Anti-explosion rail hanging robot

Abstract

A top plate is arranged on the upper end face of a main body support, a lifting mechanism is arranged below the top plate, a bottom plate is arranged at the end of the lifting mechanism, a holder is installed on the lower surface of the bottom plate, a driving motor is further installed on the main body support, and the power output end of the driving motor is connected with a driving wheel. Bearing mechanisms and deviation rectifying mechanisms are arranged on the two sides of the driving wheels, the bearing mechanisms are located on the side faces of the rails, the deviation rectifying mechanisms are located on the lower surfaces of the rails, and a detection module, a power module, a control module and a network connection module are further arranged on the main body support. The driving motor drives the driving wheels to rotate, so that the robot walks on the track, the detection module carries out detection in real time, driving safety is guaranteed, after the robot reaches a designated position, the lifting mechanism drives the holder to descend or ascend, and the holder collects field video and temperature data and transmits the field video and temperature data to a background for processing through the network connection module. Therefore, judgment and early warning are carried out on the scene.

Description

Technical Field

[0001] The invention relates to the technical field of rail hanging inspection, in particular to an explosion-proof rail hanging robot. Background Art

[0002] At present, petrochemical areas generally use manual inspections, which have problems such as high labor intensity and low work efficiency, a huge waste of manpower costs, and a lack of advance prediction. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an explosion-proof rail-hanging robot.

[0004] The purpose of the present invention is achieved through the following technical solutions: an explosion-proof rail-hanging robot, comprising a main body bracket, a top plate is arranged on the upper end surface of the main body bracket, a lifting mechanism is arranged below the top plate, the lifting mechanism is located on the inner side of the main body bracket, and a bottom plate is arranged at the end of the lifting mechanism, a pan-tilt is installed on the lower surface of the bottom plate, a driving motor is also installed on the main body bracket, a power output end of the driving motor is connected to a driving wheel, the driving wheels are located on both sides of the track, and a load-bearing mechanism and a correction mechanism are arranged on both sides of the driving wheel, the load-bearing mechanism is located on the side of the track, and the correction mechanism is located on the lower surface of the track, a detection module, a power module, a control module and a network connection module are also arranged on the main body bracket, the power module is used to provide electrical energy, the detection module and the power module are electrically connected to the control module, and the detection module and the pan-tilt are electrically connected to the network connection module.

[0005] Preferably, the lifting mechanism includes a screw, the end of which is connected to the driving mechanism, and a dividing block is provided in the middle of the screw, the screws at both ends of the dividing block rotate in opposite directions, and an upper slider a and an upper slider b are respectively installed at both ends of the screw, and a cross arm is provided at the lower end of the upper slider a and the lower slider b, and a lower slider a and a lower slider b are provided at the lower end of the cross arm, and the lower slider a and the lower slider b are both slidably installed on the lower rail of the base plate, and a hinge seat is also installed on the base plate, and a stabilizing arm a and a stabilizing arm b are respectively hinged at both ends of the hinge seat, and the other end of the stabilizing arm a is hingedly installed on the outside of the cross arm, and the other end of the stabilizing arm b is hingedly installed on the inside of the cross arm.

[0006] Preferably, the cross arm includes a left fork arm and a right fork arm, the two ends of the left fork arm are respectively hingedly mounted on the upper slider a and the lower slider a, the two ends of the right fork arm are respectively hingedly mounted on the upper slider b and the lower slider b, one end of the stabilizing arm a is hingedly mounted at the outer quarter of the left fork arm, and the other end is located at one-half of the left fork arm, and the stabilizing arm a is parallel to the left fork arm, one end of the stabilizing arm b is hingedly mounted at the inner quarter of the right fork arm, and the other end is located at the inner quarter of the right fork arm, the other end is located at one-half of the right fork arm, and the stabilizing arm b is parallel to the right fork arm.

