Rail-mounted operation robot integrating obstacle avoidance and cleaning and working method of rail-mounted operation robot

Abstract

The invention belongs to the technical field of rail-mounted robots, and particularly relates to a rail-mounted operation robot integrating obstacle avoidance and cleaning and a working method of the rail-mounted operation robot. The rail hanging operation robot comprises a rail hanging robot body, the rail hanging robot body moves on the I-shaped rail, the upper portion of the rail hanging robot body is a cuboid rail hanging part, the rail hanging part is provided with an inserting groove matched with the I-shaped rail, a trapezoidal base is fixed to the lower portion of the rail hanging part, and the rail hanging part is provided with an inserting groove matched with the I-shaped rail. Turnover modules which are symmetrically distributed are fixed on the lower surface of the trapezoidal base; the turnover module comprises a turnover mechanism and a traction mechanism, the turnover mechanism is used for achieving turnover of the traction mechanism, a tail end mechanical arm module is fixed to a traction plate of the traction mechanism, temporary storage modules are fixed to the left side face and the right side face of the trapezoidal base, and during use, the traction mechanism of the temporary storage module and the traction mechanism of the turnover module on the same side are used in cooperation; the tail end mechanical arm module is installed on the trapezoid base, temporary storage of the tail end mechanical arm module is achieved, a cleaning module is installed on one side of the top of the trapezoid base, a lubricating module is installed on the other side of the top of the trapezoid base, and after the cleaning module cleans the I-shaped rail, the lubricating module lubricates the I-shaped rail.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hanging rail robots, and particularly relates to a hanging rail operation robot with obstacle avoidance and cleaning and a working method thereof. BACKGROUND

[0002] The existing hanging rail robot widely uses a rigid or simple joint end mechanical arm, which generally has the defect of poor space adaptability. The limited folding capacity of the mechanical arm cannot effectively avoid obstacles such as pipelines, equipment housings or structural supports distributed along the complex rail, which not only increases the collision risk, but also seriously restricts the effective working radius of the mechanical arm in a narrow area or a high-density equipment environment. Meanwhile, as the only path for the robot to run, the guide rail is easily exposed to industrial site environment for a long time, and is prone to accumulate grease, dust, metal chips or various types of operation residual garbage. Such pollutants significantly increase the running resistance of the driving wheel / track, induce skidding, positioning precision degradation and even driving motor overload, and further accelerate the wear of the guide rail and the walking mechanism, which seriously threatens the running stability and service life of the system. Therefore, it is urgent to develop a new type of hanging rail robot with innovative folding mechanism and integrated rail self-cleaning capacity. SUMMARY

[0003] In view of the problems in the prior art, the present application provides a hanging rail operation robot with obstacle avoidance and cleaning and a working method thereof.

[0004] The present application is realized by the following technical solutions: A hanging rail operation robot with obstacle avoidance and cleaning, comprising two folding modules, an end mechanical arm module, two temporary storage modules, a cleaning module, a lubricating module, a hanging rail robot main body and an I-shaped rail; The hanging rail robot main body moves on the I-shaped rail, the upper part of the hanging rail robot is a cuboid-shaped hanging rail part, the hanging rail part is provided with a slot matched with the I-shaped rail, the lower part of the hanging rail part is fixed with a trapezoidal base, the inside of the trapezoidal base is a hollow groove, and the lower surface of the trapezoidal base is fixed with symmetrically distributed turnover modules; the turnover module comprises a turnover mechanism and a traction mechanism, the turnover mechanism is used to realize the turnover of the traction mechanism, the traction plate of the traction mechanism is fixed with the end mechanical arm module, the left and right sides of the trapezoidal base are fixed with the temporary storage modules, in use, the temporary storage modules and the traction mechanism of the turnover module on the same side are used in cooperation to realize the temporary storage of the end mechanical arm module, the cleaning module is installed on one side of the top of the trapezoidal base, the lubricating module is installed on the other side of the top of the trapezoidal base, and the lubricating module lubricates the I-shaped rail after the cleaning module finishes cleaning the I-shaped rail.

[0005] Further, the turnover mechanism comprises a chassis, hollow grooves are formed on two side plates of the chassis, and a moving rack is placed in the hollow grooves; the side surface of the moving rack is fixedly connected with the output block of a driving cylinder; the moving rack is engaged with a turnover gear; a turnover plate is arranged above the bottom plate of the chassis; rotating shafts are fixed on both sides of one end of the turnover plate; the rotating shafts are connected with the turnover gears on the same side; telescopic cylinders are fixed on the other end of the turnover plate in a symmetrical manner; the output end of the telescopic cylinder is fixedly connected with a telescopic shaft; a locking mechanism is fixed on the other end of the hollow groove of the chassis; when turnover is not needed, the locking mechanism can lock the telescopic shaft, so that the telescopic shaft is fixed; when turnover is needed, the moving rack moves under the driving of the driving cylinder, thereby driving the turnover gear to rotate; at the same time, the telescopic cylinder drives the telescopic shaft to retract; the other side of the turnover plate loses the fixed control at this time, thereby realizing turnover.

