Single-rail climbing trolley utilizing gravity and without auxiliary mechanism and walking system

Abstract

The invention relates to the technical field of walking trolleys, in particular to a single-rail climbing trolley utilizing gravity and without an auxiliary mechanism and a walking system.The single-rail climbing trolley comprises a traveling crane body and a driving structure, and the traveling crane body comprises a walking trolley body, bearing wheels, pressurizing wheels and at least two balance guide wheels; the two balance guide wheels are rotationally arranged on the walking vehicle body and are in rolling contact with the two opposite sides of the track respectively, the bearing wheels are rotationally arranged on the walking vehicle body and used for pressing the upper surface of a lower wing plate of the track, the driving structure is arranged on the walking vehicle body and used for driving the bearing wheels to walk along the track, and a bearing rod is hinged to the bottom of the walking vehicle body; a hinge shaft of the bearing rod and the walking vehicle body extends in the horizontal direction, is perpendicular to the walking direction of the walking vehicle body along the track and is used for hanging heavy objects. The pressurizing wheel is rotatably arranged on the walking vehicle body, during climbing, the gravity of a heavy object generates a component force which is parallel to the gradient of the track and faces downwards, the component force drives the pressurizing wheel to make contact with the track, and the purpose of passive pressurizing of the pressurizing wheel is achieved.

Description

Technical Field

[0001] This invention relates to the field of mobile cart technology, and particularly to a single-rail climbing cart and its walking system that utilizes gravity without auxiliary mechanisms. Background Technology

[0002] Currently, existing monorail climbing trolleys are usually equipped with pressure rollers to increase the friction between the trolley and the track, ensuring a smooth climb.

[0003] For example, the existing patent (CN210634561U) discloses a suspended monorail bogie suitable for steep gradients. By setting up active pressure boosting wheels and pressure application devices, it can effectively improve the train's adhesion traction and climbing ability, overcoming the problem of insufficient wheel-rail adhesion on long gradients. It is equipped with at least two active pressure boosting devices, which can apply pressure simultaneously during train operation to avoid uneven loading and axle load transfer, further improving the adhesion traction of the wheels. With the above-mentioned bogie, the maximum safe climbing gradient of the suspended monorail can reach 30 to 45 degrees, that is, it can achieve steep gradient climbing.

[0004] However, the pressure rollers of the aforementioned bogies require a pressure-applying device to contact the track and increase friction. In other words, it can be understood that the pressure rollers of existing climbing trolleys are typically actively pressurized, requiring a power unit to drive the rollers into contact with the track, thus increasing the manufacturing cost of the climbing trolley. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a gravity-driven monorail climbing trolley and its walking system, which aims to solve the technical problem that the pressure boosting wheel of the existing climbing trolley cannot be passively pressurized, thus requiring an additional power device to drive the pressure boosting wheel to contact the track.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A gravity-driven monorail climbing trolley without auxiliary mechanisms includes a trolley body and a drive structure. The trolley body includes a traveling body, a load-bearing wheel, a booster wheel, and at least two balance guide wheels. The at least two balance guide wheels are rotatably mounted on the traveling body and roll in contact with opposite sides of the track. The load-bearing wheel is rotatably mounted on the traveling body and presses against the upper surface of the lower flange of the track. The drive structure is mounted on the traveling body and drives the load-bearing wheel to rotate, thereby moving the trolley body along the track. A load-bearing rod is hinged to the bottom of the traveling body. The load-bearing rod extends horizontally from the hinge axis of the traveling body and is perpendicular to the traveling direction of the trolley body along the track. The load-bearing rod is used to suspend heavy objects. The booster wheel is rotatably mounted on the traveling body. When the climbing trolley is traveling horizontally along the track, there is a gap between the booster wheel and the lower surface of the lower wing plate of the track. When the climbing trolley is climbing up the track, the weight of the load suspended on the support rod generates a downward force parallel to the slope of the track. This force drives the climbing trolley to rotate clockwise around the hinge axis, so that the booster wheel presses against the lower wing plate of the track, and the booster wheel and the support wheel form a clamping force that holds the lower wing plate of the track.

