is arranged on the first set of guide shafts between the pantograph support and the insulating block, the first set of guide shafts extends downward from the bottom end of the pantograph support, and a limiting ring is arranged at the bottom end of the first set of guide shafts.

8. The mounted robot system according to claim 5, characterized in that: The busbar is wrapped with an insulating cover, the bottom end of the busbar clamp is buckled on the outside of the insulating cover, and the top end is connected to the busbar fixing beam; the bottom end of the insulating cover is provided with a busbar groove for exposing the busbar, and the busbar groove is arranged along the length direction of the busbar; The power receiving device includes a brush, the brush is used to extend into the sliding contact groove and contact the sliding contact line, the brush is arranged on the upper part of the brush bracket, and the brush bracket is made of insulating material or has an insulating layer; A guide block is arranged below the brush bracket, a second set of vertical guide shafts are connected to the bottom of the brush bracket, the second set of guide shafts are inserted into the guide block and can move up and down relative to the guide block; a second damping spring is arranged on the second set of guide shafts between the guide block and the brush bracket; Guide plates are arranged on both sides of the brush bracket, and the guide plates extend downwardly from the brush bracket. The guide block is located in a guide space formed by the two guide plates.

9. The mounted robot system according to claim 7 or 8, characterized in that: The reset mechanism comprises a base frame, a first connecting arm rod, a second connecting arm rod and a tension spring; The base frame is fixed inside the fuselage, the first connecting arm rod and the second connecting arm rod are arranged in parallel, one end of the first connecting arm rod and the second connecting arm rod are rotatably connected to the base frame, and the other end of the first connecting arm rod and the second connecting arm rod are rotatably connected to the guide block or the pantograph support, and the first connecting arm rod, the guide block / pantograph support, the second connecting arm rod and the base frame sequentially form a parallelogram structure; One end of the tension spring is connected to the first connecting arm rod, and the other end is connected to the second connecting arm rod. The tension spring is in a tensioned state, and when the guide block / pantograph support moves downward, the tension spring tends to stretch.

10. The mounted robot system according to claim 9, characterized in that: The second connecting rod is located below the first connecting rod, and a limit switch is arranged below the second connecting rod; There are two power receiving devices and two reset mechanisms, which are respectively located on both sides of the slot structure. There is one winding motor, and the winding rollers are symmetrically distributed on both sides of the winding motor.

11. The mounted robot system according to claim 1, characterized in that: The functional modules include one or more of a laser radar, a camera, a speaker, a microphone, a wetness detection module and a meteorological module.

12. The mounted robot system according to claim 1, characterized in that: A group of unpowered guide wheels are arranged on both sides of the groove structure inside the fuselage, and the rotation axis of the unpowered guide wheels is arranged vertically. The unpowered guide wheels are located below the powered wheels, and the two groups of unpowered guide wheels are pressed on both sides of the tread plate respectively.

13. The mounted robot track system according to claim 1, characterized in that: An anti-collision device is arranged at the end of the track, and the anti-collision device comprises an anti-collision seat, a hydraulic buffer and a collision column. The anti-collision seat is fixed on the track, and the hydraulic buffer and the collision column are arranged on the anti-collision seat. The axial directions of the hydraulic buffer and the collision column are parallel to the length direction of the track.

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