Track structure of suspension robot

Abstract

The invention provides a rail structure of a suspension robot, and belongs to the technical field of rail-mounted robots, the rail structure comprises guide rail components, a hanging rope component, a suspension moving assembly, a position balancing assembly, a rope rail switching assembly and a lateral wheel limiting assembly, the hanging rope component is connected between the guide rail components and can jointly form a walking path of the robot, and a hanging rope can take up and pay off; the bottom end of each unpowered rotating wheel is provided with an elastic upward rope support which can be matched with the unpowered rotating wheels to wrap the hanging rope, so that the hanging moving assembly safely moves along the path of the hanging rope, and when the hanging moving assembly moves to the transition position of the hanging rope and the rail of the guide rail component and before the rope supports make contact with the rail of the rail component, the hanging moving assembly moves to the position where the hanging rope is in transition with the rail of the rail component. The sliding cutting fit formed by the arc-shaped plate and the outer bottom end of the track presses the rope drag down to the position where the rope drag does not touch the track, and in the downward moving process of the arc-shaped plate, the arc-shaped plate can also be matched with the driven inclined block to push the side rotating wheel to the position where the side rotating wheel makes contact with the side sliding way and the corner side sliding way, and stability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of rail-hanging robots, and in particular to a rail structure of a hanging robot. Background Art

[0002] With the development of modern industry, the operation and maintenance workload of industrial equipment has gradually increased, especially in industries such as rail transit and electricity, where the stable operation of these equipment plays a very important role. However, the traditional inspection method mainly relies on manual labor, which has the problems of heavy workload and low efficiency, and may also pose certain personal safety risks. Therefore, the suspended robot came into being and became an effective means to solve this problem.

[0003] Suspended robots mainly rely on suspended tracks and can move freely in complex environments. The track structure of existing suspended robots is generally composed of steel tracks, which can enable the robot to move along the track. However, due to the variability of the installation site environment, there are often obstacles that affect the laying of the track, which will cause the track to not be laid according to the set path. A specially designed track structure that matches the site is required to achieve its installation, which has the disadvantage of poor adaptability. Summary of the invention

[0004] The purpose of the present invention is to provide a track structure for a suspended robot, wherein the track path is composed of a guide rail component and a hanging rope component. The rope-track switching component can realize the transition and safe movement of the suspended moving component between the track of the guide rail component and the hanging rope, and the position balancing component can be used to eliminate the swing of the suspended moving component when moving in the hanging rope.

[0005] The object of the present invention is achieved through such a technical solution: a track structure of a suspension robot, comprising a guide rail component, a hanging rope component, a suspension moving component, a position balancing component and a rope-track switching component, the hanging rope component comprising a hanging rope, the suspension moving component comprising a bottom mounting plate, a power walking frame and a power rotating wheel, the position balancing component comprising an electromagnetic brake and a roll reduction stabilizer, and the rope-track switching component comprising a plug-in slot and a plug-in block;

[0006] The hanging ropes are overlapped in pairs between the rails of the guide rail components, the top of the bottom mounting plate is symmetrically screwed with a non-powered traveling frame, the inner side of the top of each group of non-powered traveling frames is symmetrically screwed with a non-powered rotating wheel, the powered traveling frame is screwed to the middle of the bottom mounting plate, the powered rotating wheel is symmetrically screwed to the inner side of the top of the powered traveling frame, and can rotate automatically and synchronously, the powered traveling frame and the powered rotating wheel can travel in the rail of the guide rail component, and can also travel in the hanging rope;

[0007] A balancing shaft is laterally rotatably connected to the middle of the bottom end of the bottom mounting plate, and the balancing shaft is transmission-connected to the power wheel, and the electromagnetic brake and the anti-roll stabilizer are both installed outside the balancing shaft;

[0008] A rope drag is provided directly below each set of non-powered rotating wheels and is slideably mounted on the bottom body of the non-powered traveling frame, and the rope drag is vertically slidably connected to the bottom body of the non-powered traveling frame. A curved plate that is slideably mounted symmetrically on the middle part of the main body of each set of non-powered traveling frames and that is slideably mounted on the bottom body of the curved plate. A plug-in block is fixedly mounted on the middle part of one side of the bottom end of the curved plate, and a plug-in groove is horizontally arranged in the main body of the rope drag. The plug-in block on the same side is inserted into the plug-in groove, and when the rope drag naturally pops up, there is a gap between the upper and lower surfaces of the plug-in block and the inner surface of the plug-in groove.

[0009] The use process of the technical solution of the present invention is as follows:

[0010] The guide rail component and the hanging rope component are both installed at the inner top of the required position space, and the hanging rope can be installed between any tracks of the guide rail component according to actual use requirements;

[0011] When the suspended moving component moves along the track of the guide rail component, the outer surfaces of the non-powered rotating wheel and the powered rotating wheel roll in contact with the inner bottom surface of the track of the guide rail component. When the suspended moving component moves along the hanging rope, the inner grooves of the non-powered rotating wheel and the powered rotating wheel are both suspended in the hanging rope. The automatically rotating powered rotating wheel can provide the suspended moving component with power for moving.