[0006] Further, the locking mechanism comprises a locking frame and a locking block; a locking motor is fixed on the locking frame; the output shaft of the locking motor is connected with a locking gear; the locking gear is engaged with a locking rack; the head of the locking rack is connected with a locking shaft; the locking block is provided with a slot and a limiting slot; the slot and the limiting slot are through; when the turnover plate does not need to be turned over, the telescopic shaft is inserted into the limiting slot, the locking shaft is inserted into the slot of the locking block and abuts against the telescopic shaft, the other end of the locking rack is fixedly connected with a positioning column, and the positioning column is externally sleeved with a buffer spring.

[0007] Further, the traction mechanism comprises a mounting plate, the mounting plate is fixed on the turnover plate, end mechanical arm butt joint sliding rails are fixed on the two sides of the mounting plate, matching end mechanical arm sliding blocks are arranged on the end mechanical arm butt joint sliding rails, a traction plate is fixed on the sliding blocks, a traction motor is fixed on the traction plate, the output shaft of the traction motor is connected with a rotating gear, and the rotating gear is engaged with an end mechanical arm butt joint rack.

[0008] Further, L-shaped auxiliary plates are fixed on the traction plate in a symmetrical manner, and square frame limiting slots are fixed at the outer corner of the L-shaped auxiliary plates.

[0009] Further, support rotating bearing seats are fixed at the two ends of the bottom plate of the chassis on one side of the turnover gear, for supporting rotating shafts; support fixed seats are fixed at the two ends of the bottom plate of the chassis on the side with the locking mechanism, for supporting and limiting the telescopic shafts; first support frames are fixed between the rotating shafts and the side plates of the chassis; and second support frames are fixed between the support fixed seats and the side plates of the chassis. The first support frames and the second support frames mainly play a protection role.

[0010] Further, the temporary storage module comprises an inclined frame, two side plates of the inclined frame are respectively fixed with two horizontally arranged horizontal plates, a constraint groove is formed between the horizontal plates, a through groove corresponding in position is formed in the two horizontal plates, a locking cylinder is fixed on the bottom plate of the inclined frame below the through groove, the output end of the locking cylinder extends through the through groove, two parallel inclined butt joint sliding rails are fixed on the bottom plate of the inclined frame, the sizes of the two inclined butt joint sliding rails are same as the sizes of the end mechanical arm butt joint sliding rails of the traction mechanism, the distance between the two inclined butt joint sliding rails is same as the distance between the end mechanical arm butt joint sliding rails, when the turnover plate is turned over, the turnover module and the temporary storage module are butt jointed together, at this time, the inclined butt joint sliding rails and the end mechanical arm butt joint sliding rails are spliced together, the traction plate can be moved from the end mechanical arm butt joint sliding rails to the inclined butt joint sliding rails.

[0011] Further, the temporary storage module further comprises traction claw modules distributed on the two sides of the inclined frame, the traction claw module comprises a fixed bottom plate, a traction claw sliding way is fixed on the fixed bottom plate, a traction claw rack is fixed on one side of the traction claw sliding way, the traction claw sliding way is provided with a matched sliding block, an L-shaped traction claw moving frame is fixed on the sliding block, a traction claw driving motor is fixed on the horizontal plate of the traction claw moving frame, the output end of the traction claw driving motor is connected with a traction claw gear, the traction claw gear is engaged with the traction claw rack, an opening and closing rudder motor is fixed on the vertical plate of the traction claw moving frame, and a traction claw is arranged on the opening and closing rudder motor. The traction claw module can assist the movement of the traction plate.

[0012] When the turnover plate of the turnover module is turned over, the inclined butt joint sliding rails and the end mechanical arm butt joint sliding rails are smoothly butt jointed together, under the driving of the traction motor, the traction plate is moved to the inclined butt joint sliding rails, the two sides of the traction plate enter the constraint grooves in the side plates of the inclined frame respectively, then under the driving of the traction claw driving motor, the traction claw moving frame is moved, thereby driving the movement of the traction claw, the traction claw is matched with the limiting groove on the traction plate to achieve auxiliary traction, when the traction plate is moved to the reserved locking groove and the through groove on the horizontal plate, at this time, the end locking block is extended out under the driving of the locking cylinder, is matched with the reserved locking groove of the traction frame and the through groove on the horizontal plate to achieve the locking and fixing of the traction plate, thereby achieving the temporary storage of the end mechanical arm module.

[0013] Further, the cleaning module comprises a scraper rotating driving motor, the scraper rotating driving motor is connected with a rotating scraper through a scraper shaft connector, the scraper rotating driving motor is fixed on the vertical plate of a scraper fixing frame, a scraper moving driving motor is fixed on the horizontal plate of the scraper fixing frame, the output shaft of the scraper moving driving motor is connected with a scraper gear, the scraper gear is engaged with a scraper rack, a scraper sliding block is fixed below the horizontal plate of the scraper fixing frame, the scraper sliding block is matched with a scraper sliding way, the scraper sliding way and the scraper rack are fixed on the top surface of a trapezoidal base, and the rotating scraper moves in parallel in the U-shaped groove of the I-shaped track.

[0014] Further, the cleaning module further comprises four shovel plate modules, each of which comprises a shovel plate driving motor, the output shaft of the shovel plate driving motor is connected with a shovel plate gear, the shovel plate gear meshes with a shovel plate rack, one side of the shovel plate rack is provided with a shovel plate slide, the shovel plate slide is matched with a shovel plate sliding block, and the shovel plate sliding block and the shovel plate driving motor are both fixed on a shovel plate fixing frame; a shovel plate cylinder is fixed on the vertical plate of the shovel plate fixing frame, the output end of the shovel plate cylinder is connected with a shovel plate, and the shovel plate is hingedly connected with a moving plate through a hinge.