[0007] Preferably, an upper slide rail is provided on the lower surface of the top plate, a limit groove is provided on the side of the upper slide rail, and limit blocks corresponding to the limit groove are provided on the upper slider a and the upper slider b. A bearing seat is also installed on the top plate, and both ends of the lead screw are installed in the bearings of the bearing seat. A connecting block is installed on the lead screw, and the connecting block is fixedly connected to the upper slider a and the upper slider b respectively.

[0008] Preferably, the surface of the lead screw is provided with a right-handed thread segment and a left-handed thread segment, the right-handed thread segment and the left-handed thread segment are respectively located on both sides of the partition block, and the lead angles of the right-handed thread segment and the left-handed thread segment are equal.

[0009] Preferably, the load-bearing mechanism includes a mounting seat, a rotating rod is provided on the upper surface of the mounting seat, load-bearing wheels are installed at the ends of the rotating rod, connecting plates are provided on both sides of the rotating rod, connecting rods are provided at the ends of the connecting plates, a mounting seat b is installed at the ends of the connecting rods, an auxiliary wheel is rotatably installed on the mounting seat b, and a spring is mounted on the outer side of the connecting rod, and the spring is located between the mounting seat b and the connecting plate.

[0010] Preferably, the correcting mechanism includes a mounting seat c, a connecting rod b is provided on the mounting seat c, a mounting seat d is provided at the end of the connecting rod b, a correcting wheel is rotatably mounted on the mounting seat d, the correcting wheel is in contact with the lower surface of the track, a spring b is mounted on the outer side of the connecting rod b, and the spring b is located between the mounting seat c and the mounting seat d.

[0011] Preferably, the detection module includes a broken rail detection sensor, an obstacle avoidance sensor and a combustible and toxic gas sensor. The broken rail detection sensor is respectively arranged on both sides of the main support. The obstacle avoidance sensor is used to detect obstacles, and the combustible and toxic gas sensor is used to detect the gas content in the environment.

[0012] Preferably, the obstacle avoidance sensor includes an obstacle avoidance sensor a and an obstacle avoidance sensor b, the obstacle avoidance sensor a is respectively installed on both sides of the main support, and the obstacle avoidance sensor b is installed at the front end of the main support.

[0013] Preferably, the main body bracket is also provided with an audible and visual alarm and an emergency stop switch, and the lower surface of the bottom plate is provided with a speaker and a pickup, and the speaker and the pickup are located on both sides of the pan / tilt head.

