Rail hanging robot assembly

Abstract

The invention belongs to the technical field of robots, and particularly discloses a rail-mounted robot assembly which comprises a rail-mounted inspection robot and a rail-mounted rescue robot. One end of the unlocking and pressing assembly is mounted on the rail-hanging inspection robot, and the other end of the unlocking and pressing assembly is hinged to the driving wheel seat at a prefabricated angle; the butt joint assembly is used for connecting the hanging rail inspection robot and the hanging rail rescue robot; one end of the connecting rod assembly is connected with the butt joint assembly, the other end of the connecting rod assembly is connected with the unlocking and pressing assembly, and the rail hanging rescue robot drives the butt joint assembly to apply acting force to the unlocking and pressing assembly through the connecting rod assembly, so that the unlocking and pressing assembly eliminates pressure applied to the driving wheel seat. According to the rail-mounted robot assembly, the driving wheel of the rail-mounted inspection robot is automatically adjusted to be in the unlocking state from the pressing state, friction between the driving wheel and the guide rail is avoided, and therefore energy consumption of the rail-mounted rescue robot is reduced, and the rail-mounted inspection robot is dragged to the designated position.

Description

Technical Field

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

[0002] The rail-mounted inspection robot is a robot that can perform specific inspection tasks in special environments. It can realize autonomous positioning and navigation, and is equipped with specific cameras, such as panoramic cameras or dual-light pan-tilt cameras and a variety of environmental monitoring module sensors. It can capture and sense the surrounding environment in real time, realize remote online monitoring and data analysis, and can replace manual work to complete routine inspections, fault diagnosis, and early warning and alarm tasks, breaking through the limitations of traditional manual inspections and realizing intelligent operation and maintenance. It has been widely used in sewage treatment plants, pipeline corridors, tunnels, chemical plants, computer rooms, electrical rooms, and farms.

[0003] The rail inspection robot moves upside down on the guide rail. The driving torque of the rail inspection robot is provided by the motor, and the movement is provided by the friction between the driving wheel and the guide rail. The pressure of the driving wheel on the guide rail is provided by the clamping device, so that the rail inspection robot moves on the guide rail. Even if the rail inspection robot fails on the slope of the guide rail, the pressure provided by the clamping device can keep the rail inspection robot from having an accident. The faulty rail inspection robot is dragged to the designated location by the rail rescue robot for maintenance. However, there are the following problems: the rail inspection robot is still in the clamping state provided by the clamping device, and the rail rescue robot needs to consume more energy to drag the rail inspection robot to the designated location; if unlocking is required, the staff needs to manually unlock the clamping device, which increases the burden on the staff. Summary of the invention

[0004] The purpose of the present invention is to provide a rail-hanging robot assembly, which automatically adjusts the rail-hanging inspection robot from a clamped state to an unlocked state when the rail-hanging rescue robot is docked with the rail-hanging inspection robot, and the driving wheel and the guide rail are frictionless, thereby reducing the energy consumption of the rail-hanging rescue robot and dragging the rail-hanging inspection robot to a designated position.

[0005] The objective of the present invention is achieved through such a technical solution, which specifically provides a rail-hanging robot assembly, including:

[0006] Rail inspection robot and rail rescue robot;

[0007] The unlocking and clamping assembly is installed on the rail inspection robot at one end and hinged to the driving wheel seat at the other end at a prefabricated angle;

[0008] Docking assembly, used for connecting the rail-hanging inspection robot and the rail-hanging rescue robot;

[0009] The connecting rod assembly has one end connected to the docking assembly and the other end connected to the unlocking and clamping assembly.

[0010] Among them, the rail-hanging rescue robot drives the docking assembly to apply force to the unlocking and clamping assembly through the connecting rod assembly, so that the unlocking and clamping assembly eliminates the pressure applied to the active wheel seat.

[0011] Preferably, the unlocking and pressing assembly comprises:

[0012] A base is installed on one end of the rail-hanging inspection robot close to the guide rail;

[0013] The releaser sleeve is installed in the base, and the outer surface thereof is provided with ball holes for accommodating balls at intervals along the circumference thereof;

[0014] The limiting ring is sleeved on the outside of the releaser shaft sleeve and is located directly above the ball hole. The outer surface of the limiting ring is connected to the connecting rod assembly, and the inner wall of the limiting ring is provided with a ball withdrawal groove;

[0015] A sixth elastic member is sleeved on the outer side of the releaser shaft sleeve, and comprises a first spring and a second spring, and a limiting ring is located between the first spring and the second spring;

[0016] A releaser shaft, a releaser shaft sleeve is sleeved on the outside of the releaser shaft, a ball groove is provided on the outer surface of the releaser shaft, and the releaser shaft is provided with a cavity;

[0017] The tensioning force spring is arranged in the cavity, one end of the tensioning force spring is connected to the driving wheel seat, and the other end is connected to the end surface of the moving plate.

[0018] Preferably, the unlocking and clamping assembly also includes an adjusting column, one end of which is connected to the end face of the movable plate away from the tensioning spring, an external thread is provided on the outer surface of the adjusting column, and an internal thread matching the external thread is provided in the cavity, and the movable plate is driven to move in the cavity through the threaded cooperation.

[0019] Preferably, the base includes a base body and an adapter block, and the angle between the adapter block and the base body is adjustable; the adapter block is provided with a first groove, and the driving wheel seat is hingedly installed in the adapter block through a second pin shaft.