[0012] When the suspension moving component moves along the hanging rope, the naturally elastic rope drag upward will cooperate with the unpowered rotating wheel to form a wrap around the outside of the hanging rope, so that the suspension moving component can not only move along the hanging rope, but also will not be easily separated from the hanging rope, thereby improving the safety of the suspension moving component during the movement of the hanging rope;

[0013] When the suspended moving component transitions to the track of the guide rail component along the hanging rope, the naturally elastic upward rope drag will touch the bottom end of the track of the guide rail component, making it impossible for the suspended moving component to transition from the hanging rope to the track of the guide rail component. In order to solve this problem, an elastically upward arc plate is provided in the inner middle part of the unpowered walking frame, and the top of the arc plate is an arc structure, so that before the suspended moving component moves to the unpowered rotating wheel and the rope drag contacts the track of the guide rail component, the arc surface of the top end of the arc plate has already contacted the outer bottom surface of the track of the guide rail component, and can push the rope drag downward, so that the rope drag moves to a position where it does not interfere with the outer bottom surface of the track of the guide rail component.

[0014] By adopting the above technical solution, the present invention can form the following beneficial effects:

[0015] (1) The purpose of setting the hanging rope between the rails of the guide rail component is that the guide rail component cannot be completely laid at the installation site, and there are obstacles that cannot be removed. Installing the hanging rope at the location where there are obstacles on the site can not only meet the walking requirements of the suspension robot, but also reduce the difficulty of on-site installation;

[0016] (2) One end of the hanging rope has an automatic retracting function, which can realize the lowering function of the suspended moving component along the hanging rope to a certain extent, which can not only lower the working position of the robot installed at the bottom end of the bottom mounting plate and increase its working range, but also effectively avoid obstacles;

[0017] (3) The present invention not only has a naturally elastic upward rope drag at the bottom end of each group of non-powered rotating wheels, which is used to cooperate with the non-powered rotating wheels to achieve anti-falling wrapping of the hanging rope, but also has a naturally elastic upward arc plate on one side of each group of rope drag, and the top of the arc plate is set to an arc-shaped smooth structure. The arc plate can not only eliminate the interference of the rope drag on the suspension moving component in the process of moving from the hanging rope to the track of the guide rail component, but also can form an elastic contact with the outer bottom surface of the guide rail component track when the suspension moving component moves along the track of the guide rail component. Therefore, the cooperation of the arc plate and the rope drag can not only improve the safety of the suspension moving component in the process of hanging rope movement, but also eliminate the interference caused by the rope drag and improve the safety of the suspension moving component in the process of moving on the track of the guide rail component. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 A schematic diagram of the overall structure of a track structure of a suspension robot provided by the present invention;

[0020] Figure 2 It is a schematic structural diagram of the straight portion of the guide rail component of the present invention;

[0021] Figure 3 It is a schematic structural diagram of the corner portion of the guide rail component of the present invention;

[0022] Figure 4 It is a schematic diagram of the installation structure of the hanging rope component of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the winding frame part of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the suspension moving assembly of the present invention;

[0025] Figure 7 It is a schematic diagram of the installation structure of the position balancing assembly of the present invention;

[0026] Figure 8It is a schematic diagram of the internal structure of the position balance assembly of the present invention;

[0027] Fig. 9 It is a front view of the rope-track switching assembly of the present invention;

[0028] Fig.10 It is a schematic diagram of the coordination of the rope-track switching assembly of the present invention;

[0029] Fig.11 It is a schematic diagram of the application of the rope-track switching assembly of the present invention;

[0030] Fig.12 It is a structural schematic diagram of the lateral wheel limiting assembly of the present invention;

[0031] Fig.13 It is a schematic structural diagram of the side sliding seat part of the present invention.

[0032] Reference numerals:

[0033] 1. Guide rail component; 2. Hanging rope component; 3. Suspension moving component; 4. Position balance component; 5. Rope rail switching component; 6. Lateral wheel limiting component; 101. Stand; 102. Linear track; 103. Side slide; 104. Corner seat; 105. Corner track; 106. Corner side slide; 107. Corner guide column; 201. Winding frame; 202. Reel; 203. Winding guide wheel; 204. Hanging rope; 205. Winding motor; 20 6. Slide hole; 207. Guide slide seat; 208. Rope fixing hole; 209. Rope fixing seat; 301. Bottom mounting plate; 302. Non-powered travel swivel; 303. Non-powered swivel bearing; 304. Non-powered travel frame; 305. Non-powered shaft; 306. Non-powered rotating wheel; 307. Powered rotating shaft; 308. Powered bearing; 309. Powered travel frame; 310. Powered shaft seat; 311. Powered shaft; 312. Powered rotating wheel; 313. Powered belt Wheel; 314, horizontal axis seat; 315, bottom horizontal axis; 316, bottom pulley; 317, connecting belt; 318, walking motor; 401, balance pulley; 402, bottom balance shell; 403, balance shaft; 404, bottom balance rotating pulley; 405, balance transmission belt; 406, cover; 407, balance shaft seat; 408, electromagnetic brake; 409, anti-roll stabilizer; 501, rope drag slide seat; 502, rope drag slide column; 503 , rope drag; 504, rope drag compression spring; 505, track pressure block slide; 506, track pressure block slide column; 507, horizontal connecting plate; 508, arc plate; 509, pressure block top spring; 510, plug-in slot; 511, plug-in block; 601, side clamping position; 602, side fixing seat; 603, side sliding seat; 604, side rotating wheel; 605, passive inclined block; 606, pushing inclined block; 607, outer sliding block; 608, telescopic slide; 609, telescopic compression spring. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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. 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.

[0035] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0036] like Figure 1-Figure 13 As shown, a track structure of a suspension robot, the hanging ropes 204 in the hanging rope component 2 are overlapped in pairs between the tracks of the guide rail component 1 to form a bridging state, and the paired hanging ropes 204 can be retracted and released synchronously, the top of the bottom mounting plate 301 is symmetrically screwed with a non-powered walking frame 304, and the inner side of the top of each group of non-powered walking frames 304 is symmetrically and laterally screwed with a non-powered rotating wheel 306, the powered walking frame 309 is screwed on the middle part of the bottom mounting plate 301, and the powered rotating wheel 312 is symmetrically screwed on the inner side of the top of the powered walking frame 309, and can automatically rotate synchronously, the powered walking frame 309 and the powered rotating wheel 312 can travel in the track of the guide rail component 1, and can also travel in the hanging ropes 204, and with the retracting and releasing action of the hanging ropes 204, the height position of the suspended moving component 3 can also be decreased.

[0037] A balancing shaft 403 is laterally rotated at the middle of the bottom end of the bottom mounting plate 301, and the balancing shaft 403 is transmission-connected to the power wheel 312. An electromagnetic brake 408 and a roll-reducing stabilizer 409 are both installed outside the balancing shaft 403. The electromagnetic brake 408 is used to achieve braking, and the roll-reducing stabilizer 409 is used to eliminate the swing of the suspension moving component 3 in the hanging rope 204.

[0038] A rope tow 503 is provided directly below each set of non-powered rotating wheels 306 and is slidably connected with the bottom body of the non-powered traveling frame 304. The rope tow 503 and the non-powered rotating wheels 306 distributed in pairs can wrap the hanging rope 204, thereby improving the safety and stability of the suspension moving component 3 during the movement of the hanging rope 204. The middle part of the main body of each set of non-powered traveling frames 304 is also symmetrically slidably connected with an arc plate 508 that bounces upward. The plug-in block 511 is fixedly connected to the middle part of one side of the bottom end of the arc plate 508. The plug-in slot 510 is horizontally opened on the rope tow 50 3, the plug-in block 511 on the same side is inserted into the plug-in slot 510, and when the rope drag 503 naturally pops up, there is a gap between the upper and lower surfaces of the plug-in block 511 and the inner surface of the plug-in slot 510. As the suspension moving component 3 moves to the transition position between the hanging rope 204 and the track of the guide rail component 1, the upper curved surface of the arc plate 508 will slide with the outer bottom surface of the track of the guide rail component 1 and push the arc plate 508 to gradually move downward, so that the rope drag 503 moves downward synchronously, and will not interfere with the transition action of the suspension moving component 3 from the hanging rope 204 to the track of the guide rail component 1.

[0039] Here’s how it works:

[0040] The guide rail component 1 and the hanging rope component 2 are both installed at the inner top end of the required position space, and the hanging rope 204 can be installed between any tracks of the guide rail component 1 according to actual use requirements. In other words, the hanging rope 204 actually replaces the original track in the guide rail component 1, and the hanging rope 204 and the guide rail component 1 together form a walking path for the suspended robot;

[0041] When the suspension moving component 3 moves along the track of the guide rail component 1, the outer surfaces of the non-powered rotating wheel 306 and the powered rotating wheel 312 are in rolling contact with the inner bottom surface of the track of the guide rail component 1. When the suspension moving component 3 moves along the hanging rope 204, the inner grooves of the non-powered rotating wheel 306 and the powered rotating wheel 312 are both suspended in the hanging rope 204. The powered rotating wheel 312 that can rotate automatically can provide the suspension moving component 3 with power for moving.