[0014] The present invention has the following advantages: the present invention drives the driving wheel to rotate through the driving motor, so that the robot walks on the track, and the detection module performs real-time detection to ensure driving safety. When reaching the specified position, the lifting mechanism drives the pan-tilt head to descend or ascend, and the pan-tilt head collects on-site video and temperature data, and transmits it to the background for processing through the network connection module, so as to make judgments and early warnings on the scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the front end of the explosion-proof rail-hanging robot; Figure 2 This is a schematic diagram of the structure of the rear end of the explosion-proof rail-hanging robot; Figure 3 This is a structural diagram of the lower end of the explosion-proof rail-hanging robot; Figure 4 It is a structural schematic diagram of the lifting mechanism; Figure 5 It is a structural schematic diagram of the lifting mechanism from the side; Figure 6 It is the structural diagram of the lead screw; Figure 7 It is a schematic diagram of the structure of the pan / tilt connected by a coiled rope; In the figure, 1-motor, 2-reducer, 3-upper slider a, 4-top plate, 5-upper slide rail, 6-connecting block, 7-screw, 8-cross arm, 9-lower slide rail, 10-lower slider a, 11-stabilizing arm a, 12-hinge seat, 13-pan head, 14-stabilizing arm b, 15-bottom plate, 16-lower slider b, 17-limiting groove, 18-bearing seat, 19-bearing, 20-left-handed thread segment, 21-right-handed thread segment, 22-separator, 23-winding rope, 24-right fork arm, 25-left fork arm, 26-upper slider b, 27-driving mechanism, 100-track, 101-load-bearing mechanism, 102-driving wheel , 103-drive motor, 104-correction mechanism, 105-control module, 106-pickup, 107-lifting mechanism, 108-obstacle avoidance sensor b, 109-obstacle avoidance sensor a, 110-speaker, 111-power module, 112-broken rail detection sensor, 113-mounting seat b, 114-mounting seat, 115-rotating rod, 116-connecting plate, 117 connecting rod, 118-spring, 119-auxiliary wheel, 120-load-bearing wheel, 121-main bracket, 122-network connection module, 123-sound and light alarm, 124-emergency stop switch, 125-flammable and toxic gas sensor. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0017] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0019] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0020] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In this embodiment, if Figure 1~Figure 3As shown, an explosion-proof rail-hanging robot includes a main frame 121, a top plate 4 is arranged on the upper end surface of the main frame 121, a lifting mechanism 107 is arranged below the top plate 4, the lifting mechanism 107 is located inside the main frame 121, and a bottom plate 15 is arranged at the end of the lifting mechanism 107, a pan / tilt 13 is installed on the lower surface of the bottom plate 15, a driving motor 103 is also installed on the main frame 121, and a power output end of the driving motor 103 is connected to a driving wheel 102, and the driving wheel 102 is located on both sides of the track 100, The driving wheel 102 is provided with a load-bearing mechanism 101 and a deviation correction mechanism 104 on both sides. The load-bearing mechanism 101 is located on the side of the track 100, and the deviation correction mechanism 104 is located on the lower surface of the track 100. The main frame 121 is also provided with a detection module, a power module 111, a control module 105 and a network connection module 122. The power module 111 is used to provide electrical energy. The detection module and the power module 111 are electrically connected to the control module 105. The detection module and the pan-tilt 13 are electrically connected to the network connection module 122. The driving motor 103 drives the driving wheel 102 to rotate, so that the robot walks on the track 100. The detection module performs real-time detection to ensure driving safety. When the designated position is reached, the lifting mechanism 107 drives the pan-tilt 13 to descend or rise. The pan-tilt 13 collects the on-site video and temperature data, and transmits it to the background for processing through the network connection module 122, so as to make judgments and early warnings on the scene. Specifically, the background processes different detections as follows: Detection of on-site fire conditions: After the background receives the temperature data transmitted by the PTZ 13, a training set of the learning model is established, including the collected data and standard data, and the information is recognized through the neural network algorithm to detect the on-site fire conditions.

[0023] Detect personnel abnormalities: After the background receives the video data transmitted by the pan / tilt 13, it extracts frames from the video and processes it into images. Then, the images are passed through the human body and head and shoulders detection models to determine whether a human body and head and shoulders appear. If a human body appears, the human body area is cropped out and passed through the falling classification model and the work clothes classification model in turn to determine whether the person has fallen and is wearing work clothes. If the head and shoulders appear, the head and shoulders area is cropped out and passed through the safety helmet classification model to determine whether the person is wearing a safety helmet. Then, the detection results are integrated and reported. In other words, two falling classification models are established, namely, falling or not falling, 0 represents falling, and 1 represents not falling. Similarly, two classification models are established for wearing work clothes and wearing a safety helmet, 0 represents not wearing work clothes or not wearing a safety helmet, and 1 represents wearing work clothes or wearing a safety helmet.

[0024] Detecting abnormal sounds: The background receives the live audio data collected by the sound collector 106. First, the feature embedding extractor and classification head are trained with audio clips with category labels to shorten the distance between embeddings within the class. Then, the feature embedding extractor is used to extract all embeddings and construct the class center. During detection, the audio stream is cropped with a step size of 1s and an overlap of 0.5s. The embedding class center of the cropped segment is extracted to calculate the cosine distance and determine whether the category is abnormal. All models here use MobileNet, which is pre-trained on the AudioSet dataset.