[0020] Preferably, the docking assembly comprises:

[0021] The claw assembly is arranged on the rail-hanging rescue robot, and comprises a claw seat and a plurality of claws, wherein the claws are hingedly mounted on the claw seat at intervals along the circumference of the claw seat;

[0022] The ball head assembly is arranged on the rail-hanging inspection robot and is provided with a ball head, and the ball head is inserted into the engaging space formed between the inner walls of the claws;

[0023] The adjustment component includes a ring plate and a plurality of first elastic members. The ring plate is sleeved on the outer side of the claw. The first elastic members are spaced between the ring plate and the claw seat. The adjustment component adjusts the radial size of the engagement space to clamp or release the ball head.

[0024] Preferably, the ball head assembly also includes a conical guide portion, which is arranged at the front end of the ball head portion, and the claw assembly is provided with a frustum column, which is provided with an inner hole matching the shape of the conical guide portion, and the conical guide portion is inserted into the inner hole; the inner hole is provided with a second elastic member and a baffle, one end of the second elastic member is connected to the inner wall of the inner hole, and the other end is connected to the baffle; a third elastic member is provided at intervals on the side wall of the inner hole, and the conical guide portion abuts against the outer side of the third elastic member when inserted into the inner hole.

[0025] Preferably, the ball head assembly further includes a rotating part and an elastic ring, the ball head portion is hinged to the rotating part, and the elastic ring is nested outside the rotating part.

[0026] Preferably, the rotating part includes a rotating U-shaped frame, a third pin shaft and a fourth elastic member, the third pin shaft is installed in the U-shaped frame, the ball head is hingedly installed on the third pin shaft, and the fourth elastic member is sleeved on the outside of the third pin shaft and is located between the inner wall of the U-shaped frame and the hinge of the ball head.

[0027] Preferably, the connecting rod assembly includes a first support plate, the first support plate is connected to the docking assembly, one end of the first connecting rod is connected to the first support plate, the other end of the first connecting rod is connected to the second connecting rod, the second connecting rod is connected to the toggle block, and the toggle block is connected to the unlocking and clamping assembly.

[0028] Preferably, the connecting rod assembly further comprises a second support plate, and the second support plate is connected to the docking assembly.

[0029] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0030] The above-mentioned rail-hanging robot assembly utilizes the rail-hanging rescue robot to drive the docking assembly, pulling the connecting rod assembly forward, and the connecting rod assembly drives the unlocking and clamping assembly to eliminate the pressure on the driving wheel seat. The driving wheel is separated from the guide rail under the action of gravity, forming an unlocked state, that is, the rail-hanging inspection robot can be pulled to the designated position with a smaller pulling force, reducing the energy loss of the rail-hanging rescue robot, and there is no need for staff to unlock it. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0032] Figure 1 This is a structural schematic diagram of a rail-hanging robot assembly of the present invention;

[0033] Figure 2 is a schematic diagram of a drive assembly and a connecting rod assembly;

[0034] Figure 3 It is a schematic diagram of the moving wheel set;

[0035] Figure 4 is a schematic diagram of the guide rail;

[0036] Figure 5 A cross-sectional schematic diagram of an unlocking and pressing assembly;

[0037] Figure 6 It is a schematic diagram of the releaser shaft;

[0038] Figure 7 Schematic diagram of removing the base for unlocking and pressing components;

[0039] Figure 8 is a schematic diagram of a releaser sleeve;

[0040] Fig. 9 is a schematic diagram of a docking assembly;

[0041] Fig.10 is a schematic diagram of the claw assembly;

[0042] Fig.11 is a schematic diagram of a claw seat;

[0043] Fig.12 is a schematic diagram of the claw;

[0044] Fig.13 is a schematic diagram of a ball head assembly;

[0045] Fig.14 is a schematic diagram of a U-shaped frame;

[0046] Fig.15 It is a schematic diagram of a truncated cone column;

[0047] Fig.16 It is a schematic diagram of the connection between the docking component and the unlocking and pressing component.

[0048] Reference numerals:

[0049] 1-unlocking and pressing assembly, 11-base, 111-base body, 112-adapter block, 113-first groove, 114-second groove, 115-slider, 12-releaser sleeve, 121-ball hole, 122-second step, 13-ball, 14-limiting ring, 141-ball retreat groove, 142-concave ring, 15-sixth elastic member, 151-first spring, 152-second spring, 16-releaser shaft, 161-ball groove, 162-cavity, 163-first cavity, 164-second cavity, 165-end plate, 166-retracting ring, 167-ring groove, 168-first step, 17-tensioning spring, 171-moving plate, 18-third spring, 19-adjusting column,

[0050] 2-docking assembly, 21-claw assembly, 211-claw seat, 2111-connecting shaft, 212-claw, 2121-second through hole, 2122-tail end of the claw, 2123-head end of the claw, 2124-annular groove, 2125-limiting platform, 213-clamping space, 214-support platform, 2141-first through hole, 215-round table column, 2151-inner hole, 2152-second elastic member, 2153-baffle, 2154-third elastic member, 216-fastening hoop,

[0051] 22-ball head assembly, 221-ball head, 2211-ball head, 2212-ball head handle, 222-conical guide part, 223-rotating part, 2231-U-shaped frame, 2232-third pin shaft, 2233-fourth elastic member, 2234-third through hole, 224-elastic ring, 2241-third groove,

[0052] 23-adjustment assembly, 231-ring plate, 232-first elastic member,

[0053] 3-connecting rod assembly, 31-first supporting plate, 32-first connecting rod, 33-second connecting rod, 34-sliding block, 341-boss, 342-sliding groove, 343-pad, 35-second supporting plate, 36-fifth elastic member,

[0054] 4-track inspection robot, 5-track rescue robot, 41-robot body,

[0055] 6-guide rail, 61-guide rail bottom inner wall, 62-guide rail bottom outer wall, 63-guide rail side inner wall,

[0056] 7-wheel train, 71-driving wheel, 711-driving wheel seat, 712-second pin shaft, 72-driven wheel set, 721-wheel set seat, 722-driven wheel, 7221-load-bearing wheel, 7222-guide wheel, 7223-clamping wheel,

[0057] 8-driving assembly, 81-motor, 82-differential, 821-differential output shaft, 83-first pulley, 84-second pulley, 85-belt. DETAILED DESCRIPTION

[0058] See also Figures 1 to 4 A rail-hanging robot assembly includes: an unlocking and clamping component 1, a docking component 2, a connecting rod component 3, a rail-hanging inspection robot 4 and a rail-hanging rescue robot 5.

