Rail hanging robot assembly

Abstract

The utility model 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, the driving wheel and the guide rail are free of friction, 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 utility model belongs to the field of robot technology, concretely relates to a hanging rail robot assembly. BACKGROUND

[0002] The hanging rail inspection robot can execute specific inspection tasks in special environments, can realize autonomous positioning and navigation, carries specific cameras such as panoramic cameras or double-light gimbal cameras and various environmental monitoring module sensors, can realize real-time shooting and sensing of the surrounding environment, realizes remote online monitoring and data analysis, can replace manual work to complete routine inspection, fault diagnosis, early warning tasks, breaks through the limitation of traditional manual inspection, realizes operation and maintenance intelligentization, and has been widely applied to sewage treatment fields, pipe galleries, tunnels, chemical plants, machine rooms, electric rooms and breeding fields.

[0003] The hanging rail inspection robot moves on the guide rail in an inverted manner, the driving torque of the hanging rail inspection robot is provided by a motor, the movement is provided by the friction force between the driving wheel and the guide rail, and the pressure of the driving wheel on the guide rail is provided by the pressing device, so that the hanging rail inspection robot moves on the guide rail, even if the hanging rail inspection robot fails on the slope section of the guide rail, the pressure provided by the pressing device keeps the hanging rail inspection robot from being accidentally damaged, and the failed hanging rail inspection robot is dragged to a designated position for maintenance by the hanging rail rescue robot. However, there are the following problems: the hanging rail inspection robot is still in the pressing state provided by the pressing device, and the hanging rail rescue robot needs to consume more energy to drag the hanging rail inspection robot to the designated position; if unlocking is required, the pressing device needs to be manually unlocked by the worker, thereby increasing the burden of the worker. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a hanging rail robot assembly, which can automatically adjust the hanging rail inspection robot from the pressing state to the unlocking state when the hanging rail rescue robot is connected with the hanging rail inspection robot, and the driving wheel and the guide rail have no friction, thereby reducing the energy consumption of the hanging rail rescue robot and dragging the hanging rail inspection robot to the designated position.

[0005] The utility model is realized through the technical scheme, and specifically provides a hanging rail robot assembly, which comprises:

[0006] The hanging rail inspection robot and the hanging rail rescue robot;

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

[0008] The connecting assembly is used for connecting the hanging rail inspection robot and the hanging rail rescue robot;

[0009] The connecting assembly is used for connecting the hanging rail inspection robot and the hanging rail rescue robot;

[0010] The driving docking assembly of the rail-mounted rescue robot applies force to the unlocking and pressing assembly through the linkage assembly to make the unlocking and pressing assembly eliminate the pressure applied to the driving wheel seat.

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

[0012] The base is installed on the rail-mounted inspection robot near one end surface of the guide rail.

[0013] The release shaft sleeve is installed in the base, and the outer surface is provided with ball holes for accommodating balls at intervals in the circumferential direction.

[0014] The limiting ring is sleeved on the outside of the release shaft sleeve and located directly above the ball holes, the outer surface of the limiting ring is connected with the linkage assembly, and the inner wall of the limiting ring is provided with a ball retreat groove.

[0015] The sixth elastic member is sleeved on the outside of the release shaft sleeve and comprises a first spring and a second spring, and the limiting ring is located between the first spring and the second spring.

[0016] The release shaft is sleeved on the outside of the release shaft sleeve, the outer surface of the release shaft is provided with a ball groove, and the release shaft is provided with a cavity.

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

[0018] Preferably, the unlocking and pressing assembly further comprises an adjusting column, one end of the adjusting column is connected with the end surface of the moving plate away from the tension spring, the outer surface of the adjusting column is provided with external threads, the cavity is provided with internal threads matched with the external threads, and the moving plate is driven to move in the cavity through the thread cooperation.