[0025] Further, such as Figure 4 As shown, the lifting mechanism 107 includes a screw 7, the end of which is connected to the driving mechanism 27, and a dividing block 22 is provided in the middle of the screw 7. The screws 7 at both ends of the dividing block 22 rotate in opposite directions, and the two ends of the screw 7 are respectively installed with an upper slider a3 and an upper slider b26, and the lower ends of the upper slider a3 and the lower slider b26 are provided with a cross arm 8, and the lower end of the cross arm 8 is provided with a lower slider a10 and a lower slider b16, and the lower slider a10 and the lower slider b16 are both slidably installed on the lower rail 9 of the base plate 15, and a hinge seat 12 is also installed on the base plate 15, and the two ends of the hinge seat 12 are respectively hinged with a stabilizing arm a11 and a stabilizing arm b14, and the other end of the stabilizing arm a11 is hingedly installed on the outside of the cross arm 8, and the other end of the stabilizing arm b14 is hingedly installed on the inside of the cross arm 8. Specifically, when the driving motor 27 drives the lead screw 7 to rotate, the lead screws 7 at both ends rotate in opposite directions, which will cause the upper slider a3 and the upper slider b26 to move closer or farther away synchronously, thereby driving the cross arm 8 to extend or contract in the vertical direction, and then the lower slider a10 and the lower slider b16 to move closer or farther away synchronously, so that the pan-tilt 13 descends or rises. By arranging the stabilizing arm a11 and the stabilizing arm b14 at the lower end of the cross arm 8, during the lifting and lowering process of the cross arm 8, the stabilizing arm a11, the stabilizing arm b14 and the cross arm 8 always form a parallelogram, so that the center of gravity remains unchanged, ensuring the stability of the lifting and lowering of the pan-tilt 13. In this embodiment, the driving mechanism 27 includes a reducer 2 and a motor 1, and the power output end of the motor 1 is connected to the end of the lead screw 7 through the reducer 2.

[0026] Furthermore, the cross arm 8 is an existing cross arm, which is not improved here, that is, the cross arm 8 includes a left fork arm 25 and a right fork arm 24, the two ends of the left fork arm 25 are respectively hingedly mounted on the upper slider a3 and the lower slider a10, the two ends of the right fork arm 24 are respectively hingedly mounted on the upper slider b26 and the lower slider b16, one end of the stabilizing arm a11 is hingedly mounted at the outer quarter of the left fork arm 25, and the other end is located at the half of the left fork arm 25, and the stabilizing arm a11 is parallel to the left fork arm 25, one end of the stabilizing arm b14 is hingedly mounted at the inner quarter of the right fork arm 24, and the other end is located at the inner quarter of the right fork arm 24, and the other end is located at the half of the right fork arm 24, and the stabilizing arm b14 is parallel to the right fork arm 24. Preferably, the cross arm 8 here can be multi-layered, such as Figure 1 As shown, when the cross arm 8 is multi-layered, the stabilizing arm a11 and the stabilizing arm b14 are hinged to the left fork arm 25 and the right fork arm 24 of the lowest layer. Specifically, by arranging the stabilizing arm a11 and the stabilizing arm b14 at the lower ends of the left fork arm 25 and the right fork arm 24, during the lifting process of the cross arm 8, the stabilizing arm a11, the stabilizing arm b14, the left fork arm 25 and the right fork arm 24 always form a parallelogram, so that the center of gravity remains unchanged, ensuring the stability of the lifting of the pan / tilt head 13. In this embodiment, whether the left fork arm 25 and the right fork arm 24 are single-layered or multi-layered, they are installed in the existing manner, which is not improved here and will not be described in detail.