[0059] The rail inspection robot 4 and the rail rescue robot 5 are on the guide rail 6, one end of the unlocking and clamping assembly 1 is installed on the rail inspection robot 4, and the other end is hinged to the driving wheel seat 711 at a prefabricated angle; the docking assembly 2 is used for the connection between the rail inspection robot 4 and the rail rescue robot 5; one end of the connecting rod assembly 3 is connected to the docking assembly 2, and the other end is connected to the unlocking and clamping assembly 1, wherein the rail rescue robot 5 drives the docking assembly 2 to apply a force to the unlocking and clamping assembly 1 through the connecting rod assembly 3, so that the unlocking and clamping assembly 1 eliminates the pressure on the driving wheel seat 711. Specifically, the rail inspection robot 4 and the rail rescue robot 5 are hung upside down on the guide rail 6, and are both provided with a robot body 41 and a wheel train 7.

[0060] The guide rail 6 is an I-shaped rail with double rails. Each guide rail 6 has a guide rail bottom inner wall 61, a guide rail bottom outer wall 62 and an oppositely arranged guide rail side inner wall 63. The wheel train 7 of the rail-hanging inspection robot 4 and the rail-hanging rescue robot 5 includes a driven wheel group 72, and the driven wheel group 72 includes a wheel group seat 721 and a driven wheel 722. The wheel group seat 721 is installed on the robot body 41. There are two groups of driven wheels 722, which are symmetrically arranged on the two inner sides of the wheel group seat 721, including load-bearing wheels 7221, guide wheels 7222 and clamping wheels 7223; the load-bearing wheels 7221 abut against the guide rail bottom inner wall 61, the guide wheels 7222 abut against the guide rail bottom outer wall 62, and the clamping wheels 7223 abut against the guide rail side inner wall 63. The load-bearing wheels 7221 and the guide wheels 7222 are separated from the robot body 41 and the guide rail 6 in the vertical direction, and the clamping wheels 7223 prevent the robot body 41 from separating from the guide rail 6 in the horizontal direction. This ensures that the rail-mounted robot assembly will not be at risk of falling off the rail when turning or moving on slopes, and its operation is relatively stable and reliable.

[0061] The wheel train 7 also includes a driving wheel 71 and a driving wheel seat 711, and the driving wheel 71 is rotatably mounted in the driving wheel seat 711. The thickness of the driving wheel 71 is as large as possible, and in order to reduce abnormal noise during movement, the driving wheel 71 is a rubber wheel. The contact surface between the driving wheel 71 and the guide rail 6 is provided with a concave-convex pattern. In the above manner, the driving wheel 71 with a wider size helps to improve the stability during movement, and the friction between the driving wheel 71 and the guide rail 6 can be increased by the rubber wheel with a concave-convex pattern, thereby enhancing the movement stability and driving force during movement.

[0062] The driving force of the rail inspection robot 4 and the rail rescue robot 5 is the driving assembly 8 of the prior art. The driving assembly 8 drives the driving wheel 71 to move. The driving assembly 8 includes a motor 81, a differential 82, a first wheel disc 83, a second wheel disc 84, and a belt 85. The motor 81 is connected to the driving wheel 71 through the differential 82, the first wheel disc 83, the belt 85, and the second wheel disc 84, and is used to drive the driving wheel 71 to drive the rail inspection robot 4 or the rail rescue robot 5 to move along the guide rail 6. When in use, the motor 81 outputs torque, and the torque is redistributed through the differential 82. The speed is then transmitted to the driving wheel 71 by the differential output shaft 821 through the first wheel disc 83, the belt 85, the second wheel disc 84, and the driving wheel shaft, and the torque is transmitted to the two driving wheels 71 to provide forward power. The differential 82 is a differential transmission mechanism that ensures the power transmission of the driving wheel 71 under various motion conditions, allowing the left and right driving wheels 71 to move at different speeds, avoiding slippage between the contact surface between the driving wheel 71 and the guide rail 6, and enabling the walking mechanism to achieve smoother turning.

[0063] The unlocking and pressing assembly 1 is installed between the rail-hanging inspection robot 4 and the guide rail 6 .

[0064] In the rail-hanging robot assembly of the present invention, in a normal state, the unlocking and clamping component 1 always applies pressure to the driving wheel seat 711, and the pressure is greater than the gravity of the driving wheel 71 and the driving wheel seat 711, forming a clamping state, and the driving wheel 71 is tightly fitted with the guide rail 6 to generate friction, and the driving wheel 71 moves on the guide rail 6 by friction. When the rail-hanging inspection robot 4 fails and stays in the guide rail 6, the rail-hanging rescue robot 5 moves toward the rail-hanging inspection robot 4 with its own driving component 8, and docks with the rail-hanging inspection robot 4 using the docking component 2. After docking, the rail-hanging rescue robot 5 pulls the connecting rod component 3 to move forward, and the connecting rod component 3 drives the unlocking and clamping component 1 to eliminate the pressure on the driving wheel seat 711, forming an unlocking state, and the driving wheel 71 is separated from the guide rail 6 under the action of gravity, and the friction is eliminated, that is, the rail-hanging inspection robot 4 can be pulled to the specified position with a smaller pulling force, reducing the energy loss of the rail-hanging rescue robot 5. The docking assembly 2 is pulled by the rail-hanging rescue robot 5 to drive the unlocking and clamping assembly 1 to eliminate the pressure on the driving wheel seat 711. There is no need for staff to unlock the clamping device, which reduces the burden on the staff. The docking assembly 2 is integrated with the unlocking and clamping assembly 1, avoiding the conventional technology of using two sets of structures to brake and unlock the driving wheel 71 respectively, which is conducive to the simplification and miniaturization of the device.