[0019] Preferably, the base comprises a base body and an adapter block, the angle between the adapter block and the base body is adjustable; the adapter block is provided with a first slot, 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-mounted rescue robot and comprises a claw seat and a plurality of claws, the claws are hingedly installed on the claw seat at intervals in the circumferential direction of the claw seat.

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

[0023] The adjusting assembly comprises a ring plate and a plurality of first elastic members, the ring plate is sleeved on the outside of the claws, and the first elastic members are arranged at intervals between the ring plate and the claw seat; the adjusting assembly adjusts the radial size of the clamping space to clamp or release the ball head part.

[0024] Preferably, the ball head assembly further comprises a conical guide provided at the front end of the ball head, the pawl assembly is provided with a circular truncated column having an inner hole matched with the outer shape of the conical guide, the conical guide 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 with the inner wall of the inner hole, and the other end is connected with the baffle; the side wall of the inner hole is provided with a third elastic member at intervals, and the third elastic member is in abutment with the outside of the conical guide when the conical guide is inserted into the inner hole.

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

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

[0027] Preferably, the connecting rod assembly comprises a first support plate connected with the docking assembly, one end of the first connecting rod is connected with the first support plate, the other end of the first connecting rod is connected with the second connecting rod, the second connecting rod is connected with the pushing block, and the pushing block is connected with the unlocking and pressing assembly.

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

[0029] Due to the adoption of the above technical scheme, the utility model has the beneficial effects of:

[0030] The above-mentioned rail-mounted robot assembly drives the docking assembly by using the rail-mounted rescue robot, pulls the connecting rod assembly to move forward, drives the unlocking and pressing assembly by the connecting rod assembly to eliminate the pressure applied to the driving wheel seat, and the driving wheel is separated from the guide rail under the action of gravity to form an unlocking state, so that the rail-mounted inspection robot can be pulled to a specified position by a small pulling force, the energy loss of the rail-mounted rescue robot is reduced, and the staff is not required to unlock. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the utility model, the following will be briefly introduced the drawings needed to be used in the specific embodiments. In all the drawings, the elements or parts are not necessarily drawn according to the actual proportion.

[0032] Figure 1 It is a structural schematic view of the utility model rail-mounted robot assembly;

[0033] Figure 2 It is a schematic view of the driving assembly and the connecting rod assembly;

[0034] Figure 3 It is a schematic view of the driving wheel set;

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

[0036] Figure 5 is a schematic view of a unlocking and pressing assembly;

[0037] Figure 6 is a schematic view of a release shaft;

[0038] Figure 7 is a schematic view of a unlocking and pressing assembly without base;

[0039] Figure 8 is a schematic view of a release shaft sleeve;

[0040] Figure 9 is a schematic view of a docking assembly;

[0041] Figure 10 is a schematic view of a claw assembly;

[0042] Figure 11 is a schematic view of a claw seat;

[0043] Figure 12 is a schematic view of a claw;

[0044] Figure 13 is a schematic view of a ball head assembly;

[0045] Figure 14 is a schematic view of a U-shaped frame;

[0046] Figure 15 is a schematic view of a round column;

[0047] Figure 16 is a schematic view of a docking assembly and a unlocking and pressing assembly.

[0048] Reference signs:

[0049] 1 - unlocking and pressing assembly, 11 - base, 111 - base body, 112 - adapter block, 113 - first slot, 114 - second slot, 115 - sliding block, 12 - release shaft sleeve, 121 - ball hole, 122 - second step, 13 - ball, 14 - limiting ring, 141 - ball retreat slot, 142 - concave ring, 15 - sixth elastic member, 151 - first spring, 152 - second spring, 16 - release shaft, 161 - ball groove, 162 - cavity, 163 - first cavity, 164 - second cavity, 165 - end plate, 166 - retreat ring, 167 - ring groove, 168 - first step, 17 - tension 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 table, 213 - clamping space, 214 - support table, 2141 - first through hole, 215 - round 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 part, 2211 - ball head, 2212 - ball 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 - linkage assembly, 31 - first support plate, 32 - first linkage, 33 - second linkage, 34 - shifting block, 341 - boss, 342 - sliding groove, 343 - cushion block, 35 - second support plate, 36 - fifth elastic member,