[0027] In this embodiment, if Figure 5As shown, the lower surface of the top plate 4 is provided with an upper slide rail 5, and a limit groove 17 is provided on the side of the upper slide rail 5. The upper slider a3 and the upper slider b26 are provided with limit blocks corresponding to the limit groove 17. A bearing seat 18 is also installed on the top plate 4. Both ends of the lead screw 7 are installed in the bearing 19 of the bearing seat 18. A connecting block 6 is installed on the lead screw 7, and the connecting block 6 is fixedly connected to the upper slider a3 and the upper slider b26 respectively. Further, a lower slide rail 9 is installed on the upper surface of the bottom plate 15, and the lower slider a10 and the lower slider b16 are slidably installed on the lower slide rail 9, and the lower slide rail 9 is located between the stabilizing arm a11 and the stabilizing arm b14. Further, the driving mechanism 27 includes a reducer 2 and a motor 1, and the power output end of the motor 1 is connected to the end of the lead screw 7 through the reducer 2. Specifically, when the motor 1 drives the lead screw 7 to rotate after being decelerated by the reducer 2, since the lead screws 7 at both ends rotate in opposite directions, the upper slider a3 and the upper slider b26 will slide along the upper slide rail 5, so that the two will approach or move away synchronously, thereby driving the cross arm 8 to extend or contract in the vertical direction, and then the lower slider a10 and the lower slider b16 will slide along the lower slide rail 9, so that they will approach or move away synchronously, thereby driving the pan-tilt head 13 to descend or rise. Since the pan-tilt head 13 is in the air, that is, the driving system of the inspection robot is set on the top plate 4, the limit groove 17 and the limit block limit each other, thereby preventing the upper slider a3 and the upper slider b26 from falling off the upper slide rail 5, causing the pan-tilt head 13 to fall.

[0028] In this embodiment, if Figure 6 As shown, the surface of the lead screw 7 is provided with a right-handed thread segment 21 and a left-handed thread segment 20, which are respectively located on both sides of the partition block 22, and the lead angles of the right-handed thread segment 21 and the left-handed thread segment 20 are equal. Specifically, when the pan / tilt head 13 is raised and lowered by using a winding rope 23 instead of a cross arm 8, as shown in FIG. Figure 7 As shown, when the winding rope 23 is used to drive the pan-tilt platform 13 to rise or fall, the motor 1 drives the reducer 2 to drive the lead screw 7 to rotate, so that the winding rope 23 embedded in the groove of the lead screw 7 is released or retracted, driving the pan-tilt platform 13 to rise or fall, wherein the angle between the winding rope 23 and the vertical line is Lead Angle The length of the rope 23 released or retracted by the lead screw 7 is equal, so that the length of the rope 23 released or retracted by each turn of the lead screw 7 is consistent. The rope reel system of the present invention uses only one rotational motion to make the rope 23 orderly wound, which can be automatically controlled, and improves the controllability of the rope reel system. Compared with the traditional rope reel system, the horizontal sorting motor of the conventional rope reel system is cancelled, that is, the horizontal sorting motion is cancelled, and the disordered winding of the rope 23 caused by the inconsistency between the horizontal moving speed and the rotation speed is avoided. In this embodiment, the rope 23 is released by forward rotation, and the rope 23 is retracted by reverse rotation.

[0029] In this embodiment, the load-bearing mechanism 101 includes a mounting seat 114, a rotating rod 115 is provided on the upper surface of the mounting seat 114, a load-bearing wheel 120 is installed at the end of the rotating rod 115, connecting plates 116 are provided on both sides of the rotating rod 115, a connecting rod 117 is provided at the end of the connecting plate 116, a mounting seat b113 is installed at the end of the connecting rod 117, an auxiliary wheel 119 is rotatably installed on the mounting seat b113, and a spring 118 is mounted on the outer side of the connecting rod 117, and the spring 118 is located between the mounting seat b113 and the connecting plate 116. Specifically, the load-bearing wheel 120 is the force-bearing part of the robot. When the driving motor 103 drives the driving wheel 102 to rotate and makes the robot walk on the track 100, since the track 100 is I-shaped, the load-bearing wheel 120 rolls synchronously on the lower end surface of the track 100. At this time, the spring 118 is in a compressed state, and will press the auxiliary wheel 119 on the mounting seat b113 against the side of the track 100, thereby assisting in limiting the load-bearing wheel 120 and allowing it to pass through curved tracks with different turning radii. At the same time, the load-bearing mechanism 101 can also resist impact force. There are two groups of load-bearing mechanisms 101, which are symmetrically arranged based on the driving wheel 102. Furthermore, the correcting mechanism 104 includes a mounting seat c, a connecting rod b is provided on the mounting seat c, a mounting seat d is provided at the end of the connecting rod b, a correcting wheel is rotatably mounted on the mounting seat d, the correcting wheel is in contact with the lower surface of the track 100, a spring b is mounted on the outer side of the connecting rod b, and the spring b is located between the mounting seat c and the mounting seat d. Specifically, the correcting mechanism 104 ensures that the robot will not roll forward and backward or left and right on the track 100. There are two groups of correcting mechanisms 104, which are symmetrically arranged front and back based on the driving wheel 102.

