Robot rail changing system

Abstract

The invention discloses a robot rail switching system, and relates to the technical field of robot inspection. The robot rail switching system comprises a plurality of charging cabins, a plurality of robots, a plurality of front rails, a group of rail switching equipment and a circulating rail. The charging cabins, the robots and the front rails are the same in number. And each charging cabin is connected with one front track. And each front rail is guided to the rail switching equipment. And two ends of the circulating rail are guided to the rail changing equipment. And the rail changing equipment is provided with a transfer rail and is configured to enable one end of the transfer rail to be in butt joint with any front rail and enable the other end of the transfer rail to be in butt joint with any end of the circulating rail. And the robot is configured to walk along the front track, the transfer track and the circulating track. According to the system, through rail changing, some robots can be charged, another robot executes tasks on a circulating rail, and the defects that when a single robot is charged, the operation tasks cannot be executed, and field information of the charging time period is lacked are overcome.

Description

Technical Field

[0001] The present application relates to the field of robot inspection technology, and in particular to a robot track changing system. Background Art

[0002] The rail-mounted intelligent inspection robot system is mainly used to realize autonomous unmanned inspection of internal equipment and their surrounding environment in scenes such as production lines, power distribution stations, switch rooms, pipe corridors, tunnels, etc. The robot is hung on the track, equipped with cameras and sensors, and walks autonomously on the track to collect real-time images, sounds, infrared thermal images and temperature data, smoke, various gas concentrations and other parameters of the scene. It has intelligent perception and recognition functions, and based on deep learning technology, it can perceive the status of personnel, equipment, and environment.

[0003] The robot also carries batteries as energy, and when it needs to be charged, it walks along the track and enters the charging cabin. The current inspection system layout is a one-to-one correspondence between robots, tracks, and charging cabins, that is, one robot corresponds to one track, and one track corresponds to one charging cabin. The robot cannot perform work tasks while charging, and lacks on-site information during the charging period. Summary of the invention

[0004] In view of the above problems, the present application proposes a robot track-changing system, which is provided with multiple charging cabins and multiple robots, and one robot performs tasks on the track while other robots are charging. To this end, the solution adopted by the present application is as follows.

[0005] A robot track changing system comprises a plurality of charging cabins, a plurality of robots, a plurality of front tracks, a set of track changing equipment and a circulating track.

[0006] The number of the charging cabins, the robots and the front tracks is the same. Each charging cabin is connected to a front track. Each front track leads to the track-changing device. Both ends of the circulating track lead to the track-changing device.

[0007] The track-changing device has a transfer track, and the track-changing device is configured to connect one end of the transfer track to any one of the front tracks, and to connect the other end of the transfer track to any end of the circulation track.

[0008] The robot is configured to be able to walk along the front track, the transfer track and the circulating track.

[0009] By adopting the above technical solution, the system can realize some robots charging while another robot performs tasks on the circulating track by changing tracks, which makes up for the defects that a single robot cannot perform work tasks while charging and lacks on-site information during the charging period.

[0010] A preferred solution of the robot track changing system is that the track changing device further includes a suspension device, a telescope and a first rotator. The telescope is mounted on the suspension device. The telescopic shaft of the telescope is downwardly connected to the first rotator. The rotating shaft of the first rotator is downwardly connected to the transfer track.

[0011] By adopting the above technical solution, in order to achieve track docking, the length of the transfer track should be equal to or slightly smaller than the spacing between the front track and the circulating track. The docking is achieved by rotating the transfer track. The ends of each track are generally square. If the transfer track, the front track and the circulating track are rotated at the same height, it will cause collision. Therefore, a telescope is provided to achieve docking by first lowering the height of the transfer track, then rotating the transfer track, and then raising the transfer track to prevent collision between the track ends.

[0012] A preferred solution of the robot track changing system is that the front track includes a first horizontal plate track and a first round bar track. At any point of the front track, the first round bar track is fixed in the middle below the first horizontal plate track, and the spacing between the first round bar track and the first horizontal plate track is equal everywhere.

[0013] The switching track includes a second horizontal plate rail and a second round bar rail. At any point of the switching track, the second round bar rail is fixed in the middle below the second horizontal plate rail, and the spacing between the second round bar rail and the second horizontal plate rail is equal everywhere.

[0014] The circulating track comprises a third horizontal plate rail and a third round bar rail. At any point of the circulating track, the third round bar rail is fixed in the middle below the third horizontal plate rail, and the spacing between the third round bar rail and the third horizontal plate rail is equal everywhere.