[0054] 4 - overhead line inspection robot, 5 - overhead line 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 - bearing wheel, 7222 - guide wheel, 7223 - clamping wheel,

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

[0058] Please refer to Figures 1 to 4 An overhead line robot assembly, comprising: an unlocking and pressing assembly 1, a docking assembly 2, a linkage assembly 3, an overhead line inspection robot 4 and an overhead line rescue robot 5.

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

[0060] The guide rail 6 is an I-shaped rail, and is provided with double rails. Each guide rail 6 has a guide rail bottom inner wall 61, a guide rail bottom outer side wall 62 and an oppositely arranged guide rail side inner wall 63, and the wheel system 7 of the rail-mounted inspection robot 4 and the rail-mounted rescue robot 5 includes a driven wheel set 72, the driven wheel set 72 includes a wheel set seat 721 and a driven wheel 722, the wheel set seat 721 is installed on the robot body 41, and the driven wheel 722 is provided with two groups and is symmetrically arranged on the two inner sides of the wheel set seat 721, including a load-bearing wheel 7221, a guide wheel 7222 and a clamping wheel 7223; the load-bearing wheel 7221 abuts against the guide rail bottom inner wall 61, the guide wheel 7222 abuts against the guide rail bottom outer side wall 62, and the clamping wheel 7223 abuts against the guide rail side inner wall 63; the load-bearing wheel 7221 and the guide wheel 7222 are separated from the guide rail 6 in the vertical direction of the robot body 41, and the clamping wheel 7223 prevents the robot body 41 from being separated from the guide rail 6 in the horizontal direction. The rail-mounted robot assembly can move without the risk of being separated from the guide rail when turning and on a slope, and runs relatively stably and reliably.

[0061] The wheel system 7 further includes a driving wheel 71 and a driving wheel seat 711, and the driving wheel 71 is rotatably installed in the driving wheel seat 711. The thickness of the driving wheel 71 is as large as possible, and in order to reduce the noise during movement, the driving wheel 71 is a rubber wheel. The contact surface of the driving wheel 71 with the guide rail 6 is provided with concave-convex patterns. In the above manner, the relatively wide size of the driving wheel 71 helps to improve the stability during movement, and the rubber wheel with concave-convex patterns can improve the friction between the driving wheel 71 and the guide rail 6, thereby enhancing the movement stability and driving force during movement.

[0062] Both the rail-mounted inspection robot 4 and the rail-mounted rescue robot 5 are driven by existing drive components 8. Drive component 8 drives the drive wheel 71 to move. Drive component 8 includes a motor 81, a differential 82, a first wheel 83, a second wheel 84, and a belt 85. The motor 81 is connected to the drive wheel 71 via the differential 82, the first wheel 83, the belt 85, and the second wheel 84, driving the drive wheel 71 to move the rail-mounted inspection robot 4 or the rail-mounted rescue robot 5 along the guide rail 6. In operation, the motor 81 outputs torque, which is redistributed through the differential 82. The torque is then transmitted from the differential output shaft 821 to the drive wheel 71 via the first wheel 83, the belt 85, the second wheel 84, and the drive wheel shaft, providing forward propulsion. The differential 82 is a differential transmission mechanism that ensures the power transmission of the drive wheel 71 under various motion conditions, allowing the left and right drive wheels 71 to move at different speeds, preventing slippage between the drive wheel 71 and the guide rail 6, and enabling the travel mechanism to achieve smoother turning.