[0007] Furthermore, the vehicle body includes a base, a connecting seat, a connecting plate, two connecting members, and a fixing plate. The connecting seat, the connecting plate, and the two connecting members are connected to each other to form a quadrilateral structure. The connecting members extend horizontally, and the two connecting members are parallel to each other and perpendicular to the track. The base and the connecting seat are connected and fixed, and they are parallel to each other. The drive structure is fixed on the base. The output end of the drive structure passes through the base and the connecting seat and is driven by the load-bearing wheel. The balance guide wheel is rotatably mounted on the connecting seat. The fixing plate is parallel to the connecting plate and is fixed on the connecting plate, and they are parallel to each other. The balance guide wheel is mounted on the fixing plate, and the rotation axis of the balance guide wheel extends vertically.

[0008] Furthermore, both the fixed plate and the connecting seat have multiple balance guide wheels. The multiple balance guide wheels on the fixed plate are spaced apart along the extension direction of the track; the multiple balance guide wheels on the connecting seat are spaced apart along the extension direction of the track.

[0009] Furthermore, the height of the balancing guide wheel is greater than the thickness of the lower flange of the track.

[0010] Furthermore, the vehicle body also includes a connecting assembly, which includes a connecting body. Both ends of the connecting body are respectively hinged to the two connecting members. The hinge axis of the connecting body and the connecting members extends horizontally and is perpendicular to the connecting members. A receiving groove is provided at the bottom of the connecting body. One end of the load-bearing rod is located in the receiving groove and hinged to the receiving groove. The other end of the load-bearing rod extends vertically out of the receiving groove. The hinge axis of the load-bearing rod and the receiving groove is parallel to the connecting member.

[0011] Furthermore, the connecting assembly also includes two hinge plates, which are respectively hinged to opposite sides of the connecting body. The hinge axis of the hinge plate and the connecting body is parallel to the connecting member, and the part of the hinge plate corresponding to the receiving groove is configured as the side wall of the receiving groove.

[0012] Furthermore, the drive structure is angled to the vertical centerline of the vehicle body, so that when the climbing vehicle is climbing, the drive structure provides the climbing vehicle with the axial clockwise rotation power around the hinge axis where the load-bearing rod is hinged to the vehicle body.

[0013] Furthermore, the angle between the drive structure and the vertical central axis of the vehicle body is set as β, where 0°≤β≤90°.

[0014] A walking system includes an auxiliary vehicle body, a movable linkage mechanism, and the aforementioned climbing trolley. The structure of the auxiliary vehicle body is the same as that of the main vehicle body, and the load-bearing rods of the auxiliary vehicle body and the load-bearing rods of the main vehicle body are connected by the movable linkage mechanism.

[0015] Furthermore, the movable linkage mechanism includes a first rotating seat, a second rotating seat, and a connecting rod. The first rotating seat is rotatably mounted on the load-bearing rod of the auxiliary vehicle body and is coaxial with the load-bearing rod on the auxiliary vehicle body. The second rotating seat is rotatably mounted on the load-bearing rod of the traveling body and is coaxial with the load-bearing rod of the traveling body. The two ends of the connecting rod are respectively connected and fixed to the outer walls of the first rotating seat and the second rotating seat.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: In use, the monorail climbing trolley of this invention includes a main body and a drive structure, a traveling body, a load-bearing wheel, a booster wheel, and a balance guide wheel. The load-bearing wheel, booster wheel, and balance guide wheel are all located on the traveling body, and the drive structure that drives the load-bearing wheel to roll is also located on the traveling body. The load-bearing wheel presses against the upper surface of the lower flange of the track. Therefore, the drive structure drives the load-bearing wheel to roll along the track, which in turn drives the entire climbing trolley to move along the track. When the climbing trolley travels horizontally along the track, there is a gap between the booster wheel and the lower surface of the track's lower flange. Under this condition, there is no need for the booster wheel to contact the track to increase friction. When the climbing trolley climbs the track, the weight of the load suspended on the support rod generates a downward force parallel to the track's slope. This force drives the entire climbing trolley to rotate clockwise around the hinge axis connecting the support rod and the traveling body, causing the booster wheel to press against the lower flange of the track. This results in the lower flange of the track being clamped between the support wheel and the booster wheel. Thus, the lower flange of the track is clamped by the support wheel (pressing down) and the booster wheel (pushing up). The support wheel and the booster wheel form a clamping force that holds the lower flange of the track. This clamping force instantly and greatly increases the normal pressure between the track and the support wheel, thereby converting it into a huge static friction force, improving the adhesive traction of the support wheel, and ensuring smooth climbing.