[0042] When the suspension moving component 3 moves along the hanging rope 204, the naturally elastic rope drag 503 upward cooperates with the non-powered rotating wheel 306 to form a wrap around the hanging rope 204, so that the suspension moving component 3 can not only move along the hanging rope 204, but also will not be easily separated from the hanging rope 204, thereby improving the safety of the suspension moving component 3 during the movement of the hanging rope 204;

[0043] Because the main body of the hanging rope 204 overlaps with the inner bottom surface of the track of the guide rail component 1, the smooth transition between the unpowered wheel 306 and the powered wheel 312 between the hanging rope 204 and the track of the guide rail component 1 can be achieved. When the hanging moving component 3 transitions from the hanging rope 204 to the track of the guide rail component 1, the naturally elastic rope drag 503 upward will touch the bottom end of the track of the guide rail component 1, so that the hanging moving component 3 cannot transition from the hanging rope 204 to the track of the guide rail component 1. In order to solve this problem An arc plate 508 that can be elastically upward is provided in the inner middle of the non-powered traveling frame 304, and the top of the arc plate 508 is an arc-shaped structure, so that before the suspension moving component 3 moves to the non-powered rotating wheel 306 and the rope tow 503 does not contact the track of the guide rail component 1, the arc surface of the top of the arc plate 508 has already contacted the outer bottom surface of the track of the guide rail component 1, and can push the rope tow 503 downward, so that the rope tow 503 moves to a position where it does not interfere with the outer bottom surface of the track of the guide rail component 1;

[0044] Moreover, when the suspension moving component 3 moves along the track of the guide rail component 1, the top arc surface of the arc plate 508 always elastically slides with the outer bottom surface of the track of the guide rail component 1, which can also improve the stability of the suspension moving component 3 moving along the track of the guide rail component 1 to a certain extent.

[0045] The specific structure of the guide rail component 1 is as follows: Figure 2 and Figure 3 As shown, the linear track 102 is fixedly connected to one end of the stand 101, the stand 101 is used to connect to an external mounting position, and side slides 103 are fixed on both sides of the bottom of the linear track 102. The linear track 102 is used to realize the linear movement of the suspension moving component 3;

[0046] The corner track 105 is fixedly connected to one end of the corner seat 104. Similarly, the corner seat 104 is fixedly connected to the external mounting position;

[0047] Corner side slides 106 are fixed on both sides of the bottom end of the corner track 105, and the specifications and dimensions of the corner side slides 106 are consistent with the side slides 103, and can be connected to form a smooth surface;

[0048] The corner track 105 is used to realize the corner movement of the suspension moving assembly 3;

[0049] The guide rail component 1 can be laid according to actual conditions and is not limited to the combination of the straight track 102 and the corner track 105. Its purpose is to form an overall smooth track that facilitates the movement of the unpowered wheel 306 and the powered wheel 312.

[0050] The specific structure of the hanging rope component 2 is as follows Figure 4 and Figure 5As shown, the hanging rope member 2 is integrally installed between the rails of the guide rail member 1, and is not limited to between the straight rail 102 and the corner rail 105;

[0051] The winding frame 201 has a reel 202 which is screwed inside and has a double-groove structure. One end of the pair of hanging ropes 204 is respectively wound around the outside of different grooves of the reel 202.

[0052] The winding motor 205 is installed and fixed outside the winding frame 201, and one end of the reel 202 is fixedly connected to the rotating shaft of the winding motor 205;

[0053] A winding guide wheel 203 is also screwed to one side of the winding frame 201 to guide the retracting and releasing action of the hanging rope 204;

[0054] The bottom ends of the main bodies of the linear track 102 and the corner track 105 may be provided with a sliding hole 206 or a fixed rope through hole 208, and the aperture of the sliding hole 206 is larger than the aperture of the fixed rope through hole 208, so as to realize smooth sliding of the hanging rope 204 in the sliding hole 206 and fixed connection between the hanging rope 204 and the fixed rope through hole 208;

[0055] The outer bottom ends of the linear track 102 and the corner track 105 are fixed with guide slide seats 207 or rope fixing seats 209 in pairs, and the through hole diameter of the guide slide seat 207 is larger than the through hole diameter of the rope fixing seat 209. Similarly, the guide slide seat 207 is used to achieve smooth sliding of the hanging rope 204, and the rope fixing seat 209 is used to achieve fixed connection of the hanging rope 204;

[0056] In order to achieve smooth retraction and extension of the hanging rope 204, a guide wheel cooperating with the winding motor 205 can be provided on one side of the guide slide seat 207.