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

[0064] In normal operation, the unlocking and clamping assembly 1 continuously applies pressure to the drive wheel seat 711, exceeding the weight of the drive wheel 71 and its seat, thus creating a clamping state. The drive wheel 71 is tightly fitted against the guide rail 6, generating friction, and the drive wheel 71 moves along the guide rail 6. When the track-mounted inspection robot 4 malfunctions and stops in the guide rail 6, the track-mounted rescue robot 5 moves towards it using its own drive assembly 8 and docks with it using the docking assembly 2. After docking, the rescue robot 5 pulls the linkage assembly 3 forward. The linkage assembly 3 drives the unlocking and clamping assembly 1 to release the pressure on the drive wheel seat 711, unlocking the drive wheel 71. Under gravity, the drive wheel 71 disengages from the guide rail 6, eliminating friction. This allows the track-mounted inspection robot 4 to be pulled to a designated position with less force, reducing the energy consumption of the rescue robot 5. By using the rail-mounted rescue robot 5 to pull the docking component 2, the unlocking and clamping component 1 is driven to eliminate the pressure on the drive wheel seat 711. This eliminates the need for staff to unlock the clamping device, reducing the burden on staff. Furthermore, the docking component 2 and the unlocking and clamping component 1 are integrated together, avoiding the conventional technique of using two separate structures to brake and unlock the drive wheel 71, which is conducive to the simplification and miniaturization of the device.

[0065] Please see Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 16Further, the unlocking and pressing assembly 1 comprises a base 11, a releaser sleeve 12, balls 13, a limiting ring 14, a sixth elastic member 15, a releaser shaft 16, a tension spring 17, a third spring 18 and an adjusting column 19.

[0066] The base 11 is installed on the hanging rail inspection robot 4 close to one end surface of the guide rail 6; the releaser sleeve 12 is installed on the base 11, and the outer surface of the releaser sleeve 12 is provided with ball holes 121 for accommodating the balls 13 at intervals in the circumferential direction; the limiting ring 14 is sleeved on the outer side of the releaser sleeve 12 and located directly above the ball holes 121, the outer surface of the limiting ring 14 is connected with 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 and comprises 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, 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 tension spring 17 is arranged in the cavity 162, one end of the tension spring 17 is connected with the driving wheel seat 711, and the other end is connected with one end surface of the moving plate 171. The inner wall of the releaser sleeve 12 is provided with a second step 122, the releaser shaft 16 is provided with an end plate 165 away from the driving wheel seat 711, and the third spring 18 is arranged between the inner walls of the second step 122 and the end plate 165. Specifically, the releaser sleeve 12, the limiting ring 14 and the releaser shaft 16 are coaxially arranged. The inner wall of the releaser shaft 16 is provided with a first step 168, which divides the cavity 162 into a first cavity 163 and a second cavity 164 in communication, the tension spring 17 and the moving plate 171 are arranged in the first cavity 163, and the first step 168 limits the movement of the moving plate 171 into the second cavity 164. The outer diameter of the end plate 165 is greater than that of the releaser sleeve 12, which is used to facilitate the movement of the end plate 165 by external force and 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 track rescue robot 5 pulls the linkage assembly 3 forward, pulling the limit ring 14 to move outside the release shaft sleeve 12, when the ball retreat groove 141 moves above the ball 13, at this time, the moving space of the ball 13 in the up-down direction becomes larger, under the action of the third spring 18, the ball 13 is squeezed into the ball retreat groove 141 from the ball groove 161, the release shaft 16 loses the constraint of the ball 13, and the release shaft 16 is popped away from the driving wheel seat 711 under the action of the third spring 18 which stores energy in advance, the tension spring 17 loses the pressure of the release shaft 16 and returns to the release state, the tension spring 17 does not exert pressure on the driving wheel seat 711, and the driving wheel seat 711 moves away from the guide rail 6 under the action of its and the driving wheel 71 gravity around the hinge, and the driving wheel 71 is separated from the guide rail 6 without contact. Under the action of the sixth elastic member 15, the ball 13 locks the limit ring 14 in the ball retreat groove 141, and the limit ring 14 cannot return to the original position.