[0065] See also Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig.16Furthermore, the unlocking and pressing assembly 1 includes: a base 11, a releaser sleeve 12, a ball 13, a limit ring 14, a sixth elastic member 15, a releaser shaft 16, a tensioning spring 17, a third spring 18 and an adjustment column 19.

[0066] The base 11 is mounted on an end surface of the rail inspection robot 4 close to the guide rail 6; the releaser sleeve 12 is mounted on the base 11, and the outer surface of the releaser sleeve 12 is provided with ball holes 121 for accommodating the balls 11 at intervals along its circumference; the limiting ring 14 is sleeved on the outer side of the releaser sleeve 12 and is located directly above the ball holes 121, the outer surface of the limiting ring 14 is connected to the connecting rod assembly 3, and the inner wall of the limiting ring 14 is provided with a ball retreat groove 141. The sixth elastic member 15 is sleeved on the outer side of the releaser sleeve 12, including a first spring 151 and a second spring 152, and the limiting ring 14 is located between the first spring 151 and the second spring 152. The releaser sleeve 12 is sleeved on the outer side of the releaser shaft 16, and the outer surface of the releaser shaft 16 is provided with a ball groove 161, and the releaser shaft 16 is provided with a cavity 162. The tensioning force spring 17 is arranged in the cavity 162, one end of the tensioning force spring 17 is connected to the driving wheel seat 711, and the other end is connected to one end face of the moving plate 171. A second step 122 is arranged on the inner wall of the releaser sleeve 12, and an end plate 165 is arranged at the end of the releaser shaft 16 away from the driving wheel seat 711, and a third spring 18 is arranged between the second step 122 and the inner wall of the end plate 165. Specifically, the releaser sleeve 12, the stop ring 14 and the releaser shaft 16 are coaxially arranged. A first step 168 is arranged on the inner wall of the releaser shaft 16, dividing the cavity 162 into a first cavity 163 and a second cavity 164 that are connected, the tensioning force spring 17 and the moving plate 171 are arranged in the first cavity 163, and the first step 168 limits the moving plate 171 from moving into the second cavity 164. The outer diameter of the end plate 165 is larger than the releaser sleeve 12, which is used to facilitate the external force to push the end plate 165 to move, and to limit the movement of the releaser shaft 16. Preferably, the first spring 151 and the second spring 152 have the same parameters, and the limiting ring 14 is located in the middle of the first spring 151 and the second spring 152. Preferably, the first spring 151, the second spring 152 and the third spring 18 are all clamping springs.

[0067] The working process of unlocking and pressing the driving wheel 71 is as follows:

[0068] Unlocking process: the rail-hanging rescue robot 5 pulls the connecting rod assembly 3 to move forward, and pulls the limit ring 14 to move outside the releaser sleeve 12. When the ball withdrawal groove 141 moves to the top of the ball 13, the moving space of the ball 13 in the up and down directions becomes larger. Under the action of the third spring 18, the ball 13 breaks away from the ball groove 161 and squeezes into the ball withdrawal groove 141. The releaser shaft 16 loses the constraint of the ball 13. Under the action of the pre-energy-stored third spring 18, the releaser shaft 16 pops out away from the active wheel seat 711. The tensioning spring 17 loses the pressure of the releaser shaft 16 and returns to the released state. The tensioning spring 17 does not apply pressure to the active wheel seat 711. After the active wheel seat 711 loses pressure, it moves around the hinge away from the guide rail 6 under the action of the gravity of the active wheel 71 and the active wheel 71. The active wheel 71 is separated from the guide rail 6 and has no contact. In the absence of external force, even under the action of the sixth elastic member 15 , the ball 13 locks the limiting ring 14 in the ball retreat groove 141 , and the limiting ring 14 cannot return to its original position.

[0069] Clamping process: When clamping is required, a force is manually applied to the end plate 165 to move the releaser shaft 16 toward the driving wheel seat 711. When the ball groove 161 moves below the ball 13, the ball 13 falls into the ball groove 161. Under the centering action of the first spring 151 and the second spring 152, the limit ring 14 returns to its original position. The inner wall of the limit ring 14 locks the ball 13 in the ball groove 161. The releaser shaft 16 compresses the tension spring 17. The tension spring 17 applies pressure to the driving wheel seat 711. The driving wheel seat 711 moves toward the guide rail 6 around the hinge. The driving wheel 71 presses the guide rail 6 to generate friction. At this time, the third spring 18 is compressed and stores energy. When the rail inspection robot 4 reaches the specified position, a force is manually applied to the end plate 165, and the rail inspection robot 4 is fixed on the guide rail 6.

[0070] See also Figure 5 to Figure 6 Furthermore, the unlocking and pressing assembly 1 further includes an adjusting column 19, one end of which is connected to the end face of the moving plate 171 away from the tensioning spring 17, and an outer surface of the adjusting column 19 is provided with an outer thread, and an inner thread matching the outer thread is provided in the cavity 162, and the moving plate is driven to move in the cavity 162 through the thread matching. Specifically, the adjusting column 19 is arranged in the second cavity 164, and the position of the adjusting column 19 in the second cavity 164 is adjusted by a tool, so that the compression degree of the tensioning spring 17 can be adjusted, thereby adjusting the pressure of the tensioning spring 17 on the driving wheel seat 711, and the friction between the driving wheel 71 and the guide rail 6, which is conducive to the stable movement of the robot body 41 on the guide rail 3.