[0057] The specific structure of the suspension moving assembly 3 is as follows Figure 6 As shown, the two ends of the main body of the bottom mounting plate 301 are symmetrically fixed with unpowered walking swivels 302, the power shaft 307 is fixed in the middle of the main body of the bottom mounting plate 301, the middle of the bottom end of the unpowered walking frame 304 is rotatably connected with the unpowered walking swivel 302, and in order to improve the smoothness of the rotation connection, an unpowered rotating bearing 303 can be added between the middle of the bottom end of the unpowered walking frame 304 and the unpowered walking swivel 302;

[0058] The middle part of the bottom end of the power traveling frame 309 is rotatably connected to the power rotating shaft 307. Similarly, a power bearing 308 can be added between the middle part of the bottom end of the power traveling frame 309 and the power rotating shaft 307.

[0059] The unpowered shaft 305 is symmetrically fixedly connected to both sides of the top of the unpowered traveling frame 304, and the unpowered rotating wheel 306 is rotatably connected to the unpowered shaft 305;

[0060] The top sides of the power walking frame 309 are fixedly connected with power shaft seats 310, and each group of power shaft seats 310 is rotatably connected with a power shaft 311, a power rotating wheel 312 is plugged and fixed at one end of the power shaft 311, and a power pulley 313 is plugged and fixed at the other end of the power shaft 311, and transverse shaft seats 314 are fixedly installed on both sides of the bottom end of the power walking frame 309, and the two ends of the bottom transverse shaft 315 are respectively rotatably connected to different transverse shaft seats 314, and the bottom pulley 316 is plugged and fixed at the two shaft ends of the bottom pulley 316, and a connecting belt 317 is sleeved and installed between the power pulley 313 and the bottom pulley 316 on the same side, and the walking motor 318 is fixedly installed on the top of the bottom mounting plate 301, and the rotating shaft of the walking motor 318 is fixedly connected to one end of the bottom transverse shaft 315;

[0061] The bottom horizontal shaft 315 is driven to rotate by the travel motor 318, so that the bottom pulleys 316 at both ends of the bottom horizontal shaft 315 rotate synchronously and in the same direction, and the connecting belt 317 drives the rotation of the power pulley 313 through the connecting belt 317, thereby driving the symmetrically distributed power wheels 312 to actively rotate synchronously and in the same direction, providing power for the power wheels 312 to move in the track of the hanging rope 204 or the guide rail member 1;

[0062] The purpose of rotatably connecting both the unpowered walking frame 304 and the powered walking frame 309 to the bottom mounting plate 301 is to enable the suspension moving component 3 to move along a straight path formed by the straight track 102 or the hanging rope 204 , as well as along a corner path formed by the corner track 105 .

[0063] The specific structure of the position balance component 4 is as follows Figure 7 and Figure 8 As shown, the position balancing assembly 4 is integrally mounted at the middle of the bottom end of the bottom mounting plate 301 and is transmission-connected to the bottom horizontal shaft 315;

[0064] The balancing pulley 401 is plugged and fixed at the other end of the bottom horizontal axis 315, the bottom balancing housing 402 is fixedly installed at the bottom end of the bottom mounting plate 301, the balancing rotating shaft 403 is laterally screwed in the bottom balancing housing 402, the bottom balancing rotating pulley 404 is plugged and fixed at the outer shaft end of the balancing rotating shaft 403, and a balancing transmission belt 405 is sleeved and installed between the balancing pulley 401 and the bottom balancing rotating pulley 404;

[0065] The bottom end of the bottom mounting plate 301 is also fixedly connected with a balancing shaft seat 407, and the number of the balancing shaft seats 407 can be increased or decreased according to demand, so as to maintain the stable rotation of the balancing shaft 403, and the balancing shaft 403 is rotatably connected with the balancing shaft seat 407;

[0066] The main body of the bottom mounting plate 301 is provided with through holes at positions directly facing the balance drive belt 405, the electromagnetic brake 408 and the anti-roll stabilizer 409 for eliminating interference. The top of the bottom mounting plate 301 is also covered with a cover 406 for protecting the electromagnetic brake 408 and the anti-roll stabilizer 409.

[0067] The main body of the electromagnetic brake 408 is fixedly installed at the bottom end of the bottom mounting plate 301, and the balancing shaft 403 is inserted into the interior of the electromagnetic brake 408, so as to realize the rapid stop of the rotation state of the balancing shaft 403, that is, to realize the rapid stop of the rotation state of the power wheel 312 connected to the balancing shaft 403, so that the suspension moving component 3 can accurately stay at any path position;

[0068] The anti-roll stabilizer 409 rotates around the balancing shaft 403. When the suspension moving component 3 moves along the hanging rope 204 and swings, the swing can be quickly eliminated by rotating the anti-roll stabilizer 409, so that the suspension moving component 3 is always in a stable state when moving along the hanging rope 204.