[0015] The cross-sectional shapes and sizes of the first horizontal plate rail, the second horizontal plate rail and the third horizontal plate rail are all the same. The cross-sectional shapes and sizes of the first round rail, the second round rail and the third round rail are all the same.

[0016] The track changing equipment is configured to connect one end of the second horizontal plate rail and the second round rail to the first horizontal plate rail and the first round rail of the same front track, and to connect the other end of the second horizontal plate rail and the second round rail to any end of the third horizontal plate rail and the third round rail.

[0017] By adopting the above technical solution, the front track, the transfer track and the circulating track can be smoothly docked, so that the robot can smoothly pass through the docking point between the front track and the transfer track, and smoothly pass through the docking point between the transfer track and the circulating track.

[0018] A preferred solution of the robot track changing system is that the robot track changing system also includes a robot, and the robot includes a body and a walking device. The walking device includes a driven wheel, a driving wheel, a limiting wheel and a driving mechanism. The driving mechanism is installed on the body. The driving mechanism connects the limiting wheel and the driving wheel. The driven wheel and the driving wheel are arranged facing each other. The driven wheel and the driving wheel are pressed together on both sides of the upper surface of the first horizontal plate rail, the second horizontal plate rail or the third horizontal plate rail. The limiting wheel half wraps the first round rail, the second round rail or the third round rail. The driving mechanism is configured to drive the driving wheel to rotate, so that the limiting wheel moves along the first round rail, the second round rail or the third round rail, and the driven wheel and the driving wheel walk on the first horizontal plate rail, the second horizontal plate rail or the third horizontal plate rail.

[0019] By adopting the above technical solution, the limiting wheel limits the robot to move on the first circular rail, the second circular rail or the third circular rail, so that the robot does not deviate from the route when walking, and actively rotates through the single-sided driving wheel. When turning, the driving wheel and the driven wheel can achieve differential rotation to achieve turning, thereby avoiding the same driving mechanism driving the two driving wheels to rotate at the same time, which makes it impossible to achieve differential rotation on both sides and turn smoothly.

[0020] A preferred solution of the robot track changing system is that the wheel surface of the limiting wheel includes a middle arc-shaped concave surface and annular surfaces on both sides. The arc-shaped concave surface is a ring surrounding the outer circumference of the limiting wheel, and the cross-section of the arc-shaped concave surface is an arc shape with the middle recessed toward the central axis of the limiting wheel. The diameter of the arc-shaped concave surface is larger than the first circular rail. The middle of the arc-shaped concave surface fits the first circular rail, the second circular rail or the third circular rail. The annular surfaces on both sides fit the lower surface of the first horizontal plate rail, the second horizontal plate rail or the third horizontal plate rail.

[0021] By adopting the above technical solution, the driving wheel and the driven wheel above the track, and the limiting wheel below the track jointly clamp the track, so that the robot can walk smoothly on the track. The diameter of the arc-shaped concave surface is larger than the first round rail, so that when the robot turns, the limiting wheel deflects relative to each round rail and turns smoothly.

[0022] A preferred solution of the robot track changing system is that the walking device further comprises a base, a left support member and a right support member. The left support member and the right support member are both fixed on the right support member. The base is mounted on the body.

[0023] The driving mechanism comprises a second rotator and a transmission assembly. The second rotator comprises a stator and a rotor connected to each other.

[0024] The driven wheel is rotatably mounted on the left support member through a left cross bar. The stator is fixed on the left support member. The rotor is rotatably mounted on the right support member through the limiting wheel. The driving wheel is fixed to a right cross bar. The right cross bar is rotatably connected to the right support member. The transmission assembly connects the right cross bar and the rotor. The left cross bar and the right cross bar are on the same straight line and parallel to the rotor.

[0025] By adopting the above technical solution, the driving wheel, the driven wheel and the rotor are all supported, the driving wheel and the driven wheel are arranged relatively to each other, and are clamped and limited with the limiting wheel, so that the vehicle can stably walk in a straight line and turn along the track.

[0026] A preferred solution of the robot track changing system is that the robot includes two groups of the walking devices, each group of the walking devices is pressed on the first horizontal plate rail, the second horizontal plate rail or the third horizontal plate rail. Each base is rotatably mounted on the body. The rotation axis of the base passes through the center of the first circular rail, the second circular rail or the third circular rail.

[0027] By adopting the above technical solution, when the robot turns, the two sets of walking devices can passively rotate relative to each other, thereby completing the turn, so that the two sets of walking devices that cannot rotate will not easily pass through the track bend.