[0071] The releaser shaft 16 further includes a stop ring 166, which is sleeved on the outer surface of the releaser shaft 16 near the driving wheel seat 711, and the outer diameter of the stop ring 166 is greater than the inner diameter of the cavity 162. Specifically, the outer surface of the releaser shaft 16 near the driving wheel seat 711 is provided with an annular groove 167, and the stop ring 166 is tightly sleeved in the annular groove 167 and exposed on the outer surface of the releaser shaft 16. The stop ring 166 is used to limit the ejection length of the releaser shaft 16 away from the driving wheel seat 711.

[0072] See also Figure 5 and Figure 7 Further, the base 11 includes a base body 111 and an adapter block 112, and the angle between the adapter block 112 and the base body 111 is adjustable; the adapter block 112 is provided with a first groove 113, and the driving wheel seat 711 is hingedly installed in the adapter block 112 through a second pin shaft (712). Specifically, the base body 111 and the adapter block 112 are provided with coaxial through holes, and the base body 111 is also provided with a first pin shaft and a nut. The first pin shaft is installed in the through hole, and the adapter block 112 rotates around the first pin shaft to adjust its angle with the base body 111. When the angle is appropriate, it is fixed with a nut, and the distance between the adapter block 112 and the guide rail 6 can be adjusted. The adapter block 112 is provided with a first groove 113, and the driving wheel seat 711 is hingedly installed in the first groove 113 through the second pin shaft 712. When the driving wheel seat 711 is subjected to force or the force is eliminated, the driving wheel seat 711 moves along the first groove 113, so that the driving wheel 71 contacts or separates from the guide rail 3. Preferably, two second pin shafts 712 are provided.

[0073] See also Figures 9 to 13Furthermore, the docking assembly 2 includes a claw assembly 21, which is arranged on the rail-hanging rescue robot 5, including a claw seat 211 and a plurality of claws 212, and the claws 212 are hingedly installed on the claw seat 211 along the circumferential interval of the claw seat 211; the ball head assembly 22 is arranged on the rail-hanging inspection robot 4, and is provided with a ball head 221, and the ball head 221 is inserted into the engaging space 213 formed between the inner walls of the claws 212. The adjustment assembly 23 includes a ring plate 231 and a plurality of first elastic members 232, the ring plate 231 is sleeved on the outer side of the claw 212, and the first elastic members 232 are arranged at intervals between the ring plate 231 and the claw seat 211. The adjustment assembly 23 adjusts the radial size of the engaging space 213 to clamp or release the ball head 221. Specifically, the end of the claw seat 211 is a disc, and a support platform 214 matching the outer wall shape of the claw 212 is provided on the surface of the disc, and the support platform 214 is nested between two adjacent claws 212 to support and connect the claws 212. A first through hole 2141 is provided on the side of the support platform 214, and a second through hole 2121 is provided on the claw 212, and the first through hole 2141 and the second through hole 2121 are coaxial. The claw seat 211 is provided with a connecting shaft 2111, and the connecting shaft 2111 is fixedly installed in the first through hole 2141 of two adjacent support platforms 214. The claw 212 is rotatably hinged in the support platform 214 through the connecting shaft 2111. The claw 212 can rotate at a certain angle, so that a plurality of claws 212 can be close to or away from each other. The inner walls of a plurality of claws 212 constitute a clamping space 213 for accommodating the ball head 221. Preferably, the support platform 214 is welded to the claw seat 211 or the support platform 214 and the claw seat 211 are integrally formed. The claw 212 includes a tail end 2122 of the claw and a head end 2123 of the claw. The tail end 2122 of the claw is close to the claw seat 211, and the outer diameter of the claw 212 gradually increases from the tail end 2122 of the claw to the head end 2123 of the claw. It is convenient for the ring plate 231 to move along the outer side of the claw 212. Preferably, the head end 2123 of the claw is provided with a limit platform 2125, and the ring plate 231 is sleeved between the head end and the claw seat 211. The limit platform 2125 is provided to prevent the ring plate 231 from moving out of the claw 212. In a free state, the diameter of the inner wall of the head end 2123 of the claw is smaller than the diameter of the ball head 221. The inner diameter of the engaging space 213 is larger than the diameter of the inner wall of the head end 2123 of the claw, and the shape of the engaging space 213 matches the ball head 221. A plurality of first elastic members 232 are provided, which are evenly spaced and arranged circumferentially along the claw seat 211. One end of the first elastic member 232 is fixedly mounted on the claw seat 211 by welding, and the other end abuts against the ring plate 231. Preferably, the first elastic member 32 is a spring, and the number is four. The claw assembly 21 is also provided with a fastening hoop 216, which is arranged at the tail end 2122 of the claw. An annular groove 2124 is provided along the outer side wall of the support platform 214 and the clamping claw 212 , and the fastening hoop 216 is nested in the annular groove 2124 to constrain the rotation angle of the clamping claw 212 , and the clamping claw 212 is connected together.The ball head portion 221 includes a ball head 2211 and a ball head handle 2212 .