[0030] In this embodiment, the detection module includes a broken rail detection sensor 112, an obstacle avoidance sensor and a combustible and toxic gas sensor 125. The broken rail detection sensor 112 is respectively arranged on both sides of the main support 121. The obstacle avoidance sensor is used to detect obstacles, and the combustible and toxic gas sensor 125 is used to detect the gas content in the environment. Further, the obstacle avoidance sensor includes an obstacle avoidance sensor a109 and an obstacle avoidance sensor b108. The obstacle avoidance sensor a109 is respectively installed on both sides of the main support 121, and the obstacle avoidance sensor b108 is installed at the front end of the main support 121. Further, the main support 121 is also provided with an audible and visual alarm 123 and an emergency stop switch 124. The lower surface of the bottom plate 15 is provided with a speaker 110 and a pickup 106, and the speaker 110 and the pickup 106 are located on both sides of the pan-tilt head 13. Specifically, the pickup 106 and the speaker 110 need to be used in conjunction to amplify and filter the collected sound to improve the quality and clarity of the sound. All sensors and electrical equipment here are existing equipment and have not been improved, so they will not be described in detail.

[0031] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An explosion-proof rail-hanging robot, characterized in that: The invention comprises a main frame (121), wherein a top plate (4) is arranged on the upper end surface of the main frame (121), a lifting mechanism (107) is arranged below the top plate (4), the lifting mechanism (107) is located inside the main frame (121), and a bottom plate (15) is arranged at the end of the lifting mechanism (107), a pan head (13) is installed on the lower surface of the bottom plate (15), and a driving motor (103) is also installed on the main frame (121), the power output end of the driving motor (103) is connected to a driving wheel (102), the driving wheel (102) is located on both sides of a track (100), and the driving wheel (102) ) are provided with a load-bearing mechanism (101) and a deviation-correcting mechanism (104) on both sides, the load-bearing mechanism (101) is located on the side of the track (100), and the deviation-correcting mechanism (104) is located on the lower surface of the track (100); the main frame (121) is also provided with a detection module, a power module (111), a control module (105) and a network connection module (122); the power module (111) is used to provide electric energy, the detection module and the power module (111) are both electrically connected to the control module (105), and the detection module and the pan-tilt head (13) are electrically connected to the network connection module (122).

2. The explosion-proof rail-hanging robot according to claim 1, characterized in that: The lifting mechanism (107) comprises a lead screw (7), the end of the lead screw (7) is connected to a driving mechanism (27), a partition block (22) is provided in the middle of the lead screw (7), the lead screws (7) at both ends of the partition block (22) rotate in opposite directions, an upper slider a (3) and an upper slider b (26) are respectively installed at both ends of the lead screw (7), a cross arm (8) is provided at the lower end of the upper slider a (3) and the lower slider b (26), and a lower slider a ( The lower slider a (10) and the lower slider b (16) are both slidably mounted on a lower rail (9) of the bottom plate (15). The bottom plate (15) is also mounted with a hinge seat (12). The two ends of the hinge seat (12) are respectively hinged with a stabilizing arm a (11) and a stabilizing arm b (14). The other end of the stabilizing arm a (11) is hingedly mounted on the outside of the cross arm (8), and the other end of the stabilizing arm b (14) is hingedly mounted on the inside of the cross arm (8).