[0028] A preferred solution of the robot track changing system is that the robot track changing system includes two charging cabins, two robots and two front tracks. One end of the first front track is inserted into the first charging cabin, and the other end A of the first front track faces one end B of the circulating track. One end of the second front track is inserted into the second charging cabin, and the other end C of the second front track faces the other end D of the circulating track. The distance from A to B is equal to the distance from C to D. The track changing equipment is set in the area surrounded by ABCD.

[0029] By adopting the above technical solution, the track changing device rotates the transfer track between A and B, and can realize the transfer from the first front track to one end of the circulating track with one rotation. The track changing device rotates the transfer track between C and D, and can realize the transfer from the second front track to the other end of the circulating track with one rotation, which is convenient for operation.

[0030] A preferred solution of the robot track changing system is that the AB line is perpendicular to the CD line. The second horizontal plate rail and the second round rail are both straight. The lengths of the second horizontal plate rail and the second round rail are both equal to the length of the AB line.

[0031] By adopting the above technical solution, the straight track runs fast, and the two ends of the transfer track can be accurately docked with AB and CD, so that the robot can smoothly complete the walking between the two tracks.

[0032] A preferred solution of the robot track-changing system is that the rotation axis of the first rotator is vertically connected downward to the vertex of an isosceles triangle plate. The isosceles triangle plate is perpendicular to the second horizontal plate track. The bottom edge of the isosceles triangle plate is connected to the middle line position of the upper surface of the second horizontal plate track. When the robot is located on the track-changing device, the driven wheel and the driving wheel are located on both sides of the isosceles triangle plate.

[0033] By adopting the above technical solution, the rotating axis of the first rotator is connected to the second horizontal plate rail through the isosceles triangle plate. The connection has good stability, so that the second horizontal plate rail remains horizontal, and the isosceles triangle plate does not interfere with the operation of the driven wheel and the driving wheel on the second horizontal plate rail.

[0034] In summary, the robot track changing system of the present application has the following beneficial effects: by changing tracks, the system can realize that some robots are charging while another robot is performing tasks on a circular track, which makes up for the defects that a single robot cannot perform work tasks while charging and lacks on-site information during the charging period.

[0035] In a preferred embodiment, the two sets of rotatable walking devices can rotate relative to each other when the robot turns and pass through the turn smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A three-dimensional diagram of a robot track changing system.

[0037] Figure 2 A top view of the robot track changing system.

[0038] Figure 3 For the general Figure 2 The structure diagram after hiding two charging compartment covers, a track changing device and a robot.

[0039] Figure 4 for Figure 1 A structural diagram from an upward perspective.

[0040] Figure 5 This is the main view of the robot suspended on the track changing equipment in the robot track changing system.

[0041] Figure 6 for Figure 5 Right view of .

[0042] Figure 7 for Figure 6 Magnified view of region F.

[0043] Figure 8 for Figure 6 Stereoscopic diagram.

[0044] Fig. 9 Top view after hiding the two charging bay covers and the suspension for the robot's track-changing system.

[0045] Figure numerals: 1, charging cabin; 2, robot; 3, front track; 4, track changing device; 5, circulating track; 41, transfer track; 301, first horizontal plate rail; 302, first round bar rail; 411, second horizontal plate rail; 412, second round bar rail; 501, third horizontal plate rail; 502, third round bar rail; 42, suspension device; 43, telescope; 44, first rotator; 45, mounting plate; 46, isosceles triangle plate; 47, horizontal disc; 21, body; 20, walking device; 201, driven wheel; 202, driving wheel; 203, limiting wheel; 204, driving mechanism; 205, base; 206, left support member; 207, right support member; 2041, second rotator; 2042, transmission assembly; 2043, stator; 2044, rotor; 208, left cross bar; 209, right cross bar; 51, first production line; 52, second production line; 53, third production line; 54, explosion-proof wall; 2-1, first inspection machine; 2-2, second inspection machine; 1-1, first charging room; 1-2, second charging room. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the following embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] like Figure 1 , a robot track changing system, comprising a plurality of charging cabins 1, a plurality of robots 2, a plurality of front tracks 3, a set of track changing equipment 4 and a circulating track 5. The number of charging cabins 1, robots 2 and front tracks 3 is the same.

[0048] like Figure 2 Each charging cabin 1 can accommodate a robot 2 for charging. One end of each front track 3 extends into a charging cabin 1, so that the robot 2 can enter the charging cabin 1 for charging. The other end of each front track 3 faces the track-changing device 4, which transfers the robot 2 to any end of the circulating track 5, and the robot 2 performs inspection and other tasks on the circulating track 5.

[0049] The following is a specific description taking the robot track changing system in which the number of charging cabins 1 is two, the number of robots 2 is two, and the number of front tracks 3 is two as an example.