[0074] The docking assembly of the present invention sets the axis of the ball head 221 and the claw 212 on the same straight line in advance. When in use, the unlocking and pressing assembly 1 applies pressure to the driving wheel seat 711, and the rail-hanging inspection robot 4 is fixed. The rail-hanging rescue robot 5 moves toward the ball head assembly 22 under the drive of its own driving assembly 8, and the ball head 221 is inserted into the claw 212. The claw 212 gradually opens to a certain angle due to the increase in the outer diameter of the ball head 221. At the same time, the outer side of the claw 212 drives the adjustment assembly 23 to move toward the claw seat 211, and the first elastic member 232 is compressed to store energy. The ball head 221 enters the engaging space 213. At this time, the inner diameter of the engaging space 213 is larger than the outer diameter of the ball head 221. The ring plate 231 is moved toward the head end 2123 of the claw by the first elastic member 232, so that the claw 212 is moved toward the axis by the adjusting member group 23 until the outer wall of the ball head 221 is tightly connected with the inner wall of the claw 212, and the ball head 221 is fixed in the engaging space 213. The claw assembly 21 pulls the ball head assembly 22. During the movement, when it is vibrated by the outside world, the claw 212 is subjected to the pressure of the adjusting member group 23, and the claw 212 cannot rotate. The ball head 221 is always fixed in the claw 212 and will not fall off. When the rail inspection robot 4 is moved to the specified position, the ring plate 231 is pushed to move toward the claw seat 211. At this time, the claw 212 can rotate, so that the ball head assembly 22 can be taken out.

[0075] See also Fig.15 Furthermore, the ball head assembly 22 also includes a conical guide portion 222, which is arranged at the front end of the ball head portion 221, and the claw assembly 21 is provided with a truncated cone column 215, and the truncated cone column 215 is provided with an inner hole 2151 matching the shape of the conical guide portion 222, and the conical guide portion 222 is inserted into the inner hole 2151; the inner hole 2151 is provided with a second elastic member 2152 and a baffle 2153, one end of the second elastic member 2152 is connected to the inner wall of the inner hole 2151, and the other end is connected to the baffle 2153; the side wall of the inner hole 2151 is spaced apart with a third elastic member 2154, and when the conical guide portion 222 is inserted into the inner hole 2151, it abuts against the outer side of the third elastic member 2154.

[0076] Specifically, the conical guide portion 222 is disposed at the front end of the ball head 2211, the truncated cone column 215 is mounted on the claw seat 11 by welding, or the truncated cone column 215 is integrally formed with the claw seat 11, the truncated cone column 215 at least partially extends into the end of the claw 212 away from the ball head assembly 22, and the axis of the inner hole 2151 is in a straight line with the axis of the claw 212. Four third elastic members 2154 are provided, which are evenly spaced along the inner wall of the inner hole 2151. The inner wall of the inner hole 2151 is provided with a third elastic member installation groove, and the third elastic member 2154 is installed in the third elastic member installation groove. The outer side of the third elastic member 2154 abuts against the outer side of the tapered guide portion 222. Preferably, the third elastic member 2154 is a spring, and the second elastic member 2152 is a spring. With this structure, the tapered guide portion 222 inserts into the inner hole 2151 to have a buffering effect, which prevents the tapered guide portion 222 from rigidly entering the inner hole 2151, and has a protective effect on the tapered guide portion 222. The tapered guide portion 222 is clamped in the third elastic member 2154, which helps the ball head 221 not to fall off the claw assembly 21. The tapered guide portion 222 is cylindrical at one end close to the truncated cone column 215, and is cone at the rear end. The inner hole 2151 matches the tapered guide portion 222 in shape. With this structure, the tapered docking ensures centering and has a guiding effect, ensuring installation accuracy and strength.

[0077] See also Fig. 9 , Fig.13 and Fig.14 Furthermore, the ball head assembly 22 also includes a rotating portion 223 and an elastic ring 224 , the ball head 221 is hinged to the rotating portion 223 , and the elastic ring 224 is nested outside the rotating portion 223 .

[0078] Specifically, the rotating part 223 includes a rotating U-shaped frame 2231, a third pin shaft 2232 and a fourth elastic member 2233. The third pin shaft 2232 is installed in the U-shaped frame 2231, the ball head 221 is hingedly installed on the third pin shaft 2232, and the fourth elastic member 2233 is sleeved on the outside of the third pin shaft 2232 and is located between the inner wall of the U-shaped frame 2231 and the hinge of the ball head 2211. Specifically, one end of the opening of the U-shaped frame 2231 faces one end of the ball head handle 2212, and the ball head handle 2212 is hinged between the two arms of the U-shaped frame 2231 and can rotate around the hinge point by a certain angle. The U-shaped frame 2231 is provided with a third through hole 2234; the third pin shaft 2232 passes through the third through hole 2234 and is installed in the U-shaped frame 2231. The fourth elastic member 2233 is sleeved on the outside of the third pin 2232, and the third pin 2232 limits the position and direction of the expansion and contraction of the fourth elastic member 2233 to prevent the fourth elastic member 2233 from deformation and displacement. One end of the fourth elastic member 2233 abuts against the inner wall of the U-shaped frame 2231, and the other end abuts against the outside of the ball head handle 2212. The use of this knot can buffer the rotation angle of the ball head handle 2212, reduce instantaneous impact, and have a certain auxiliary effect on the insertion part 1 to restore its original position. Preferably, the fourth elastic member 2233 is a spring, and the fourth elastic member 2233 is provided with two groups, which are symmetrically installed at the two ends of the third pin 2232 respectively. It helps the ball head handle 2212 adapt to the left curved section or the right curved section. When the rail-hanging rescue robot 5 pulls the rail-hanging inspection robot 4 to move and encounters a curved section, an uphill section or a downhill section, at this time, because the ball head 221 is hinged with the rotating part 223, the ball head 221 can be rotated around the rotating part 223 at a certain angle according to the actual scenario, and the ball head assembly 22 can be flexibly rotated to cooperate with the claw assembly 21, so as to flexibly pass through the slope and curved sections without reducing or accelerating the moving speed, thereby avoiding accidents.