3. The explosion-proof rail-hanging robot according to claim 2, characterized in that: The cross arm (8) comprises a left fork arm (25) and a right fork arm (24), the two ends of the left fork arm (25) being hingedly mounted on the upper slider a (3) and the lower slider a (10), respectively, the two ends of the right fork arm (24) being hingedly mounted on the upper slider b (26) and the lower slider b (16), respectively, one end of the stabilizing arm a (11) being hingedly mounted at one fourth of the outer side of the left fork arm (25), the other end being located at one half of the left fork arm (25), and the stabilizing arm a (11) being parallel to the left fork arm (25), one end of the stabilizing arm b (14) being hingedly mounted at one fourth of the inner side of the right fork arm (24), the other end being located at one fourth of the inner side of the right fork arm (24), the other end being located at one half of the right fork arm (24), and the stabilizing arm b (14) being parallel to the right fork arm (24).

4. The explosion-proof rail-hanging robot according to claim 3, characterized in that: An upper slide rail (5) is arranged on the lower surface of the top plate (4), a limit groove (17) is provided on the side of the upper slide rail (5), and limit blocks corresponding to the limit groove (17) are arranged on the upper slider a (3) and the upper slider b (26). A bearing seat (18) is also installed on the top plate (4), and both ends of the lead screw (7) are installed in bearings (19) of the bearing seat (18). A connecting block (6) is installed on the lead screw (7), and the connecting block (6) is fixedly connected to the upper slider a (3) and the upper slider b (26) respectively.

5. The explosion-proof rail-hanging robot according to claim 4, characterized in that: A right-handed thread segment (21) and a left-handed thread segment (20) are provided on the surface of the lead screw (7); the right-handed thread segment (21) and the left-handed thread segment (20) are respectively located on both sides of the partition block (22); and the lead angles of the right-handed thread segment (21) and the left-handed thread segment (20) are equal.

6. The explosion-proof rail-hanging robot according to claim 5, characterized in that: The load-bearing mechanism (101) comprises a mounting seat (114), a rotating rod (115) being arranged on the upper surface of the mounting seat (114), a load-bearing wheel (120) being mounted on the end of the rotating rod (115), connecting plates (116) being arranged on both sides of the rotating rod (115), a connecting rod (117) being arranged on the end of the connecting plate (116), a mounting seat b (113) being mounted on the end of the connecting rod (117), an auxiliary wheel (119) being rotatably mounted on the mounting seat b (113), and a spring (118) being sleeved on the outer side of the connecting rod (117), the spring (118) being located between the mounting seat b (113) and the connecting plate (116).

7. The explosion-proof rail-hanging robot according to claim 6, characterized in that: The deviation correction mechanism (104) comprises a mounting seat c, a connecting rod b is arranged on the mounting seat c, a mounting seat d is arranged at the end of the connecting rod b, a deviation correction wheel is rotatably mounted on the mounting seat d, the deviation correction wheel is in contact with the lower surface of the track (100), a spring b is sleeved on the outer side of the connecting rod b, and the spring b is located between the mounting seat c and the mounting seat d.

8. The explosion-proof rail-hanging robot according to claim 7, characterized in that: The detection module comprises a broken rail detection sensor (112), an obstacle avoidance sensor and a combustible and toxic gas sensor (125); the broken rail detection sensor (112) is respectively arranged on both sides of the main frame (121); the obstacle avoidance sensor is used to detect obstacles; and the combustible and toxic gas sensor (125) is used to detect gas content in the environment.

9. The explosion-proof rail-hanging robot according to claim 8, characterized in that: The obstacle avoidance sensor comprises an obstacle avoidance sensor a (109) and an obstacle avoidance sensor b (108), wherein the obstacle avoidance sensor a (109) is respectively mounted on both sides of the main body bracket (121), and the obstacle avoidance sensor b (108) is mounted on the front end of the main body bracket (121).

10. The explosion-proof rail-hanging robot according to claim 9, characterized in that: The main body bracket (121) is also provided with an audible and visual alarm (123) and an emergency stop switch (124); a speaker (110) and a microphone (106) are provided on the lower surface of the bottom plate (15); and the speaker (110) and the microphone (106) are located on both sides of the pan / tilt platform (13).

Images