[0050] like Figure 3 , one end of the first front track 3 is connected to the first charging compartment 1, and the other end A of the first front track 3 is opposite to one end B of the circulating track 5. One end of the second front track 3 is connected to the second charging compartment 1, and the other end C of the second front track 3 is opposite to the other end D of the circulating track 5. The distance from A to B is equal to the distance from C to D, that is, the length of the AB line is equal to the length of the CD line. The AB line is perpendicular to the CD line.

[0051] like Figure 4 , the track changing device 4 is arranged between ABCD. The track changing device 4 has a transfer track 41 for docking with the front track 3 and the circulating track 5. In order to smoothly complete the docking, the cross-sectional structure of the transfer track 41 is set to be the same as the cross-sectional structure of the front track 3 and the cross-sectional structure of the circulating track 5. The robot 2 can automatically walk along the front track 3, the transfer track 41 and the circulating track 5.

[0052] like Figure 4 , wherein the front track 3 includes a first horizontal plate rail 301 and a first round rail 302. At any point of the front track 3, the first round rail 302 is fixed in the middle below the first horizontal plate rail 301, and the spacing between the first round rail 302 and the first horizontal plate rail 301 is equal everywhere.

[0053] like Figure 4 The transfer track 41 has a similar structure to the front track 3, and the transfer track 41 includes a second horizontal plate rail 411 and a second round bar rail 412. At any point of the transfer track 41, the second round bar rail 412 is fixed in the middle below the second horizontal plate rail 411, and the spacing between the second round bar rail 412 and the second horizontal plate rail 411 is equal everywhere. The second horizontal plate rail 411 and the second round bar rail 412 are equal in length, both are straight-line, and the length is equal to the length of the AB line. Here, the equal length can be slightly less than, that is, a collision-proof gap is generated between the second horizontal plate rail 411 and the first horizontal plate rail 301 and between the second horizontal plate rail 411 and the third horizontal plate rail 501.

[0054] like Figure 4 The structure of the circulating track 5 is similar to that of the front track 3, and the circulating track 5 includes a third horizontal plate rail 501 and a third round bar rail 502. At any point of the circulating track 5, the third round bar rail 502 is fixed in the middle below the third horizontal plate rail 501, and the spacing between the third round bar rail 502 and the third horizontal plate rail 501 is equal everywhere.

[0055] The cross-sectional shapes and sizes of the first horizontal plate rail 301, the second horizontal plate rail 411 and the third horizontal plate rail 501 are all the same; the cross-sectional shapes and sizes of the first round rail 302, the second round rail 412 and the third round rail 502 are all the same.

[0056] After the above design, the robot 2 can be transferred between the transfer track 41 and the front track 3 by simply aligning the transfer track 41 with the front track 3, and the robot 2 can be transferred between the transfer track 41 and the circulation track 5 by simply aligning the transfer track 41 with the circulation track 5.

[0057] like Figure 5 In addition to the transfer track 41, the track changing device 4 also includes main components such as a suspension device 42, a telescope 43 and a first rotator 44. The suspension device 42 is a square platform supported by four vertical legs. The telescope 43 can be a cylinder, which is installed on the lower surface of the square platform, and its telescopic axis is vertically downward. A horizontal mounting plate 45 is fixed to the lower end of the cylinder telescopic axis. A plurality of guide columns are also arranged between the mounting plate 45 and the square platform, and each guide column is parallel to the cylinder telescopic axis. The first rotator 44 can be a motor, which is installed on the lower surface of the mounting plate 45, and the output shaft of the motor is vertically connected to the vertex of a vertical isosceles triangle plate 46 downward. In fact, a horizontal disc 47 is integrally formed at the vertex of the isosceles triangle to connect to the output shaft of the power motor. The base of the isosceles triangle is vertically fixed to the middle line position of the upper surface of the second horizontal plate rail 411.

[0058] like Figure 6 The robot 2 includes a body 21 and two sets of walking devices 20. The body 21 includes a roughly square box and a rotating camera under the box for shooting live images. The two sets of walking devices 20 are installed on the upper surface of the body 21 in a front-to-rear rotation manner. The two sets of walking devices 20 are pressed on the first horizontal plate rail 301, the second horizontal plate rail 411 or the third horizontal plate rail 501, and clamp the first round bar rail 302, the second round bar rail 412 or the third round bar rail 502, and move forward by rolling friction.

[0059] like Figure 7 Specifically, each walking device 20 includes a driven wheel 201, a driving wheel 202, a limiting wheel 203, a driving mechanism 204, a base 205, a left support member 206 and a right support member 207. The driving mechanism 204 includes a second rotator 2041 and a transmission assembly 2042. The second rotator 2041 is a motor, including a stator 2043 and a rotor 2044 connected to each other. The transmission assembly 2042 is a group of pulleys.