[0069] Compression process: when compression is needed, an external force is applied to the end plate 165 to move the release shaft 16 towards the driving wheel seat 711, when the ball groove 161 moves below the ball 13, the ball 13 falls into the ball groove 161, and under the action of the first spring 151 and the second spring 152, the limit ring 14 returns to the original position, and the inner wall of the limit ring 14 locks the ball 13 in the ball groove 161, the release shaft 16 compresses the tension spring 17, the tension spring 17 exerts pressure on the driving wheel seat 711, the driving wheel seat 711 moves towards the guide rail 6 around the hinge, the driving wheel 71 compresses the guide rail 6, and generates friction force, and the third spring 18 is compressed to store energy. When the track inspection robot 4 reaches the designated position, an external force is applied to the end plate 165, and the track inspection robot 4 is fixed on the guide rail 6.

[0070] Please refer to Figures 5 to 6 , further, the unlocking and compression assembly 1 further comprises an adjusting column 19, one end of the adjusting column 19 is connected with the end face of the moving plate 171 away from the tension spring 17, the outer surface of the adjusting column 19 is provided with external threads, and the cavity 162 is provided with internal threads matched with the external threads, and the moving plate is driven to move in the cavity 162 through thread cooperation. Specifically, the adjusting column 19 is arranged in the second cavity 164, the position of the adjusting column 19 in the second cavity 164 is adjusted through a tool, the compression degree of the tension spring 17 can be adjusted, the pressure of the tension spring 17 on the driving wheel seat 711 can be adjusted, the friction force between the driving wheel 71 and the guide rail 6 is adjusted, and the stable movement of the robot body 41 on the guide rail 3 is facilitated.

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

[0072] Please refer to Figure 5 and Figure 7 Further, the base 11 comprises a base body 111 and an adapter block 112, and the angle of the adapter block 112 is adjustable relative to the base body 111; the adapter block 112 is provided with a first slot 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 further 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 the angle thereof relative to the base body 111; when the angle is appropriate, the nut is used for fixing, and the distance between the adapter block 112 and the guide rail 6 can be adjusted. The adapter block 112 is provided with the first slot 113, and the driving wheel seat 711 is hingedly installed in the first slot 113 through the second pin shaft 712; when the driving wheel seat 711 is stressed or the stress is eliminated, the driving wheel seat 711 moves along the first slot 113, so that the driving wheel 71 abuts against or is separated from the guide rail 3. Preferably, the second pin shaft 712 is provided with two.

[0073] Please refer to Figures 9 to 13, further, the docking assembly 2 comprises a claw assembly 21 arranged on the overhead line rescue robot 5, including a claw base 211 and a plurality of claws 212, the claws 212 are circumferentially spaced and hingedly connected to the claw base 211; a ball head assembly 22 is arranged on the overhead line inspection robot 4, and is provided with a ball head part 221, the ball head part 221 is inserted into a clamping space 213 formed between the inner walls of the claws 212, and an adjusting 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 spaced apart and arranged between the ring plate 231 and the claw base 211; the adjusting assembly 23 adjusts the radial size of the clamping space 213, and clamps or releases the ball head part 221. Specifically, the end of the claw base 211 is a disc, and the surface of the disc is provided with a support table 214 matched with the outer wall of the claw 212, the support table 214 is nested between the adjacent two claws 212 to support the connection of the claws 212. The side of the support table 214 is provided with a first through hole 2141, the claw 212 is provided with a second through hole 2121, and the first through hole 2141 and the second through hole 2121 are coaxial. The claw base 211 is provided with a connecting shaft 2111, the connecting shaft 2111 is fixedly installed in the first through hole 2141 of the adjacent two support tables 214, the claw 212 is rotatably connected to the support table 214 through the connecting shaft 2111, and the claw 212 can rotate by a certain angle, so that the plurality of claws 212 can be close to or away from each other, and the inner walls of the plurality of claws 212 form a clamping space 213 for accommodating the ball head part 221. Preferably, the support table 214 is welded on the claw base 211 or the support table 214 is integrally formed with the claw base 211. 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 base 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. The ring plate 231 is conveniently moved along the outer side of the claw 212. Preferably, the head end 2123 of the claw is provided with a limiting table 2125, and the ring plate 231 is sleeved between the head end and the claw base 211. The limiting table 2125 is arranged 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 part 221. The inner diameter of the clamping space 213 is greater than the diameter of the inner wall of the head end 2123 of the claw, and the clamping space 213 is matched with the ball head part 221 in shape. The first elastic member 232 is provided with a plurality of first elastic members 232, which are uniformly and circumferentially arranged along the claw base 211. One end of the first elastic member 232 is fixedly installed on the claw base 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, and the fastening hoop 216 is arranged at the tail end 2122 of the claw. An annular groove 2124 is arranged along the outer side wall of the support table 214 and the claw 212, the fastening hoop 216 is nested in the annular groove 2124, the rotating angle of the claw 212 is constrained, and the claws 212 are connected together.The ball head part 221 comprises a ball head 2211 and a ball head handle 2212.