[0017] In summary, the monorail climbing trolley of the present invention utilizes the gravitational force of the weight suspended below the load-bearing rod to drive the booster wheel to contact the track, thereby achieving passive boosting. This overcomes the technical defect of existing climbing trolleys where the booster wheel cannot be passively boosted and requires an additional power device to drive the booster wheel to contact the track. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the monorail climbing trolley of the present invention. Figure 2 for Figure 1 The front view; Figure 3 for Figure 1 The left view; Figure 4 This is a schematic diagram of the structure of the climbing vehicle in the climbing state according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the walking system according to an embodiment of the present invention.

[0019] Numbers in the attached drawings: 1. Climbing trolley; 1011. Base; 1012. Connecting seat; 1013. Connecting plate; 1014. Connecting component; 1015. Fixing plate; 102. Bearing wheel; 103. Pressure boosting wheel; 104. Balance guide wheel; 105. Load-bearing rod; 106. Connecting assembly; 1060. Connecting body; 1061. Hinge plate; 1062. Receiving groove; 11. Drive structure; 2. Auxiliary vehicle body; 3. Movable linkage mechanism; 30. First rotating seat; 31. Second rotating seat; 32. Connecting rod; 4. Track; 40. Lower wing plate. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] In the description of this invention, it should be understood that the terms "width," "upper," "lower," "front," "rear," "top," and "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In this invention, unless otherwise expressly specified and limited, the first feature "above" or "below" the second feature may include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them.

[0023] Please refer to Figures 1-4 In a first aspect, the present invention provides a single-rail climbing trolley 1 that utilizes gravity without auxiliary mechanisms, comprising a trolley body and a drive structure 11.

[0024] Reference Figures 1-4 The main body of the vehicle includes a traveling body, a load-bearing wheel 102, a booster wheel 103, and at least two balance guide wheels 104. At least two balance guide wheels 104 are rotatably mounted on the traveling body and roll in contact with opposite sides of the track 4. The load-bearing wheel 102 is rotatably mounted on the traveling body and presses against the upper surface of the lower flange 40 of the track 4. A drive structure 11 is mounted on the traveling body and uses a drive motor to drive the load-bearing wheel 102 to rotate, thereby driving the main body of the vehicle along the track. Since the drive structure 11 is mounted on the main body of the vehicle, it also moves along the track 4 with the main body, thus enabling the entire climbing vehicle 1 to move along the track.

[0025] Reference Figure 2 and Figure 4 The drive structure 11 is angled to the vertical centerline of the traveling vehicle. When the climbing trolley climbs the track, the drive structure 11 provides the climbing trolley with the axial clockwise rotation force about the hinge axis that connects the load-bearing rod and the traveling vehicle 10. Specifically, the angle between the drive structure and the vertical centerline of the traveling vehicle 10 is set as β, where 0°≤β≤90°. In this embodiment, β=60°. In other embodiments, β=0°, 90°, 30°, or 45°, and is not limited here.