[0060] like Figure 7For the above-mentioned walking device 20, the driven wheel 201 is fixed to a left crossbar 208, and the left crossbar 208 is connected to the upper part of the left support 206 through a bearing. The driving wheel 202 is fixed to a right crossbar 209, and the right crossbar 209 is connected to the upper part of the right support 207 through a bearing. The left crossbar 208 and the right crossbar 209 are on the same straight line, so that the driven wheel 201 and the driving wheel 202 are arranged facing each other, and can not only move forward synchronously on the straight track, but also realize differential rotation at the turning point to turn smoothly. The lower ends of the left support 206 and the right support 207 are fixed to the base 205.

[0061] like Figure 8 The base 205 is rotatably connected to the body 21 through a bearing, so that the two sets of walking devices 20 can rotate to a certain angle with each other, which is convenient for turning and does not deviate from the track when turning.

[0062] like Figure 7 For the above-mentioned walking device 20, the limiting wheel 203 is a concave wheel with an arc-shaped concave surface in the middle of the wheel surface and annular surfaces at both ends of the wheel surface. The arc-shaped concave surface is a ring surrounding the outer circumference of the limiting wheel 203, and the arc-shaped concave surface is an arc shape with the middle recessed toward the central axis of the limiting wheel 203. The diameter of the arc-shaped concave surface is larger than the second circular rail 412, so as to half-wrap the second circular rail 412, and there is a gap between the arc-shaped concave surface and the second circular rail 412, so that when turning, the arc-shaped concave surface can rotate relative to the second circular rail 412, thereby changing direction. The middle of the arc-shaped concave surface fits the first circular rail 302, the second circular rail 412 or the third circular rail 502. The annular surfaces at both ends fit the lower surface of the first horizontal plate rail 301, the second horizontal plate rail 411 or the third horizontal plate rail 501, thereby strengthening the guiding function of each horizontal plate rail.

[0063] like Figure 7 , the stator 2043 is fixed to the left support 206. The rotor 2044 passes through the left support 206 without contact, or passes through the left support 206 through a bearing. The other end of the rotor 2044 passes through the right support 207 through a bearing. The left support 206 and the right support 207 are fixed to the base 205. Figure 8 The base 205 is rotatably mounted on the body 21 through a bearing. The two rotatable bases 205 at the front and rear facilitate the robot 2 to walk at an angle with the two sets of walking devices 20 at the turning point of the track, thereby realizing the turning.

[0064] The transmission assembly 2042 is a set of pulleys, which connect the rotor 2044 and the right crossbar 209, and transmit the rotational motion of the rotor 2044 to the driving wheel 202, so that the driving wheel 202 rotates under the drive of the rotor 2044, so that the driving wheel 202 rolls with static friction relative to the upper surface of the first horizontal plate rail 301, the second horizontal plate rail 411 or the third horizontal plate rail 501, driving the robot 2 body 21 forward. Charging ports are provided at both ends of the body 21. A charging head is provided inside the charging cabin 1. When the robot 2 returns to the charging cabin 1, the charging port at either end of the body 21 can be accurately docked with the charging head for charging.

[0065] The turning points of the front track 3 and the circulating track 5 can be set to a quarter arc shape. A plurality of vertical rods (not shown in the drawings) can be installed in the middle of the upper surfaces of the first horizontal plate rail 301, the second horizontal plate rail 411 and the third horizontal plate rail 501 and suspended on the ceiling. The distances from the driven wheel 201 and the driving wheel 202 to the middle of the upper surfaces of the first horizontal plate rail 301, the second horizontal plate rail 411 and the third horizontal plate rail 501 are equal. The radial dimension of each vertical rod is smaller than the gap width between the driven wheel 201 and the driving wheel 202.

[0066] like Fig. 9 , the robot track changing system can be installed on the workshop production line. For example, the circulating track 5 includes the first production line 51, the second production line 52, the third production line 53 and the explosion-proof wall 54 from the B end to the D end. Then the robot track changing system can operate in the following ways (taking two robots 2 and two charging cabins 1 as an example, the two robots 2 are the first inspection machine 2-1 and the second inspection machine 2-2, and the two charging cabins 1 are the first charging house 1-1 and the second charging house 1-2. In actual situations, multiple robots 2 can be equipped with multiple charging cabins 1 for operation).

[0067] The inspection route of the first inspection machine 2-1 can be divided into the following four situations.