[0069] The specific structure of the rope track switching assembly 5 is as follows: Fig. 9 , Fig.10 and Fig.11 As shown, the bottom end of the main body of the unpowered walking frame 304 is symmetrically fixedly installed with a rope-dragging sliding seat 501, and each set of rope-dragging sliding seats 501 is slidably connected with a rope-dragging sliding column 502, and the bottom end of the rope-dragging 503 is fixedly connected to the top of the rope-dragging sliding column 502, and each set of rope-dragging sliding columns 502 is sleeved with a rope-dragging compression spring 504, and the top end of the rope-dragging compression spring 504 is clamped with the rope-dragging 503, and the bottom end is clamped with the rope-dragging sliding seat 501, and the rope-dragging compression spring 504 can form a natural upward supporting elastic force for the rope-dragging 503;

[0070] The bottom end of the main body of the unpowered walking frame 304 is also symmetrically installed with a pair of track pressure block slides 505, and the track pressure block slides 506 are slidably connected in the track pressure block slides 505. The top ends of the paired track pressure block slides 506 are fixedly connected with a transverse connecting plate 507, and the arc plate 508 is fixedly connected to the top end of the transverse connecting plate 507. The plug-in block 511 is fixed to the middle of one side of the transverse connecting plate 507. Each group of track pressure block slides 506 is sleeved with a pressure block top spring 509, and the top end of the pressure block top spring 509 is fixed to the transverse connecting plate 507, and the bottom end is fixed to the track pressure block slide 505. Similarly, the pressure block top spring 509 is used to provide a natural upward supporting elastic force for the transverse connecting plate 507 and the arc plate 508;

[0071] Since the lateral length of the arc plate 508 is equal to the lateral length of the rope tug 503, and the top of the arc plate 508 itself has an arc structure, it can be ensured that during the transition of the suspended moving component 3 from the hanging rope 204 to the track of the guide rail component 1, before the rope tug 503 touches the bottom end of the track of the guide rail component 1, the arc surface at the top end of the arc plate 508 and the bottom end of the track of the guide rail component 1 form a cooperation that has pressed the rope tug 503 down to a position where it cannot touch the guide rail component 1.

[0072] The specific structure of the lateral wheel limiting assembly 6 can further improve the lateral stability of the suspension moving assembly 3 moving along the track of the guide rail member 1 Fig.12 and Fig.13 As shown, the side clamping positions 601 are arranged in pairs on both sides of the main body of the non-powered walking frame 304, and a side fixing seat 602 is fixed in each set of the side clamping positions 601. The outer sliding blocks 607 are symmetrically arranged on both sides of the side fixing seats 602, and the side sliding seats 603 are slidably connected to the outer sliding blocks 607 through the telescopic sliding grooves 608 at both ends;

[0073] The top of each set of side sliding seats 603 is rotatably connected to a side rotating wheel 604, a passive inclined block 605 is fixed on the inner side of the side sliding seat 603, and a pushing inclined block 606 is fixedly connected to one side of the transverse connecting plate 507 and is slidably matched with the passive inclined block 605;

[0074] The telescopic compression spring 609 is clamped between the side fixing seat 602 and the side sliding seat 603. Under the supporting elastic force of the telescopic compression spring 609, the side sliding seat 603, the side rotating wheel 604 and the passive inclined block 605 can form a natural elastic inward state;

[0075] The purpose of setting the side wheel 604 to a naturally elastic inward state is to enable the side wheel 604 to elastically form a rolling connection with the side slide 103 and the corner side slide 106, so as to facilitate the cooperation between the side wheel 604 and the corner side slide 106 when the suspension moving assembly 3 turns a corner;

[0076] At the same time, through the downward movement of the arc plate 508 and the horizontal connecting plate 507, the sliding cooperation formed by the pushing inclined block 606 and the passive inclined block 605 is driven, which can not only make the side turning wheel 604 have the effect of elastic movement inward, but also make the side turning wheel 604 move outward with the downward movement of the arc plate 508 when the side turning wheel 604 moves to the transition position between the hanging rope 204 and the guide rail component 1 track along with the suspension moving component 3, so that the side turning wheel 604 in the elastic inward movement state is pushed to the position of rolling contact with the side slide 103 and the corner side slide 106, and before the side turning wheel 604 contacts the side slide 103 or the corner side slide 106, the side turning wheel 604 can be pushed outward to the position of rolling contact with the side slide 103 and the corner side slide 106, thereby improving the stability of the suspension moving component 3 moving in the lateral position.