[0026] Reference Figures 1-4 A load-bearing rod 105 is hinged to the bottom of the vehicle body. The hinge axis of the load-bearing rod 105 and the vehicle body extends horizontally, and the hinge axis of the load-bearing rod 105 and the vehicle body is perpendicular to the traveling direction of the vehicle body along the track. The load-bearing rod 105 is used to suspend heavy objects. The booster wheel 103 is rotatably mounted on the vehicle body.

[0027] When the climbing trolley 1 is moving horizontally along the track (e.g.) Figure 2 As shown in the figure, there is a gap between the booster wheel 103 and the lower surface of the lower flange of the track, so the booster wheel 103 does not need to contact the track for boosting.

[0028] While the climbing trolley 1 is climbing along the track (e.g.) Figure 4 As shown, the weight of the load suspended on the support rod 105 generates a downward component force parallel to the slope of the track. This component force drives the climbing trolley 1 to rotate clockwise around the hinge axis connecting the support rod 105 and the traveling body, so that the booster wheel 103 presses against the lower flange of the track. Thus, the lower flange of the track is clamped by the support wheel 102 (pressing down) and the booster wheel 103 (pushing up), creating a "clamping" effect. Specifically, the support wheel 102 (pressing down) and the booster wheel 103 (pushing up) form a clamping force that holds the lower flange of the track. This clamping force instantly and greatly increases the normal pressure between the track and the support wheel 102, thus converting it into a huge static friction force, increasing the adhesive traction of the support wheel 102, and ensuring smooth climbing. In this embodiment, the climbing angle A is 30-45°, preferably 45°. In other embodiments, the climbing angle A can also be 30° or 35°, which is not limited here.

[0029] In summary, it can be understood that the monorail climbing trolley 1 of the present invention utilizes the gravitational component of the weight suspended below the load-bearing rod 105. At the same time, the downward gravity of the driving structure 11 also provides the climbing trolley with the axial clockwise rotation power around the hinge axis that connects the load-bearing rod and the traveling body 10, thereby driving the booster wheel 103 to contact the track and achieve passive boosting. This overcomes the technical defect of the existing climbing trolley 1, where the booster wheel 103 cannot be passively boosted and an additional power device is required to drive the booster wheel 103 to contact the track. This results in the booster wheel 103 and the load-bearing wheel 102 forming a clamping force that clamps the lower wing plate of the track.

[0030] Reference Figures 1-4The vehicle body includes a base 1011, a connecting seat 1012, a connecting plate 1013, two connecting members 1014, a fixing plate 1015, and a connecting assembly 106. The connecting seat 1012, connecting plate 1013, and two connecting members 1014 are interconnected to form a quadrilateral structure. The connecting members 1014 extend horizontally, are parallel to each other, and are both perpendicular to the track. The base 1011 is fixedly connected to the connecting seat 1012, and the two are parallel to each other. A drive structure 11 is fixed to the base 1011. The output end of the drive structure 11 passes through the base 1011 and the connecting seat 1012 and is driven by the bearing wheel 102. That is, the output end of the drive structure 11 can rotate relative to the base 1011 and the connecting seat 1012, thereby driving the bearing wheel 102 to rotate. The rotation axis of the bearing wheel 102 is parallel to the connecting member 1014. A balance guide wheel 104 is rotatably mounted on the connecting seat 1012. A fixing plate 1015 is parallel to the connecting plate 1013, and the fixing plate 1015 is fixed to the connecting plate 1013, with both being parallel to each other. The balance guide wheel 104 is mounted on the fixing plate 1015, and the axis of rotation of the balance guide wheel 104 extends vertically. The balance guide wheel 104 contacts the outer edge of the lower flange of the track.