[0015] Further, a support cylinder is fixed in the hollow groove of the trapezoidal base below the shovel plate module, the output end of the support cylinder is fixed with a garbage can, and each shovel plate module is matched with one garbage can.

[0016] Further, the lubricating module comprises a lubricating brush, the lubricating brush is connected with a lubricating motor through a shaft coupling, the lubricating motor is fixed on the vertical plate of a lubricating fixing frame, a lubricating driving motor is fixed on the upper surface of the horizontal plate of the lubricating fixing frame, the output end of the lubricating driving motor is connected with a lubricating gear, the lubricating gear meshes with a lubricating rack, one side of the lubricating rack is provided with a lubricating slide rail, and the lubricating slide rail is matched with a lubricating sliding block; and the lubricating sliding block is fixed on the lower surface of the horizontal plate of the lubricating fixing frame.

[0017] The application further provides a working method of the obstacle-avoiding and cleaning hanging rail working robot. (1) When normally working, the hanging rail robot moves on the I-shaped rail, the rotation of the rotating gear is driven by the traction motor, the movement of the traction plate is realized, and then the position of the end mechanical arm module is finely adjusted, and at this time, the telescopic shaft is fixed in the limiting groove of the locking block; (2) When not working and the end mechanical arm module needs to be folded, the moving rack moves under the driving of the driving cylinder, the rotation of the turnover gear is driven, at the same time, the telescopic shaft is retracted under the driving of the telescopic cylinder, the other side of the turnover plate loses the fixed control, and therefore the turnover of the turnover plate is realized. (3) The turnover plate is connected with the temporary storage module after being turned over, the oblique butt joint slide rail and the end mechanical arm butt joint slide rail are spliced together, the traction plate can be moved from the end mechanical arm butt joint slide rail to the oblique butt joint slide rail under the driving of the traction motor, at this time, the two ends of the traction plate enter the constraint groove, then the traction claw moving frame moves under the driving of the traction claw driving motor, thereby driving the movement of the traction claw, the traction claw is matched with the limiting groove on the traction plate, auxiliary traction is realized, when the reserved locking groove on the traction frame and the through groove on the horizontal plate correspond, at this time, the end locking block is extended under the driving of the locking cylinder, and is matched with the reserved locking groove on the traction frame and the through groove on the horizontal plate, thereby realizing the temporary storage of the end mechanical arm module; (4) When the track needs to be cleaned, the scraper moving driving motor drives the scraper fixed frame to move, when moving to a suitable position, the scraper rotating driving motor drives the rotating scraper to rotate, thereby realizing the cleaning of the upper and lower walls of the I-shaped track, at the same time, the shovel plate driving motor drives the shovel plate fixed frame to move to a suitable position, then the shovel plate cylinder drives the shovel plate to move, thereby realizing the collection of garbage, at the same time, the support cylinder drives the garbage can to move upwards, thereby realizing the collection of garbage. (5) While cleaning, for the track that has been cleaned, the lubricating driving motor drives the lubricating fixed frame to move, when moving to a suitable position, the lubricating motor drives the lubricating brush to rotate, the rotating brush is provided with lubricating oil, when rotating, the track is lubricated, thereby realizing the maintenance of the track.

[0018] The beneficial technical effects of the present application are as follows: (1) Through the butt joint design of the turnover module and the temporary storage module, the complex space adaptability is improved, the mechanical arm can be quickly folded to a compact form after work, the effective work coverage range is expanded, and the turnover module can be flexibly switched between the obstacle avoidance state and the working state: the space occupation is reduced when being folded, and a multi-pose working radius is formed when being unfolded.

[0019] (2) Through the cleaning module, the track pollution operation failure is eliminated, the rotating scraper and the cleaning shovel plate are integrated, and the adhered pollutants such as oil stains and metal chips are removed in real time. The cleaning system is long-acting and stable, and the track lubricating module is also provided, thereby prolonging the service life of the track under high-frequency scraping working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present application; Figure 2 It is another structural schematic diagram of the present application; Figure 3 It is a structural schematic diagram of the turnover module; Figure 4 It is a structural schematic diagram of the turnover mechanism; Figure 5 It is a structural schematic diagram of the traction mechanism; Figure 6 It is a structural schematic diagram of the locking mechanism; Figure 7 is a structural schematic diagram of the temporary storage module; Figure 8 is a structural schematic diagram of the traction claw module; Figure 9 is a structural schematic diagram of the cleaning module; Figure 10 is a structural schematic diagram of the shovel plate module; Figure 11 is a structural schematic diagram of the lubricating module; Figure 12 is a structural schematic diagram of the rail-mounted robot main body and the I-shaped rail; Figure 13 is a structural schematic diagram of the garbage can part; Figure 14 is a structural schematic diagram of the turnover plate; Figure 15 is a structural schematic diagram of the folding module chassis.