[0068] Inspection route a1: The first inspection machine 2-1 exits the first charging house 1-1 → the track changing device 4 points to AB → the first inspection machine 2-1 enters the track changing device 4 → the first inspection machine 2-1 exits the track changing device 4 → the first inspection machine 2-1 inspects the first production line 51 → the first inspection machine 2-1 inspects the second production line 52 → the first inspection machine 2-1 inspects the third production line 53 → the first inspection machine 2-1 inspects along the explosion-proof wall 54 → the track changing device 4 points to CD → the first inspection machine 2-1 enters the track changing device 4 → the track changing device 4 points to AB → the first inspection machine 2-1 returns to the first charging house 1-1 → inspection completed.

[0069] Inspection route b1 (production line maintenance situation, return by the original route): The first inspection machine 2-1 exits the first charging house 1-1 → the track changing device 4 points to AB → the first inspection machine 2-1 enters the track changing device 4 → the first inspection machine 2-1 exits the track changing device 4 → the first inspection machine 2-1 inspects the first production line 51 → the first inspection machine 2-1 inspects the second production line 52 → the first inspection machine 2-1 inspects the third production line 53 → the first inspection machine 2-1 returns to the second production line 52 → the first inspection machine 2-1 returns to the first production line 51 → the track changing device 4 points to AB → the first inspection machine 2-1 retreats into the track changing device 4 → the first inspection machine 2-1 retreats to the first charging house 1-1 → inspection completed.

[0070] Inspection route c1: The first inspection machine 2-1 exits the first charging house 1-1 → the track changing device 4 points to AB → the first inspection machine 2-1 enters the track changing device 4 → the track changing device 4 points to CD → the first inspection machine 2-1 exits the track changing device 4 → the first inspection machine 2-1 inspects the explosion-proof wall 54 → the first inspection machine 2-1 inspects the third production line 53 → the first inspection machine 2-1 inspects the second production line 52 → the first inspection machine 2-1 inspects the first production line 51 → the track changing device 4 points to AB → the first inspection machine 2-1 retreats into the track changing device 4 → the first inspection machine 2-1 retreats to the first charging house 1-1 → inspection completed.

[0071] Inspection route d1 (production line maintenance situation, return by the original route): The first inspection machine 2-1 exits the first charging house 1-1 → the track changing equipment 4 points to AB → the first inspection machine 2-1 enters the track changing equipment 4 → the track changing equipment 4 points to CD → the first inspection machine 2-1 exits the track changing equipment 4 → the first inspection machine 2-1 inspects the explosion-proof wall 54 → the first inspection machine 2-1 inspects the third production line 53 → the first inspection machine 2-1 inspects the second production line 52 → the first inspection machine 2-1 inspects the first production line 51 → the first inspection machine 2-1 returns to the second production line 52 → the first inspection machine 2-1 returns to the third production line 53 → the first inspection machine 2-1 returns to the explosion-proof wall 54 → the track changing equipment 4 points to CD → the first inspection machine 2-1 retreats into the track changing equipment 4 → the track changing equipment 4 points to AB → the first inspection machine 2-1 retreats to the first charging house 1-1 → inspection completed.

[0072] The inspection route of the second inspection machine 2-2 can be divided into the following four situations.

[0073] Inspection route a2: The second inspection machine 2-2 exits the second charging house 1-2 → the track changing device 4 points to CD → the second inspection machine 2-2 enters the track changing device 4 → the track changing device 4 points to AB → the second inspection machine 2-2 exits the track changing device 4 → the second inspection machine 2-2 inspects the first production line 51 → the second inspection machine 2-2 inspects the second production line 52 → the second inspection machine 2-2 inspects the third production line 53 → the second inspection machine 2-2 inspects along the explosion-proof wall 54 → the track changing device 4 points to CD → the second inspection machine 2-2 returns to the second charging house 1-2 → inspection completed.

[0074] Inspection route b2 (production line maintenance situation, return by the original route): The second inspection machine 2-2 exits the second charging house 1-2 → the track changing device 4 points to CD → the second inspection machine 2-2 enters the track changing device 4 → the track changing device 4 points to AB → the second inspection machine 2-2 exits the track changing device 4 → the second inspection machine 2-2 inspects the first production line 51 → the second inspection machine 2-2 inspects the second production line 52 → the second inspection machine 2-2 inspects the third production line 53 → the second inspection machine 2-2 returns to the second production line 52 → the second inspection machine 2-2 returns to the first production line 51 → the track changing device 4 points to AB → the second inspection machine 2-2 retreats into the track changing device 4 → the track changing device 4 points to CD → the second inspection machine 2-2 retreats to the second charging house 1-2 → inspection completed.