[0031] Reference Figures 1-3 Multiple balance guide wheels 104 are provided on both the fixed plate 1015 and the connecting seat 1012. The multiple balance guide wheels 104 on the fixed plate 1015 are spaced apart along the extension direction of the track; the multiple balance guide wheels 104 on the connecting seat 1012 are also spaced apart along the extension direction of the track. Exemplarily, two balance guide wheels 104 are provided on both the fixed plate 1015 and the connecting seat 1012, but this is not a limitation. Of course, the balance guide wheels 104 on the fixed plate 1015 and the connecting seat 1012 are located on both sides of the lower flange of the track, mainly serving as guide wheels for curved tracks. For example, when the trolley passes through a curve, the balance guide wheels 104 can guide the trolley along the curved trajectory, preventing it from veering off course or getting stuck. In addition, when the trolley is climbing, descending, or passing through uneven tracks, they can effectively resist the lateral swaying and overturning tendency of the trolley, ensuring the smooth operation of the trolley.

[0032] It should be noted that when the trolley is climbing a slope, the main body of the trolley rotates clockwise around the hinge axis connecting the load-bearing rod 105 and the traveling body. This causes the axis of rotation of the balance guide wheel 104 to no longer be perpendicular to the lower flange of the track. Therefore, the height of the balance guide wheel 104 is greater than the thickness of the lower flange of the track to ensure that the balance guide wheel 104 can always roll in contact with the lower flange of the track. In other words, whether the trolley is traveling horizontally along the track or climbing a slope, the balance guide wheel 104 can roll in contact with the lower flange of the track, ensuring that the trolley can smoothly pass through the curved track.

[0033] Reference Figures 1-4 The connecting assembly 106 includes a connecting body 1060 and two hinge plates 1061. The two ends of the connecting body 1060 are respectively hinged to two connecting pieces 1014. The hinge axis of the connecting body 1060 and the connecting pieces 1014 extends horizontally and is perpendicular to the connecting pieces 1014, so that the connecting body 1060 has space to swing slightly along the axial (lateral) direction of the connecting pieces 1014, avoiding a rigid connection between the connecting body 1060 and the connecting pieces 1014, which is beneficial to absorbing the swaying caused by the heavy objects suspended on the load-bearing rod 105.

[0034] Reference Figure 3 The bottom of the connecting body 1060 is provided with a receiving groove 1062. One end of the load-bearing rod 105 is located inside the receiving groove 1062 and is hinged to the receiving groove 1062. The other end of the load-bearing rod 105 extends vertically out of the receiving groove 1062 for suspending heavy objects such as workpieces or lifting tools. The hinge axis of the load-bearing rod 105 and the receiving groove 1062 is parallel to the connecting member 1014, so that the load-bearing rod 105 can swing in the left and right (longitudinal) direction along the receiving groove 1062, thereby ensuring that the weight of the heavy object suspended on the load-bearing rod 105 can generate a downward component force with an incline parallel to the track.

[0035] Furthermore, two hinge plates 1061 are respectively hinged to opposite sides of the connecting body 1060. The hinge axis of the hinge plate 1061 and the connecting body 1060 is parallel to the connector 1014. The portion of the hinge plate 1061 corresponding to the receiving groove 1062 is configured as the sidewall of the receiving groove 1062. In summary, by adopting the structure of the connecting assembly 106 described above, the connecting body 1060 can perform slight movements relative to the hinge plate 1061, avoiding rigid contact between the connecting body 1060 and the hinge plate 1061.

[0036] The working principle of the monorail climbing trolley of this invention: When the climbing trolley 1 travels horizontally along the track, the booster wheel 103 does not contact the lower surface of the lower flange of the track. The drive structure 11 drives the bearing wheel 102 to roll along the track, thereby driving the entire trolley body to travel along the track. When the climbing trolley 1 is climbing along the track, the weight of the load suspended on the load-bearing rod 105 generates a downward component force parallel to the slope of the track. This component force drives the climbing trolley 1 to rotate clockwise around the hinge axis where the load-bearing rod 105 is hinged to the traveling body. At the same time, the drive structure... The downward force of gravity 11 also gives the climbing trolley the power to rotate clockwise around the hinge axis that is hinged to the load-bearing rod and the traveling body 10, so that the booster wheel 103 presses against the lower wing plate of the track. In this way, the lower wing plate of the track will be clamped by the load-bearing wheel 102 (pressing down) and the booster wheel 103 (pushing up), so that the load-bearing wheel 102 and the booster wheel 103 form a clamping force that clamps the lower wing plate of the track, thereby increasing the friction between the traveling body and the track, ensuring that the climbing trolley 1 can climb slopes of 30 to 45 degrees.