[0077] Preferably, in order to enable the suspension moving component 3 to smoothly pass through the corner in the guide rail member 1, a corner guide column 107 is also fixedly installed at the inner bottom end of the corner track 105, and the path of the corner guide column 107 is consistent with the path of the corner track 105, together forming a moving guide for the suspension moving component 3, and the outer diameter of the corner guide column 107 is matched with the groove body of the unpowered turntable 306 and the powered turntable 312, so that when the suspension moving component 3 moves at a corner, the unpowered turntable 306 and the powered turntable 312 can move along the guide of the corner guide column 107.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track structure for a suspended robot, comprising a guide rail component (1) and a hanging rope component (2), characterized in that: It also includes a suspension moving component (3), a position balancing component (4) and a rope track switching component (5); The hanging rope component (2) includes hanging ropes (204), and the hanging ropes (204) are overlapped in pairs between the tracks of the guide rail component (1). The suspended moving component (3) can move in the track of the guide rail component (1) and the hanging ropes (204). The position balancing component (4) is installed in the middle of the bottom end of the suspended moving component (3), which can form a rapid stop of the suspended moving component (3) and stabilize the suspended moving component (3) after swinging while walking on the hanging ropes (204). In addition, in conjunction with the rope-track switching component (5), the suspended moving component (3) can move safely in the track of the guide rail component (1) and the hanging ropes (204).

2. A track structure for a suspension robot according to claim 1, characterized in that: The suspension moving assembly (3) includes a bottom mounting plate (301), a power traveling frame (309) and a power rotating wheel (312); the position balancing assembly (4) includes an electromagnetic brake (408) and a sway reducing stabilizer (409); the rope track switching assembly (5) includes a plug-in slot (510) and a plug-in block (511); the top of the bottom mounting plate (301) is symmetrically screwed with a non-powered traveling frame (304); the top of each group of non-powered traveling frames (304) is The inner side of each end of the guide rail member (1) is symmetrically connected to a powered rotating wheel (306), the powered traveling frame (309) is connected to the middle of the bottom mounting plate (301), the powered rotating wheel (312) is connected to the inner side of the top of the powered traveling frame (309) symmetrically, and can rotate synchronously automatically. The powered traveling frame (309) and the powered rotating wheel (312) can travel in the track of the guide rail member (1) or in the hanging rope (204). The middle of the bottom end of the bottom mounting plate (301) is connected to the powered traveling frame (309) The invention discloses a balancing shaft (403) which is connected to a power wheel (312) by transmission. An electromagnetic brake (408) and a roll stabilizer (409) are installed outside the balancing shaft (403). A rope tow (503) is provided directly below each group of non-power wheels (306) and is elastically movable upward. The rope tow (503) is slidably connected to the bottom body of the non-powered traveling frame (304). The middle part of the main body is also symmetrically slidably connected with an arc plate (508) that bounces upward, and the plug-in block (511) is fixedly connected to the middle part of one side of the bottom end of the arc plate (508). The plug-in slot (510) is provided in the main body of the rope drag (503), and the plug-in block (511) on the same side is inserted into the plug-in slot (510). When the rope drag (503) naturally pops up upward, both the upper and lower surfaces of the plug-in block (511) are in clearance with the inner surface of the plug-in slot (510).

3. The track structure of a suspension robot according to claim 2, characterized in that: The guide rail component (1) comprises a standing seat (101), a linear track (102), a corner seat (104) and a corner track (105); the linear track (102) is fixedly connected to one end of the standing seat (101); side slideways (103) are fixedly provided on both sides of the bottom end of the linear track (102); the corner track (105) is fixedly connected to one end of the corner seat (104); and corner side slideways (106) are fixedly provided on both sides of the bottom end of the corner track (105).

4. The track structure of a suspension robot according to claim 3, characterized in that: The rope hanging component (2) also includes a winding frame (201) and a winding motor (205); a reel (202) is rotatably connected to the interior of the winding frame (201); the reel (202) is a double-groove structure; one end of the hanging ropes (204) distributed in pairs are respectively wound around the outside of different grooves of the reel (202); the winding motor (205) is fixedly mounted on the outside of the winding frame (201); one end of the reel (202) is fixedly connected to the rotating shaft of the winding motor (205); the interior of the winding frame (201) A winding guide wheel (203) is also rotatably connected to one side. The bottom ends of the main bodies of the linear track (102) and the corner track (105) can be provided with sliding holes (206) or rope-fixing holes (208), and the aperture of the sliding holes (206) is larger than the aperture of the rope-fixing holes (208). The outer bottom ends of the linear track (102) and the corner track (105) are both fixed with guide slide seats (207) or rope-fixing seats (209) in pairs, and the aperture of the through hole of the guide slide seat (207) is larger than the aperture of the through hole of the rope-fixing seat (209).