[0075] Inspection route c2: The second inspection machine 2-2 exits the second charging house 1-2 → the track changing device 4 points to CD → the second inspection machine 2-2 enters the track changing device 4 → the second inspection machine 2-2 exits the track changing device 4 → the second inspection machine 2-2 inspects the explosion-proof wall 54 → the second inspection machine 2-2 inspects the third production line 53 → the second inspection machine 2-2 inspects the second production line 52 → the second inspection machine 2-2 inspects the first production line 51 → the track changing device 4 points to AB → the second inspection machine 2-2 retreats into the track changing device 4 → the track changing device 4 points to CD → the second inspection machine 2-2 retreats to the second charging house 1-2 → inspection completed.

[0076] Inspection route d2 (production line maintenance situation, return by the original route): the second inspection machine 2-2 exits the second charging house 1-2 → the track changing equipment 4 points to CD → the second inspection machine 2-2 enters the track changing equipment 4 → the second inspection machine 2-2 exits the track changing equipment 4 → the second inspection machine 2-2 inspects the explosion-proof wall 54 → the second inspection machine 2-2 inspects the third production line 53 → the second inspection machine 2-2 inspects the second production line 52 → the second inspection machine 2-2 inspects the first production line 51 → the second inspection machine 2-2 returns to the second production line 52 → the second inspection machine 2-2 returns to the third production line 53 → the second inspection machine 2-2 returns to the explosion-proof wall 54 → the track changing equipment 4 points to CD → the second inspection machine 2-2 retreats into the track changing equipment 4 → the second inspection machine 2-2 returns to the second charging house 1-2 → inspection completed.

[0077] It should be noted that when the first inspection machine 2-1 is inspecting, the second inspection machine 2-2 can be arranged to be charged. Similarly, when the second inspection machine 2-2 is inspecting, the first inspection machine 2-1 can be arranged to be charged.

[0078] The robot track-changing system of the present application can realize various scheme combinations of inspection routes and the dispatching and use of multiple robots 2, so that there is always a robot 2 performing tasks on the inspection route.

[0079] Although the present application 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 structures or components therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot track changing system, characterized in that: It comprises a plurality of charging cabins (1), a plurality of robots (2), a plurality of front tracks (3), a set of track changing equipment (4) and a circulating track (5); The number of the charging cabins (1), the robots (2) and the front tracks (3) is the same; each of the charging cabins (1) is connected to one of the front tracks (3); each of the front tracks (3) leads to the track-changing device (4); both ends of the circulating track (5) lead to the track-changing device (4); The track-changing device (4) has a transfer track (41), and the track-changing device (4) is configured to connect one end of the transfer track (41) to any one of the front tracks (3), and to connect the other end of the transfer track (41) to any end of the circulation track (5); The robot (2) is configured to be able to walk along the front track (3), the transfer track (41) and the circulation track (5).

2. The robot track changing system according to claim 1, characterized in that: The track-changing device (4) further comprises a suspension device (42), a telescopic device (43) and a first rotator (44); the telescopic device (43) is mounted on the suspension device (42); the telescopic shaft of the telescopic device (43) is downwardly connected to the first rotator (44); and the rotation shaft of the first rotator (44) is downwardly connected to the transfer track (41).

3. The robot track changing system according to claim 2, characterized in that: The front track (3) comprises a first horizontal plate track (301) and a first round rail (302); at any location on the front track (3), the first round rail (302) is fixed in the middle below the first horizontal plate track (301), and the spacing between the first round rail (302) and the first horizontal plate track (301) is always equal; The transfer track (41) comprises a second horizontal plate rail (411) and a second round rail (412); at any point on the transfer track (41), the second round rail (412) is fixed in the middle below the second horizontal plate rail (411), and the spacing between the second round rail (412) and the second horizontal plate rail (411) is always equal; The circulating track (5) comprises a third horizontal plate rail (501) and a third round rail (502); at any point on the circulating track (5), the third round rail (502) is fixed in the middle below the third horizontal plate rail (501), and the spacing between the third round rail (502) and the third horizontal plate rail (501) is always equal; The cross-sectional shapes and sizes of the first horizontal plate rail (301), the second horizontal plate rail (411) and the third horizontal plate rail (501) are all the same; the cross-sectional shapes and sizes of the first round rail (302), the second round rail (412) and the third round rail (502) are all the same; The track changing device (4) is configured to connect one end of the second horizontal plate rail (411) and the second round rail (412) to the first horizontal plate rail (301) and the first round rail (302) of the same front rail (3), and to connect the other end of the second horizontal plate rail (411) and the second round rail (412) to any end of the third horizontal plate rail (501) and the third round rail (502).