[0037] Secondly, referring to Figure 5 The present invention also provides a walking system, including an auxiliary vehicle body 2, a movable linkage mechanism 3, and a climbing trolley 1 provided in the first aspect.

[0038] The structure of the auxiliary car body 2 is the same as that of the main traveling car, and will not be described in detail here. The load-bearing rod 105 of the auxiliary car body 2 is connected to the load-bearing rod 105 of the main traveling car through a movable linkage mechanism 3. The workpiece or the lifting device for suspending the workpiece can be fixed on the movable linkage mechanism 3. Driven by the drive structure 11 of the climbing trolley 1, the climbing trolley 1 drives the auxiliary car body 2 to move along the track through the movable linkage mechanism 3.

[0039] The movable linkage mechanism 3 includes a first rotating seat 30, a second rotating seat 31, and a connecting rod 32. The first rotating seat 30 is rotatably mounted on the load-bearing rod 105 of the auxiliary vehicle body 2, and is coaxial with the load-bearing rod 105 on the auxiliary vehicle body 2. The second rotating seat 31 is rotatably mounted on the load-bearing rod 105 of the traveling body, and is coaxial with the load-bearing rod 105 of the traveling body. The two ends of the connecting rod 32 are respectively connected and fixed to the outer walls of the first rotating seat 30 and the second rotating seat 31. It can be understood that the connecting rod 32 serves as a horizontal suspension point, and the weight of the workpiece is transmitted to the first rotating seat 30 and the second rotating seat 31 through the connecting rod 32. Compared with single-point suspension, the symmetrical arrangement of the first rotating seat 30 and the second rotating seat 31 can counteract the torsional moment caused by the eccentricity of the workpiece, reducing swaying, rotation, or swinging during movement. Especially at high speeds, with variable acceleration, or when turning on the track, the anti-tilt / pitch capability is significantly enhanced. In addition, since the first rotating seat 30 and the second rotating seat 31 can rotate freely, the minor vibrations (such as track joint impacts) of the workpiece suspended on the connecting rod 32 during movement can be absorbed by the rotational motion of the first rotating seat 30 and the second rotating seat 31, avoiding the vibration being directly transmitted to the workpiece and ensuring the smooth transportation of the workpiece.

[0040] In summary, the auxiliary vehicle body 2 and the climbing trolley 1 are flexibly connected by the movable linkage mechanism 3, forming a stable support span, which enhances the passability and stability of the entire walking system on curved tracks and slopes, and prevents jamming caused by single-point support.

[0041] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A monorail climbing trolley with gravity and without auxiliary mechanism, comprising a trolley main body and a driving structure, the trolley main body comprising a walking trolley body, a bearing wheel, a booster wheel and at least two balancing guide wheels, the at least two balancing guide wheels being respectively rotationally arranged on the walking trolley body and respectively rolling in contact with opposite sides of a track, the bearing wheel being rotationally arranged on the walking trolley body and being used to press on a lower wing plate upper surface of the track, and the driving structure being arranged on the walking trolley body and being used to drive the bearing wheel to rotate so as to drive the trolley main body to walk along the track; characterized in that, The bottom of the walking vehicle body is hinged with a load bearing rod, the load bearing rod extends along the horizontal direction of the hinge shaft of the walking vehicle body and is perpendicular to the walking direction of the track along which the vehicle body travels, and the load bearing rod is used for hanging a load; In the state that the climbing trolley travels horizontally along the track, the booster wheel has a gap with the lower surface of the lower wing plate of the track; in the state that the climbing trolley climbs along the track, the gravity of the load hung on the load bearing rod generates a component force parallel to the slope of the track and in the downward direction, and the component force drives the climbing trolley to rotate clockwise around the axial direction of the hinge shaft, so that the booster wheel is pressed against the lower wing plate of the track, and the booster wheel and the load bearing wheel form a clamping force for clamping the lower wing plate of the track.