[0079] A third groove 2241 is provided on the outer surface of the elastic ring 224. Specifically, the elastic ring 224 covers the rotating part 223 and a part of the ball handle 2212. When the ball handle 2212 rotates around the rotating part 223 at a certain angle, the elastic ring 224 is deformed, which has a buffering and restraining effect on the rotation angle of the ball handle 2212, so that the ball head assembly 22 can flexibly rotate to cooperate with the claw assembly 21. Under the elastic force of the elastic ring 224, the ball handle 2212 can quickly return to its original position, keep the ball handle 2212 and the rotating part 223 on the same axis, and complete the switching between the curved section, the straight section, the uphill section or the downhill section. A third groove 2241 is provided on the outer surface of the elastic ring 224. The third groove 2241 is one of an annular groove, a thread groove or a slot hole arranged at intervals along the circumferential direction. There are a plurality of third grooves 2241, which are evenly spaced along the axial direction of the elastic ring 224. This structure not only reduces the weight of the elastic ring 224, but also improves the deformation capacity of the elastic ring 224. The elastic ring 224 quickly adapts to the rotation angle of the insertion part 1, accelerates the ball head handle 2212 to return to its original position, and improves the service life of the elastic ring 224. Preferably, the elastic ring 224 is made of transparent material. The use of transparent material facilitates the inspection of whether the parts inside the rotating part 223 or the elastic ring 224 are worn and need maintenance or replacement.

[0080] See also Figure 2 , Figure 7 and Fig.16Further, the connecting rod assembly 3 includes a first support plate 31, the first support plate 31 is connected to the docking assembly 2, one end of the first connecting rod 32 is connected to the first support plate 31, the other end of the first connecting rod 32 is connected to the second connecting rod 33, the other end of the second connecting rod 33 is connected to the toggle block 34, and the toggle block 34 is connected to the unlocking and pressing assembly 1. Specifically, a concave ring 142 is provided on the outer side of the limiting ring 14, and a boss 341 matching with the concave ring 142 is provided on one end of the toggle block 34. A concave ring 142 is provided on the middle outer side of the limiting ring 14, and the boss 341 is nested in the concave ring 142. The base 11 is provided with a second groove 114, the boss 341 abuts against the concave ring 142 through the second groove 114, and the toggle block 34 moves along the second groove 114. The base 11 also includes a slider 115, the toggle block 34 is provided with a slide groove 342 matching with the slider 115, and the toggle block 34 moves along the slider 115. Specifically, the slider 115 is detachably mounted on the outside of the base 11 by screws, and a pad 343 is provided on the end surface of the toggle block 34 close to the base 11. The pad 343 is detachably mounted on the toggle block 34 by flat head screws, and the pad 343 is provided with a slide groove 342 that cooperates with the slider 115. The slider 115 and the pad 212 are detachably mounted, which is convenient for replacing the slider 115 and the pad 343. The toggle block 34 moves along the second groove 114 and along the slider 115 at the same time, so that the toggle block 34 moves in a directional and stable manner. Preferably, the connecting rod assembly 3 is provided with two groups, which are symmetrically arranged on both sides of the unlocking and clamping assembly 1, so as to ensure the stability of the movement process of the limit ring 14. When in use, the rail-hanging inspection robot 4 and the rail-hanging rescue robot 5 complete docking, the rail-hanging rescue robot 5 pulls the connecting rod assembly 3 to move, and the connecting rod assembly 3 drives the limit ring 14 to move, so that the unlocking and clamping assembly 1 eliminates the pressure applied to the active wheel seat 711. There is no need for staff to unlock the driving wheel 71, which reduces the burden on the staff.

[0081] See also Figure 2 and Fig.16 Further, the connecting rod assembly 3 also includes a second support plate 35, and the second support plate 35 is connected to the docking assembly 2. Specifically, the first support plate 31 is connected to the second support plate 35 by a fifth elastic member 36, and the second support plate 35 is connected to the ball head assembly 22. The second support plate 35 is provided to assist in pulling the toggle block 21. The fifth elastic member 36 has a buffering and guiding effect on the expansion and contraction of the first support plate 31.

[0082] In the rail-hanging robot assembly of the present invention, the rail-hanging inspection robot 4 is in a clamped state, and the driving wheel 71 is tightly fitted with the guide rail 6 to generate friction. When the rail-hanging inspection robot 4 fails, the rail-hanging rescue robot 5 moves toward the rail-hanging inspection robot 4, and pulls the connecting rod assembly 3 forward through the docking assembly 2. The connecting rod assembly 3 drives the unlocking and clamping assembly 1 to eliminate the pressure on the driving wheel seat 711. The driving wheel 71 is separated from the guide rail 6 under the action of gravity, and the friction is eliminated, forming an unlocked state, that is, the rail-hanging inspection robot 4 can be pulled to a specified position with a smaller pulling force, reducing the energy loss of the rail-hanging rescue robot 5. The rail-hanging rescue robot 5 pulls the docking assembly 2 to drive the unlocking and clamping assembly 1 to eliminate the pressure on the driving wheel seat 711, and there is no need for the staff to unlock the clamping device, which reduces the burden on the staff. The docking assembly 2 is integrated with the unlocking and clamping assembly 1, avoiding the conventional technology of braking and unlocking the driving wheel 71 with two sets of structures respectively, which is conducive to the simplification and miniaturization of the device. Under the pressure of the adjustment component 23 on the claw 212, even if it is vibrated during the movement, the ball head 221 is always fixed in the claw 212 and will not fall off. The ball head assembly 22 is provided with a rotating part 223 and an elastic ring 224, which can flexibly rotate on the guide rail 6 to avoid accidents.