[0021] In the figure: 1, folding module; 2, end mechanical arm module; 3, temporary storage module; 4, cleaning module; 5, lubricating module; 6, rail-mounted robot main body; 7, I-shaped rail; 8, rail-mounted part; 9, trapezoidal base; 10, turnover mechanism; 11, traction mechanism; 12, chassis; 13, hollow groove; 15, traction claw; 16, moving rack; 17, driving cylinder; 18, turnover plate; 19, rotating shaft; 20, turnover gear; 21, mounting groove; 22, telescopic cylinder; 23, telescopic shaft; 24, locking mechanism; 25, locking bracket; 26, locking block; 27, locking motor; 28, locking gear; 29, locking rack; 30, locking shaft; 31, positioning column; 32, buffer spring; 33, mounting plate; 34, end mechanical arm docking slide rail; 35, traction plate; 36, traction motor; 37, rotating gear; 38, end mechanical arm docking rack; 39, auxiliary plate; 40, square frame limiting groove; 41, support rotating bearing seat; 42, support fixed seat; 43, first support bracket; 44, second support bracket; 45, inclined frame; 46, constraint groove; 47, locking cylinder; 48, inclined docking slide rail; 49, inclined docking rack; 50, traction claw slide; 51, traction claw rack; 52, traction claw driving motor; 53, traction claw gear; 54, rotating brush driving motor; 55, rotating brush; 56, brush moving driving motor; 57, brush fixed bracket; 58, brush rack; 59, brush slide; 60, shovel plate module; 61, shovel plate driving motor; 62, shovel plate sliding block; 63, shovel plate rack; 64, shovel plate slide; 65, shovel plate fixed bracket; 66, shovel plate cylinder; 67, shovel plate; 68, moving plate; 69, garbage can; 70, support cylinder; 71, lubricating brush; 72, lubricating motor; 73, lubricating driving motor; 74, lubricating gear; 75, lubricating rack; 76, lubricating slide rail. DETAILED DESCRIPTION

[0022] Referring to Figures 1-2 , 12, an obstacle avoidance and cleaning hanging rail working robot, comprising two folding modules 1, an end mechanical arm module 2, two temporary storage modules 3, a cleaning module 4, a lubricating module 5, a hanging rail robot body 6, an I-shaped rail 7; The hanging rail robot body 6 moves on the I-shaped rail 7, the upper part of the hanging rail robot is a cuboid-shaped hanging rail part 8, the hanging rail part 8 is provided with a slot matched with the I-shaped rail 7, the lower part of the hanging rail part 8 is fixed with a trapezoidal base 9, the inside of the trapezoidal base 9 is a hollow groove 13, the lower surface of the trapezoidal base 9 is fixed with symmetrically distributed turnover modules; the turnover module comprises a turnover mechanism 10 and a traction mechanism 11, the turnover mechanism 10 is used to realize the turnover of the traction mechanism 11, the traction plate 35 of the traction mechanism 11 is fixed with the end mechanical arm module 2, the left and right sides of the trapezoidal base 9 are fixed with the temporary storage module 3, in use, the temporary storage module 3 and the traction mechanism 11 of the turnover module on the same side are used in cooperation to realize the temporary storage of the end mechanical arm module 2, one side of the top of the trapezoidal base 9 is installed with the cleaning module 4, the other side of the top of the trapezoidal base 9 is installed with the lubricating module 5, after the cleaning module 4 cleans the I-shaped rail 7, the lubricating module 5 lubricates the I-shaped rail 7.

[0023] Referring to Figures 3-4 , 14, 15, the turnover mechanism 10 comprises a chassis 12, the cross section of the chassis 12 is U-shaped, the two side plates of the chassis 12 are each provided with a hollow groove 13, and a movable rack 16 is placed in the hollow groove 13; one side of the movable rack 16 is fixedly connected with the output block of a driving cylinder 17; a turnover plate 18 is arranged above the bottom plate of the chassis 12, two rotating shafts 19 are fixedly arranged on the two sides of one end of the turnover plate 18, the other end of the rotating shaft 19 is connected with a turnover gear 20, and the turnover gear 20 is engaged with the movable rack 16; a cuboid-shaped mounting groove 21 is fixedly arranged at the other end of the bottom of the turnover plate 18, a telescopic cylinder 22 is fixedly arranged in the mounting groove 21 in a symmetrical manner, and the output end of the telescopic cylinder 22 is connected with a telescopic shaft 23; a pad is placed in the hollow groove 13 of the chassis 12, a locking mechanism 24 is fixedly arranged on the pad, and the locking mechanism 24 can lock the telescopic shaft 23.

[0024] Referring to Figure 6The locking mechanism 24 comprises a locking rack 25 and a locking block 26, the locking rack 25 and the locking block 26 are fixed on the cushion block, the locking rack 25 is fixed with a locking motor 27, the output shaft of the locking motor 27 is connected with a locking gear 28, the locking gear 28 is engaged with a locking rack 29, the head of the locking rack 29 is connected with a locking shaft 30, the locking block 26 is provided with a slot, when it is needed to lock the telescopic shaft 23, the locking shaft 30 is inserted into the slot of the locking block 26, the other end of the locking rack 29 is fixed with a positioning column 31, the positioning column 31 is provided with a buffer spring 32.