[0074] The ball head part 221 and the shaft of the clamping claw 212 are arranged on the same straight line in advance. When the hanging rail inspection robot 4 is moved to a designated position, the ring plate 231 is moved to the clamping claw seat 211 by force, at this time, the clamping claw 212 can rotate, so that the ball head assembly 22 can be taken out.

[0075] Please refer to Figure 15 Further, the ball head assembly 22 further comprises a conical guide part 222, the conical guide part 222 is arranged at the front end of the ball head part 221, the clamping claw assembly 21 is provided with a circular truncated cone column 215, the circular truncated cone column 215 is provided with an inner hole 2151 matched with the shape of the conical guide part 222, the conical guide part 222 is inserted into the inner hole 2151; the inner hole 2151 is provided with a second elastic element 2152 and a baffle 2153, one end of the second elastic element 2152 is connected with the inner wall of the inner hole 2151, and the other end is connected with the baffle 2153; the side wall of the inner hole 2151 is provided with a third elastic element 2154 at intervals, and the conical guide part 222 abuts against the outside of the third elastic element 2154 when being inserted into the inner hole 2151.

[0076] Specifically, the conical guide part 222 is arranged at the front end of the ball head 2211, the circular truncated cone 215 is mounted on the claw holder 11 by welding or is integrally formed with the claw holder 11, the circular truncated cone 215 at least partially extends into the claw 212 away from the ball head assembly 22, the axis of the inner hole 2151 is in line with the axis of the claw 212. Four third elastic members 2154 are arranged at the inner wall of the inner hole 2151 in uniform intervals. The inner wall of the inner hole 2151 is provided with third elastic member mounting grooves, the third elastic members 2154 are mounted in the third elastic member mounting grooves, the outer side of the third elastic members 2154 abuts against the outer side of the conical guide part 222, preferably, the third elastic members 2154 are in the form of elastic sheets and the second elastic members 2152 are in the form of springs. With this structure, the conical guide part 222 has a buffering effect when inserted into the inner hole 2151, which avoids the rigid insertion of the conical guide part 222 into the inner hole 2151 and protects the conical guide part 222. The conical guide part 222 is clamped in the third elastic members 2154, which helps to prevent the ball head part 221 from falling off the claw assembly 21. The conical guide part 222 is in the form of a cylinder at one end close to the circular truncated cone 215 and is in the form of a cone at the other end, the inner hole 2151 is matched with the outer shape of the conical guide part 222. With this structure, the conical guide part 222 ensures the centering and has a guiding effect, which ensures the installation precision and strength.