[0083] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail-hanging robot assembly, characterized in that: include: A rail inspection robot (4) and a rail rescue robot (5); An unlocking and clamping assembly (1), one end of which is mounted on the rail-hanging inspection robot (4), and the other end of which is hinged to the driving wheel seat (711) at a prefabricated angle; A docking assembly (2) for connecting the rail-hanging inspection robot (4) and the rail-hanging rescue robot (5); and The connecting rod assembly (3) has one end connected to the docking assembly (2) and the other end connected to the unlocking and pressing assembly (1). The rail-hanging rescue robot (5) drives the docking assembly (2) to apply a force to the unlocking and clamping assembly (1) via the connecting rod assembly (3), so that the unlocking and clamping assembly (1) eliminates the pressure applied to the active wheel seat (711).

2. The rail-hanging robot assembly according to claim 1, characterized in that: The unlocking and pressing assembly (1) comprises: A base (11) is mounted on an end surface of the rail-hanging inspection robot (4) close to the guide rail (5); A releaser sleeve (12) is installed in the base (1), and its outer surface is provided with ball holes (121) for accommodating balls (13) at intervals along its circumference; A limiting ring (14) is sleeved on the outside of the releaser shaft sleeve (12) and is located directly above the ball hole (121). The outer surface of the limiting ring (14) is connected to the connecting rod assembly (3). The inner wall of the limiting ring (14) is provided with a ball withdrawal groove (141). A sixth elastic member (15) is sleeved on the outside of the releaser shaft sleeve (12), and comprises a first spring (151) and a second spring (152), wherein a limiting ring is located between the first spring (151) and the second spring (152); A releaser shaft (16), a releaser shaft sleeve (12) is sleeved on the outer side of the releaser shaft (16), a ball groove (161) is provided on the outer surface of the releaser shaft (16), and the releaser shaft (16) is provided with a cavity (162); The tensioning force spring (17) is arranged in the cavity (162), one end of the tensioning force spring (17) is connected to the driving wheel seat (31), and the other end is connected to the end surface of the moving plate (171).

3. The rail-hanging robot assembly according to claim 2, characterized in that: The unlocking and pressing assembly (1) also includes an adjusting column (19), one end of which is connected to the end surface of the movable plate (171) away from the tensioning spring (17), the outer surface of the adjusting column (19) is provided with an external thread, and the cavity (162) is provided with an internal thread that matches the external thread, and the movable plate (171) is driven to move in the cavity (162) through the threaded cooperation.

4. The rail-hanging robot assembly according to claim 2 or 3, characterized in that: The base (11) comprises a base body (111) and an adapter block (112), wherein the angle between the adapter block (112) and the base body (111) is adjustable; the adapter block (112) is provided with a first groove (113), and the driving wheel seat (711) is hingedly installed in the adapter block (112) via a second pin shaft (712).

5. The rail-hanging robot assembly according to claim 1, 2 or 3, characterized in that: The docking assembly (2) comprises: A claw assembly (21) is arranged on the rail-hanging rescue robot (5), comprising a claw seat (211) and a plurality of claws (212), wherein the claws (212) are hingedly mounted on the claw seat (211) at intervals along the circumference of the claw seat (211); A ball head assembly (22) is arranged on the rail-hanging inspection robot (4) and is provided with a ball head (221), wherein the ball head (221) is inserted into a clamping space (213) formed between the inner walls of the clamping claws (212); The adjusting assembly (23) comprises a ring plate (231) and a plurality of first elastic members (232). The ring plate (231) is sleeved on the outer side of the clamping claw (212). The first elastic members (232) are arranged between the ring plate (231) and the clamping claw seat (211) at intervals. The adjusting assembly (23) adjusts the radial dimension of the clamping space (213) to clamp or release the ball head (221).

6. The rail-hanging robot assembly according to claim 5, characterized in that: The ball head assembly (22) further comprises a conical guide portion (222), which is arranged at the front end of the ball head portion (221); the claw assembly (21) is provided with a truncated cone column (215), which is provided with an inner hole (2151) matching the outer shape of the conical guide portion (222), and the conical guide portion (222) is inserted into the inner hole (2151); the inner hole (2151) is provided with a second elastic member (2152) and a baffle (2153), one end of the second elastic member (2152) is connected to the top inner wall of the inner hole (2151), and the other end is connected to the baffle (2153); a third elastic member (2154) is provided at intervals on the side wall of the inner hole (2151), and when the conical guide portion (222) is inserted into the inner hole (2151), it abuts against the outer side of the third elastic member (2154).

7. The rail-hanging robot assembly according to claim 5, characterized in that: The ball head assembly (22) further comprises a rotating part (223) and an elastic ring (224); the ball head (221) is hingedly connected to the rotating part (223), and the elastic ring (224) is nested outside the rotating part (223).

8. The rail-hanging robot assembly according to claim 7, characterized in that: The rotating part (223) comprises a rotating U-shaped frame (2231), a third pin shaft (2232) and a fourth elastic member (2233); the third pin shaft (2232) is installed in the U-shaped frame (2231); the ball head (221) is hingedly installed on the third pin shaft (2232); the fourth elastic member (2233) is sleeved on the outside of the third pin shaft (2232) and is located between the inner wall of the U-shaped frame (2231) and the hinge of the ball head (221).

9. The rail-hanging robot assembly according to claim 1, 2, 3, 6, 7 or 8, characterized in that: The connecting rod assembly (3) comprises a first supporting plate (31), the first supporting plate (3) is connected to the docking assembly (2), one end of a first connecting rod (32) is connected to the first supporting plate (31), the other end of the first connecting rod (32) is connected to a second connecting rod (33), the second connecting rod (33) is connected to a toggle block (34), and the toggle block (34) is connected to the unlocking and clamping assembly (1).

10. The rail-hanging robot assembly according to claim 1, 2, 3, 6, 7 or 8, characterized in that: The connecting rod assembly (3) further comprises a second supporting plate (35), and the second supporting plate (35) is connected to the docking assembly (2).

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