[0025] Referring to Figure 5 The installation plate 33 is fixed on the turnover plate 18, the installation plate 33 is in a stepped shape, the two sides of the installation plate 33 are respectively fixed with a terminal mechanical arm butt joint slide rail 34, the terminal mechanical arm butt joint slide rail 34 is provided with a matched terminal mechanical arm slide block, the terminal mechanical arm slide block is fixed with a traction plate 35, the traction plate 35 is fixed with a traction motor 36, the output shaft of the traction motor 36 is connected with a rotating gear 37, the rotating gear 37 is engaged with a terminal mechanical arm butt joint rack 38. In the embodiment, the traction plate 35 is fixed with a L-shaped auxiliary plate 39, the outer end corner of the auxiliary plate 39 is fixed with a square frame limiting groove 40. The square frame limiting groove 40 and the L-shaped auxiliary plate 39 are integrally formed.

[0026] In the embodiment, on one side of the turnover gear 20, the two ends of the bottom plate of the chassis 12 are fixed with a support rotating bearing seat 41 for supporting the rotating shaft 19, on the side with the locking mechanism 24, the two ends of the bottom plate of the chassis 12 are fixed with a support fixed seat 42 for supporting the telescopic shaft 23, the support rotating bearing seat 41 and the side plate of the chassis 12 are fixed with a first support frame 43, the support fixed seat 42 and the side plate of the chassis 12 are fixed with a second support frame 44. The first support frame 43 and the second support frame 44 mainly play a protection role.

[0027] Referring to Figure 7 The temporary storage module 3 comprises an inclined frame 45, the inclined frame 45 is in a symmetrical structure as a whole, comprising two side vertical plates arranged in parallel, the two side vertical plates are fixed with two horizontal plates, the two horizontal plates are arranged in parallel to form a constraint groove 46 together with the side vertical plates, a locking cylinder 47 is arranged below the constraint groove 46, an output block of the locking cylinder 47 passes through a through groove arranged on the horizontal plate above the locking cylinder 47; two symmetrical stepped plates are fixed on the bottom plate of the inclined frame 45 from the side vertical plate, the two stepped plates are respectively fixed with inclined butt joint slide rails 48, an inclined butt joint rack 49 is fixed on the side surface of the stepped plate on one side; the side vertical plate, the stepped plate, the horizontal plate and the bottom plate are integrally formed to form the inclined frame 45.

[0028] Referring to Figure 8 , the temporary storage module 3 further comprises traction claw modules distributed on both sides of the inclined frame 45, the traction claw module comprising a fixed bottom plate, a traction claw slide 50 fixed on the fixed bottom plate, a traction claw rack 51 fixed on one side of the traction claw slide 50, a traction claw slide 50 having a matching sliding block, an L-shaped traction claw moving frame fixed on the sliding block, a traction claw drive motor 52 fixed on the horizontal plate of the traction claw moving frame, the output end of the traction claw drive motor 52 connected with a traction claw gear 53, the traction claw gear 53 engaged with the traction claw rack 51; an opening and closing rudder motor fixed on the vertical plate of the traction claw moving frame, the opening and closing rudder motor having a traction claw 15.

[0029] When the turnover plate 18 of the turnover module is turned over, the inclined butt joint slide rail 48 and the end mechanical arm butt joint slide rail 34 are smoothly butted together, under the driving of the traction motor 36, the traction plate 35 moves to the inclined butt joint slide rail 48, the two sides of the traction plate 35 respectively enter the constraint groove 46 on the side plate of the inclined frame 45, then under the driving of the traction claw drive motor 52, the traction claw moving frame moves, thereby driving the movement of the traction claw 15, the traction claw cooperates with the limiting groove on the traction plate 35 to achieve auxiliary traction, when moving to the corresponding locking groove reserved on the traction plate 35 and the through groove on the horizontal plate, at this time the end locking block 26 driven by the locking cylinder 47 extends and cooperates with the locking groove reserved on the traction frame and the through groove on the horizontal plate to achieve the locking of the mechanism.

[0030] Referring to Figure 9 , the cleaning module 4 comprises a brush rotating drive motor 54, the brush rotating drive motor 54 connected with a rotating brush 55 through a brush shaft coupling, the brush rotating drive motor 54 fixed on the vertical plate of a brush fixed frame 57, the horizontal plate of the brush fixed frame having a brush moving drive motor 56 fixed thereon, the output shaft of the brush moving drive motor 56 connected with a brush gear, the brush gear engaged with a brush rack 58, the horizontal plate of the brush fixed frame 57 having a brush slide fixed below, the brush slide cooperated with a brush slide 59, the brush slide 59 and the brush rack 58 fixed on the top surface of the trapezoidal base 9.

[0031] Referring to Figure 10The cleaning module 4 further comprises a shovel module 60, which comprises a shovel driving motor 61, the output shaft of the shovel driving motor 61 being connected with a shovel gear 62, the shovel gear 62 engaging a shovel rack 63, one side of the shovel rack 63 being provided with a shovel slide 64, the shovel slide 64 being matched with a shovel slide block 62, the shovel rack 63 and the shovel slide 64 being fixed on the side of the cuboid-shaped hanging rail part 8, the shovel slide block and the shovel driving motor 61 being both fixed on a shovel fixing frame 65, a shovel cylinder 66 being fixed on the vertical plate of the shovel fixing frame 65, the output end of the shovel cylinder 66 being connected with a shovel 67. The shovel 67 is hingedly connected with a moving plate 68 through a hinge, and the shovel 67 and the moving plate 68 are located in the U-shaped groove of the I-shaped rail 7. Referring to Figure 13 A garbage can 69 is arranged below the shovel module 60, the garbage can 69 being fixed on the output end of a supporting cylinder 70, the supporting cylinder 70 being fixed in the hollow groove 13 of the trapezoidal base 9.