4. The robot track changing system according to claim 3, characterized in that: The robot track changing system further comprises a robot (2), wherein the robot (2) comprises a body (21) and a walking device (20); the walking device (20) comprises a driven wheel (201), a driving wheel (202), a limiting wheel (203) and a driving mechanism (204); the driving mechanism (204) is mounted on the body (21); the driving mechanism (204) connects the limiting wheel (203) and the driving wheel (202); the driven wheel (201) and the driving wheel (202) are arranged facing each other; the driven wheel (201) and the driving wheel (202) are pressed together on the first horizontal plate rail (301) and the second horizontal plate rail (411). or both sides of the upper surface of the third horizontal plate rail (501); the limiting wheel (203) half-wraps the first round rail (302), the second round rail (412) or the third round rail (502); the driving mechanism (204) is configured to drive the driving wheel (202) to rotate, so that the limiting wheel (203) moves along the first round rail (302), the second round rail (412) or the third round rail (502), and the driven wheel (201) and the driving wheel (202) travel on the first horizontal plate rail (301), the second horizontal plate rail (411) or the third horizontal plate rail (501).

5. The robot track changing system according to claim 4, characterized in that: The wheel surface of the limiting wheel (203) comprises a central arc-shaped concave surface and annular surfaces on both sides; the arc-shaped concave surface is annular and surrounds the outer circumference of the limiting wheel (203); the cross section of the arc-shaped concave surface is an arc shape with the middle recessed toward the central axis of the limiting wheel (203); the diameter of the arc-shaped concave surface is larger than the first circular rail (302); the middle of the arc-shaped concave surface fits the first circular rail (302), the second circular rail (412) or the third circular rail (502); the annular surfaces on both sides fit the lower surface of the first horizontal plate rail (301), the second horizontal plate rail (411) or the third horizontal plate rail (501).

6. The robot track changing system according to claim 4 or 5, characterized in that: The walking device (20) further comprises a base (205), a left support member (206) and a right support member (207); the left support member (206) and the right support member (207) are both fixed on the right support member (207); the base (205) is mounted on the body (21); The driving mechanism (204) comprises a second rotator (2041) and a transmission assembly (2042); the second rotator (2041) comprises a stator (2043) and a rotor (2044) which are connected to each other; The driven wheel (201) is rotatably mounted on the left support member (206) via a left crossbar (208); the stator (2043) is fixed on the left support member (206); the rotor (2044) passes through the limiting wheel (203) and is rotatably mounted on the right support member (207); the driving wheel (202) is fixed to a right crossbar (209); the right crossbar (209) is rotatably connected to the right support member (207); the transmission assembly (2042) is connected to the right crossbar (209) and the rotor (2044); the left crossbar (208) and the right crossbar (209) are on the same straight line and parallel to the rotor (2044).

7. The robot track changing system according to claim 6, characterized in that: The robot (2) comprises two groups of walking devices (20), each group of the walking devices (20) is pressed on the first horizontal plate rail (301), the second horizontal plate rail (411) or the third horizontal plate rail (501); each base (205) is rotatably mounted on the body (21); and the rotation axis of the base (205) passes through the center of the first circular rail (302), the second circular rail (412) or the third circular rail (502).

8. The robot track changing system according to claim 4 or 5, characterized in that: The robot track changing system comprises two charging chambers (1), two robots (2) and two front rails (3); one end of the first front rail (3) is inserted into the first charging chamber (1), and the other end A of the first front rail (3) faces one end B of the circulating rail (5); one end of the second front rail (3) is inserted into the second charging chamber (1), and the other end C of the second front rail (3) faces the other end D of the circulating rail (5); the distance from A to B is equal to the distance from C to D; the track changing device (4) is arranged in the area surrounded by ABCD.

9. The robot track changing system according to claim 8, characterized in that: The AB line is perpendicular to the CD line; the second horizontal plate rail (411) and the second circular rail (412) are both straight lines; and the lengths of the second horizontal plate rail (411) and the second circular rail (412) are both equal to the length of the AB line.

10. The robot track changing system according to claim 9, characterized in that: The rotation axis of the first rotator (44) is vertically connected downward to the vertex of an isosceles triangle plate (46); the isosceles triangle plate (46) is perpendicular to the second horizontal plate rail (411); the bottom edge of the isosceles triangle plate (46) is connected to the middle line position of the upper surface of the second horizontal plate rail (411); when the robot (2) is located on the track changing device (4), the driven wheel (201) and the driving wheel (202) are located on both sides of the isosceles triangle plate (46).

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