2. The monorail climbing trolley with gravity-aided mechanism of claim 1, wherein, The walking vehicle body comprises a base, a connecting seat, a connecting plate, two connecting members and a fixing plate, the connecting seat, the connecting plate and the two connecting members are connected to each other to form a quadrilateral structure, the connecting members extend along the horizontal direction, the two connecting members are parallel to each other and perpendicular to the track, the base is connected and fixed with the connecting seat and the two are parallel to each other, the driving structure is fixed on the base, the output end of the driving structure penetrates the base and the connecting seat and is drivingly connected with the load bearing wheel, the balance guide wheel is rotatably arranged on the connecting seat, the fixing plate is parallel to the connecting plate, the fixing plate is fixed on the connecting plate and the two are parallel to each other, the balance guide wheel is arranged on the fixing plate, and the rotation axis of the balance guide wheel extends along the vertical direction.

3. The monorail climbing trolley with gravity-aided mechanism of claim 2, wherein, The balance guide wheels on the fixing plate and the balance guide wheels on the connecting seat are both provided in plurality, the plurality of balance guide wheels on the fixing plate are arranged at intervals along the extension direction of the track, and the plurality of balance guide wheels on the connecting seat are arranged at intervals along the extension direction of the track.

4. The monorail climbing trolley with gravity-aided mechanism of claim 3, wherein, The height of the balance guide wheel is greater than the thickness of the lower wing plate of the track.

5. The monorail climbing trolley with gravity-aided mechanism of claim 2, wherein, The walking vehicle body further comprises a connecting assembly, the connecting assembly comprises a connecting body, the two ends of the connecting body are respectively hinged with the two connecting members, the hinge shafts at which the connecting body and the connecting members are hinged extend along the horizontal direction and are perpendicular to the connecting members, a receiving groove is arranged on the bottom of the connecting body, one end of the load bearing rod is located in the receiving groove and is hinged with the receiving groove, the other end of the load bearing rod extends out of the receiving groove along the vertical direction, and the hinge shaft at which the load bearing rod and the receiving groove are hinged is parallel to the connecting members.

6. The monorail climbing trolley with gravity-aided mechanism of claim 5, wherein, The connecting assembly further comprises two hinge plates, the two hinge plates are respectively hinged on opposite sides of the connecting body, and the hinge shafts at which the hinge plates and the connecting body are hinged are parallel to the connecting members.

7. The monorail climbing trolley with gravity-aided mechanism of claim 1, wherein, The driving structure is arranged at an angle with the vertical central axis of the walking vehicle body, so that the driving structure provides power for the clockwise rotation of the climbing trolley around the axial direction of the hinge shaft when the climbing trolley climbs.

8. The monorail climbing trolley with gravity-aided mechanism of claim 7, wherein, The angle between the driving structure and the vertical central axis of the walking vehicle body is β, and 0°≤β≤90°.

9. A walking system characterized by, The auxiliary car body has the same structure as the main car body, and the load-bearing rod of the auxiliary car body is connected with the load-bearing rod of the main car body through the movable linkage mechanism.

10. A walking system according to claim 9, characterized in that The movable linkage mechanism comprises a first rotating seat, a second rotating seat and a connecting rod. The first rotating seat is rotatably arranged on the load-bearing rod of the auxiliary car body and coaxial with the load-bearing rod of the auxiliary car body. The second rotating seat is rotatably arranged on the load-bearing rod of the main car body and coaxial with the load-bearing rod of the main car body. The two ends of the connecting rod are respectively connected and fixed with the outer walls of the first rotating seat and the second rotating seat.

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