[0032] Referring to Figure 11 The lubricating module 5 comprises a lubricating brush 71, the lubricating brush 71 being connected with a lubricating motor 72 through a shaft coupling, the lubricating motor 72 being fixed on the vertical plate of a lubricating fixing frame 74, a lubricating driving motor 73 being fixed on the upper surface of the horizontal plate of the lubricating fixing frame 74, the output end of the lubricating driving motor 73 being connected with a lubricating gear, the lubricating gear engaging a lubricating rack 75, one side of the lubricating rack 75 being provided with a lubricating slide rail 76, the lubricating slide rail 76 being matched with a lubricating slide block, the lubricating slide block being fixed on the lower surface of the horizontal plate of the lubricating fixing frame.

[0033] The working process of the hanging rail operation robot is as follows: 1. When normally operating, the hanging rail robot moves on the I-shaped rail 7, the rotation of the rotating gear 37 is driven by the traction motor 36, the movement of the traction plate 35 is realized, and the position of the end mechanical arm module 2 is finely adjusted. At this time, the telescopic shaft 23 is fixed in the limiting groove of the locking block 26; 2. When not operating, the end mechanical arm module 2 needs to be folded, the moving rack 16 is moved under the driving of the driving cylinder 17, the rotation of the turnover gear 20 is driven, at the same time, the telescopic shaft 23 is retracted under the driving of the telescopic cylinder 22, at this time, the other side of the turnover plate 18 loses the fixed control, and therefore the turnover of the turnover plate 18 is realized; 3、After the turnover plate 18 is turned over, it is connected with the temporary storage module 3, the oblique butt joint slide rail 48 and the end mechanical arm butt joint slide rail 34 are spliced together, the traction plate 35 can be moved from the end mechanical arm butt joint slide rail 34 to the oblique butt joint slide rail 48 under the driving of the traction motor 36. At this time, the two ends of the traction plate 35 enter the constraint groove 46, then under the driving of the traction claw driving motor 52, the traction claw moving frame moves, and then drives the movement of the traction claw 15, the traction claw 15 cooperates with the limiting groove on the traction plate 35 to realize auxiliary traction, when moving to the reserved locking groove on the traction plate 35 and the through groove on the horizontal plate, at this time, the end locking block 26 driven by the locking cylinder 47 extends, cooperates with the reserved locking groove on the traction frame and the through groove on the horizontal plate, and realizes the temporary storage of the end mechanical arm module 2. 4、When the track needs to be cleaned, the scraper moving driving motor 56 drives the scraper fixed frame to move, when moving to the appropriate position, the rotating scraper 55 is rotated by the rotating driving motor 54, realizing the cleaning of the upper and lower walls of the I-shaped track 7, at the same time, the shovel plate driving motor 61 drives the shovel plate fixed frame 65 to move to the appropriate position, then the shovel plate cylinder 66 drives the shovel plate 67 to move to realize the collection of garbage, at the same time, the support cylinder 70 drives the garbage can 69 to move up, realizing the collection of garbage.

[0034] 5、At the same time of cleaning, for the track that has been cleaned, the lubricating driving motor 73 drives the lubricating fixed frame to move, when moving to the appropriate position, the lubricating motor 72 drives the lubricating brush 71 to rotate, the rotating brush is provided with lubricating oil, when rotating, the track is lubricated, realizing the maintenance of the track.

Claims

1. A rail-mounted robot integrating obstacle avoidance and cleaning functions, characterized in that: It comprises two turnover modules (1), an end mechanical arm module (2), two temporary storage modules (3), a cleaning module (4), a lubricating module (5), a hanging rail robot body (6), an I-shaped rail (7); The hanging rail robot body (6) moves on the I-shaped rail (7), the upper part of the hanging rail robot is a cuboid-shaped hanging rail part (8), the hanging rail part (8) is provided with a slot matched with the I-shaped rail (7), the lower part of the hanging rail part (8) is fixed with a trapezoidal base (9), the inside of the trapezoidal base (9) is a hollow groove (13), the lower surface of the trapezoidal base (9) is fixed with symmetrical turnover modules; the turnover module comprises a turnover mechanism (10) and a traction mechanism (11), the turnover mechanism (10) is used for realizing the turnover of the traction mechanism (11), the traction plate (35) of the traction mechanism (11) is fixed with the end mechanical arm module (2), the left and right sides of the trapezoidal base (9) are fixed with the temporary storage modules (3), in use, the temporary storage modules (3) and the traction mechanism (11) of the turnover module on the same side are used in cooperation to realize the temporary storage of the end mechanical arm module (2), the top of the trapezoidal base (9) is provided with the cleaning module (4) on one side, the top of the trapezoidal base (9) is provided with the lubricating module (5) on the other side, after the cleaning module (4) cleans the I-shaped rail (7), the lubricating module (5) lubricates the I-shaped rail (7).

2. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The turnover mechanism (10) comprises a chassis (12), the two side plates of the chassis (12) are each provided with a hollow groove (13), and the hollow groove (13) is placed with a movable rack (16); the side surface of the movable rack (16) and the output block of a drive cylinder (17) are fixedly connected; the movable rack (16) is engaged with a turnover gear (20), a turnover plate (18) is arranged above the bottom plate of the chassis (12), the turnover plate (18) is fixed with a rotating shaft (19) on both sides of one end, the rotating shaft (19) is connected with the turnover gear (20) on the same side, the other end of the turnover plate (18) is fixed with a telescopic cylinder (22) in a symmetrical manner, the output end of the telescopic cylinder (22) is fixedly connected with a telescopic shaft (23), a locking mechanism (24) is fixed at the other end of the hollow groove (13) of the chassis (12), when turnover is not needed, the locking mechanism (24) can lock the telescopic shaft (23), so that the telescopic shaft (23) is fixed, when turnover is needed, the movable rack (16) moves under the drive of the drive cylinder (17), thereby driving the rotation of the turnover gear (20), at the same time, the telescopic cylinder (22) drives the telescopic shaft (23) to retract, at this time, the other side of the turnover plate (18) loses the fixed control, thereby realizing the turnover of the turnover.

3. The obstacle avoidance and cleaning hanging rail working robot according to claim 2, characterized in that: The locking mechanism (24) comprises a locking rack (25) and a locking block (26), the locking rack (25) is fixed with a locking motor (27), the output shaft of the locking motor (27) is connected with a locking gear (28), the locking gear (28) is engaged with a locking rack (29), the head of the locking rack (29) is connected with a locking shaft (30), the locking block (26) is provided with a slot and a limiting slot, the slot and the limiting slot are through, when the turnover plate (18) does not need to be turned over, the telescopic shaft (23) is inserted into the limiting slot, the locking shaft (30) is inserted into the slot of the locking block (26) and abuts against the telescopic shaft (23), the other end of the locking rack (29) is fixed with a positioning column (31), the positioning column (31) is externally provided with a buffer spring (32).

4. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The traction mechanism (11) comprises a mounting plate (33), the mounting plate (33) is fixed on the turnover plate (18), the two sides of the mounting plate (33) are respectively fixed with a terminal mechanical arm butt joint slide rail (34), the terminal mechanical arm butt joint slide rail (34) is provided with a matched terminal mechanical arm slide block, the slide block is fixed with a traction plate (35), the traction plate (35) is fixed with a traction motor (36), the output shaft of the traction motor (36) is connected with a rotating gear (37), the rotating gear (37) is engaged with a terminal mechanical arm butt joint rack (38); the traction plate (35) is fixed with an L-shaped auxiliary plate (39) symmetrically, the outer end corner of the auxiliary plate (39) is fixed with a square frame limiting slot (40), the square frame limiting slot (40) and the L-shaped auxiliary plate (39) are integrally formed.

5. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The temporary storage module (3) comprises an inclined frame (45), two side plates of the inclined frame (45) are respectively fixed with two parallel transverse plates, a constraint groove (46) is formed between the transverse plates, the two transverse plates are provided with through grooves corresponding in position, the bottom plate of the inclined frame (45) is fixed with a locking air cylinder (47) below the through grooves, the output end of the locking air cylinder (47) passes through the through grooves when the output end is extended, the bottom plate of the inclined frame (45) is fixed with two parallel inclined butt joint slide rails (48), the sizes of the two inclined butt joint slide rails (48) are same as the sizes of the terminal mechanical arm butt joint slide rails (34) of the traction mechanism (11), and the distance between the two inclined butt joint slide rails (48) is same as the distance between the terminal mechanical arm butt joint slide rails (34), when the turnover plate (18) is turned over, the turnover module and the temporary storage module (3) are butt jointed together, at this time, the inclined butt joint slide rails (48) and the terminal mechanical arm butt joint slide rails (34) are spliced together, and the traction plate (35) can be moved from the terminal mechanical arm butt joint slide rails (34) to the inclined butt joint slide rails (48).

6. The obstacle avoidance and cleaning hanging rail working robot according to claim 5, characterized in that: The temporary storage module (3) further comprises a traction claw module distributed on both sides of the inclined frame (45), the traction claw module comprises a fixed bottom plate, a traction claw slide (50) is fixed on the fixed bottom plate, a traction claw rack (51) is fixed on one side of the traction claw slide (50), the traction claw slide (50) is provided with a matched sliding block, an L-shaped traction claw moving frame is fixed on the sliding block, a traction claw driving motor (52) is fixed on the horizontal plate of the traction claw moving frame, the output end of the traction claw driving motor (52) is connected with a traction claw gear (53), the traction claw gear (53) is engaged with the traction claw rack (51); an opening and closing rudder is fixed on the vertical plate of the traction claw moving frame, and the opening and closing rudder is provided with an opening and closing claw, and the traction claw module can assist the movement of the traction plate (35). When the turnover plate (18) of the turnover module is turned over, the inclined butt joint slide rail (48) and the end mechanical arm butt joint slide rail (34) are smoothly butted together, under the driving of the traction motor (36), the traction plate (35) moves to the inclined butt joint slide rail (48), the two sides of the traction plate (35) enter the constraint grooves (46) in the side plates of the inclined frame (45) respectively, then under the driving of the traction claw driving motor (52), the traction claw moving frame moves, thereby driving the movement of the opening and closing claw, the opening and closing claw cooperates with the traction groove on the traction plate (35), auxiliary traction is realized, when the traction plate (35) moves to the reserved locking groove and the through groove on the horizontal plate, at this time, the end locking block (26) driven by the locking cylinder (47) extends, cooperates with the reserved locking groove of the traction frame and the through groove on the horizontal plate, locking and fixing of the traction plate (35) is realized, thereby realizing temporary storage of the end mechanical arm module (2).

7. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The cleaning module (4) comprises a brush rotating driving motor (54), the brush rotating driving motor (54) is connected with a rotating brush (55) through a brush shaft coupling, the brush rotating driving motor (54) is fixed on the vertical plate of a brush fixed frame, a brush moving driving motor (56) is fixed on the horizontal plate of the brush fixed frame, the output shaft of the brush moving driving motor (56) is connected with a brush gear (57), the brush gear (57) is engaged with a brush rack (58), a brush sliding block is fixed below the horizontal plate of the brush fixed frame, the brush sliding block cooperates with a brush slide (59), the brush slide (59) and the brush rack (58) are fixed on the top surface of the ladder-shaped base (9), and the rotating brush (55) moves in parallel in the U-shaped groove of the I-shaped track (7).

8. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The cleaning module (4) further comprises four shovel plate modules (60), each of which comprises a shovel plate driving motor (61), the output shaft of the shovel plate driving motor (61) is connected with a shovel plate gear, the shovel plate gear meshes with a shovel plate rack (63), one side of the shovel plate rack (63) is provided with a shovel plate slide (64), the shovel plate slide (64) is matched with a shovel plate sliding block (62), the shovel plate sliding block and the shovel plate driving motor (61) are both fixed on a shovel plate fixing frame (65), a shovel plate air cylinder (66) is fixed on the vertical plate of the shovel plate fixing frame (65), the output end of the shovel plate air cylinder (66) is connected with a shovel plate (67), the shovel plate (67) is hingedly connected with a moving plate (68) through a hinge, and the shovel plate (67) and the moving plate (68) are located in the U-shaped groove of the I-shaped track (7); below the shovel plate module (60), a support air cylinder (70) is fixed in the hollow groove (13) of the ladder-shaped base (9), the output end of the support air cylinder (70) is fixed with a garbage can (69), and each shovel plate module (60) is matched with one garbage can (69).

9. The obstacle avoidance and cleaning hanging rail working robot according to claim 1, characterized in that: The lubricating module (5) comprises a lubricating brush (71) connected with a lubricating motor (72) through a shaft coupling, the lubricating motor (72) is fixed on the vertical plate of a lubricating fixing frame (74), a lubricating driving motor (73) is fixed on the upper surface of the horizontal plate of the lubricating fixing frame (74), the output end of the lubricating driving motor (73) is connected with a lubricating gear, the lubricating gear meshes with a lubricating rack (75), one side of the lubricating rack (75) is provided with a lubricating slide rail (76), and the lubricating slide rail (76) is used in matched mode with a lubricating sliding block.

10. The working method of the obstacle-avoiding and cleaning suspended rail working robot according to any one of claims 1-9, characterized in that: The method comprises the following steps: S1, when normally operating, the track robot moves on the I-shaped track (7), the rotation of the rotating gear (37) is driven by the traction motor (36), the movement of the traction plate (35) is realized, and the position of the end mechanical arm module (2) is finely adjusted, and at this time, the telescopic shaft (23) is fixed in the limiting groove of the locking block (26); S2, when not operating, the end mechanical arm module (2) needs to be folded, the moving rack (16) is moved under the drive of the driving air cylinder (17), the rotation of the turnover gear (20) is driven, at the same time, the telescopic shaft (23) is retracted under the drive of the telescopic air cylinder (22), the other side of the turnover plate (18) loses the fixed control, and therefore the turnover of the turnover plate (18) is realized. S3, after the turnover plate (18) is turned over, the turnover plate (18) is connected with the temporary storage module (3), the oblique butt joint slide rail (48) and the end mechanical arm butt joint slide rail (34) are spliced together, the traction plate (35) can be moved from the end mechanical arm butt joint slide rail (34) to the oblique butt joint slide rail (48) under the driving of the traction motor (36), at this time, the two ends of the traction plate (35) enter the constraint groove (46), then under the driving of the traction claw driving motor (52), the traction claw moving frame moves, and then drives the movement of the opening and closing claw, the opening and closing claw cooperates with the traction groove on the traction plate (35), and the auxiliary traction is realized, when the locking groove reserved on the traction plate (35) and the through groove on the horizontal plate correspond, at this time, the end locking block (26) driven by the locking cylinder (47) is extended, and cooperates with the locking groove reserved on the traction frame and the through groove on the horizontal plate, so that the temporary storage of the end mechanical arm module (2) is realized; S4, when the track needs to be cleaned, the scraper moving driving motor (56) drives the scraper fixed frame to move, when moving to a suitable position, the rotating scraper (55) is rotated by the scraper rotating driving motor (54), the upper and lower walls of the I-shaped track (7) are cleaned, at the same time, the shovel plate driving motor (61) drives the shovel plate fixed frame (65) to move to a suitable position, then the shovel plate cylinder (66) drives the shovel plate (67) to move to realize garbage collection, at the same time, the support cylinder (70) drives the garbage can (69) to move up to realize garbage collection; S5, while cleaning, for the track that has been cleaned, the lubricating fixed frame is moved by the lubricating driving motor (73), when moving to a suitable position, the lubricating motor (72) drives the lubricating brush (71) to rotate, the rotating brush is provided with lubricating oil, when rotating, the track is lubricated, and the track is maintained.

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