5. A track structure for a suspension robot according to claim 2, 3 or 4, characterized in that: The suspension moving assembly (3) further comprises an unpowered shaft (305), a power rotating shaft (307), a power pulley (313), a bottom transverse shaft (315), a bottom pulley (316) and a walking motor (318); unpowered walking rotating shafts (302) are symmetrically fixed at both ends of the main body of the bottom mounting plate (301); the power rotating shaft (307) is fixed to the middle of the main body of the bottom mounting plate (301); the middle of the bottom end of the unpowered walking frame (304) is rotationally connected to the unpowered walking rotating shaft (302); the middle of the bottom end of the power walking frame (309) is rotationally connected to the power rotating shaft (307); the unpowered shaft (305) is symmetrically fixedly connected to both sides of the top of the unpowered walking frame (304); the unpowered rotating wheel (306) is rotationally connected to the unpowered shaft (305); both sides of the top of the power walking frame (309) are fixedly connected A power shaft seat (310) is provided, each group of power shaft seats (310) is rotatably connected with a power shaft (311), a power rotating wheel (312) is plugged and fixed at one end of the power shaft (311), a power pulley (313) is plugged and fixed at the other end of the power shaft (311), both sides of the bottom end of the power walking frame (309) are fixedly installed with a transverse shaft seat (314), the two ends of the bottom transverse shaft (315) are respectively rotatably connected to different transverse shaft seats (314), the bottom pulley (316) is plugged and fixed at the two shaft ends of the bottom pulley (316), a connecting belt (317) is sleeved and installed between the power pulley (313) and the bottom pulley (316) on the same side, and a walking motor (318) is fixedly installed on the top of the bottom mounting plate (301), and the rotating shaft of the walking motor (318) is fixedly connected to one end of the bottom transverse shaft (315).

6. The track structure of a suspension robot according to claim 5, characterized in that: The position balancing assembly (4) further comprises a balancing pulley (401), a bottom balancing shell (402), a bottom balancing rotating pulley (404) and a cover (406); the balancing pulley (401) is plugged and fixed at the other end of the bottom horizontal shaft (315); the bottom balancing shell (402) is fixedly mounted at the bottom end of the bottom mounting plate (301); the balancing rotating shaft (403) is rotatably connected in the bottom balancing shell (402); the bottom balancing rotating pulley (404) is plugged and fixed at the outer shaft end of the balancing rotating shaft (403); a balancing transmission belt (405) is sleeved and installed between the balancing pulley (401) and the bottom balancing rotating pulley (404); the bottom end of the bottom mounting plate (301) is also fixedly connected to a balancing rotating shaft seat (407); and the balancing rotating shaft (403) is rotatably connected to the balancing rotating shaft seat (407).

7. A track structure for a suspension robot according to claim 2, 3, 4 or 6, characterized in that: The rope-track switching assembly (5) also includes a track pressure block slide column (506), a rope-tow slide seat (501) is symmetrically fixedly installed at the bottom end of the main body of the unpowered walking frame (304), a rope-tow slide column (502) is slidably connected in each group of rope-tow slide seats (501), the bottom end of the rope-tow (503) is fixedly connected to the top end of the rope-tow slide column (502), a rope-tow compression spring (504) is sleeved in each group of rope-tow slide columns (502), the top end of the rope-tow compression spring (504) is clamped with the rope-tow (503), and the bottom end is clamped with the rope-tow slide seat (501), and the bottom end of the unpowered walking frame (304) is also symmetrically installed in pairs at the bottom end of the main body. A track pressing block slide (505) is fixed thereto, a track pressing block slide post (506) is slidably connected to the track pressing block slide post (505), the top ends of the paired track pressing block slide posts (506) are fixedly connected to a transverse connecting plate (507), an arc plate (508) is fixedly connected to the top end of the transverse connecting plate (507), a plug-in block (511) is fixed to the middle part of one side of the transverse connecting plate (507), each group of track pressing block slide posts (506) is sleeved with a pressing block top spring (509), the top end of the pressing block top spring (509) is clamped to the transverse connecting plate (507), and the bottom end is clamped to the track pressing block slide post (505).

8. The track structure of a suspension robot according to claim 7, characterized in that: Side wheel limiting assemblies (6) are also arranged in pairs on both sides of each group of non-powered walking frames (304) near one side of the powered walking frame (309). The side wheel limiting assemblies (6) include side clamping positions (601), side sliding seats (603), passive inclined blocks (605), pushing inclined blocks (606), outer sliding blocks (607), telescopic sliding grooves (608) and telescopic compression springs (609). The side clamping positions (601) are arranged in pairs on both sides of the main body of the non-powered walking frame (304). A side fixing seat (602) is fixed in each group of side clamping positions (601). The outer sliding blocks are provided on the sides of the main body of the non-powered walking frame (304). (607) are symmetrically arranged on both sides of the side fixing seat (602), and the side sliding seat (603) is slidably connected to the outer sliding block (607) through the telescopic sliding grooves (608) at both ends. The top of each group of side sliding seats (603) is rotatably connected with a side rotating wheel (604), and the passive inclined block (605) is fixed on the inner side of the side sliding seat (603). The pushing inclined block (606) is fixedly connected to one side of the horizontal connecting plate (507) and slidably cooperates with the passive inclined block (605). The telescopic compression spring (609) is clamped between the side fixing seat (602) and the side sliding seat (603).

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