[0077] Please refer to Figure 9 、 Figure 13 and Figure 14 , further, the ball head assembly 22 further comprises a rotating part 223 and an elastic ring 224, the ball head part 221 is hinged to the rotating part 223, and the elastic ring 224 is nested outside the rotating part 223.

[0078] Specifically, 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 part 221 is hingedly installed on the third pin shaft 2232, and the fourth elastic member 2233 is sleeved outside the third pin shaft 2232 and located between the inner wall of the U-shaped frame 2231 and the hinged part 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, the ball head handle 2212 is hingedly connected between the two arms of the U-shaped frame 2231 and can rotate a certain angle around the hinged point. The U-shaped frame 2231 is provided with a third through hole 2234, and 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 outside the third pin shaft 2232, the third pin shaft 2232 limits the position and direction of the expansion of the fourth elastic member 2233, and prevents the deformation and displacement of the fourth elastic member 2233. 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. This structure has a buffering effect on the rotating angle of the ball head handle 2212, reduces the instantaneous impact, and has a certain auxiliary effect on restoring the original position of the insertion part 1. 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 two ends of the third pin shaft 2232. This helps the ball head handle 2212 to adapt to left curved road sections or right curved road sections. When the rail rescue robot 5 drags the rail inspection robot 4 to move, it encounters curved road sections, uphill road sections or downhill road sections. At this time, because the ball head part 221 is hingedly connected with the rotating part 223, the ball head part 221 can rotate a certain angle around the rotating part 223 according to the actual scene, and the ball head assembly 22 can flexibly rotate with the claw assembly 21, so that the rail inspection robot 4 can flexibly pass through the slope sections and curved road sections without the need to reduce or accelerate the moving speed, thereby avoiding accidents.

[0079] The outer side surface of the elastic ring 224 is provided with a third groove 2241. Specifically, the elastic ring 224 is wrapped around a part of the rotating part 223 and the ball handle 2212. When the ball handle 2212 rotates by a certain angle around the rotating part 223, the elastic ring 224 deforms, which has a buffering and restraining effect on the rotating angle of the ball handle 2212, so that the ball head assembly 22 can be flexibly matched with the clamping jaw assembly 21. Under the elastic force of the elastic ring 224, the ball handle 2212 can quickly return to the original position, keep the ball handle 2212 on the same axis with the rotating part 223, and complete the switching between the curved road section, the straight road section, the uphill road section or the downhill road section. The outer side surface of the elastic ring 224 is provided with a third groove 2241, which is one of a ring groove, a threaded groove or a groove hole arranged at intervals in the circumferential direction, and the third groove 2241 is arranged at intervals in the axial direction of the elastic ring 224. By using this structure, the weight of the elastic ring 224 is reduced, the deformation ability of the elastic ring 224 is improved, the elastic ring 224 quickly adapts to the rotating angle of the insertion part 1, the ball handle 2212 quickly returns to the original position, and the service life of the elastic ring 224 is improved. Preferably, the elastic ring 224 is made of transparent material, which facilitates the inspection of whether the parts inside the rotating part 223 or the elastic ring 224 need to be maintained or replaced due to wear.

[0080] Please refer to Figure 2 , Figure 7 and Figure 16Furthermore, the linkage assembly 3 includes a first support plate 31, which is connected to the docking assembly 2. One end of the first connecting rod 32 is connected to the first support plate 31, and 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 actuating block 34, which is connected to the unlocking and pressing assembly 1. Specifically, the limiting ring 14 has a concave ring 142 on its outer side, and one end of the actuating block 34 has a boss 341 that cooperates with the concave ring 142. The limiting ring 14 has a concave ring 142 on its outer side in the middle, and the boss 341 is nested in the concave ring 142. The base 11 has a second groove 114, through which the boss 341 abuts against the concave ring 142, and the actuating block 34 moves along the second groove 114. The base 11 also includes a slider 115, and the actuating block 34 has a sliding groove 342 that cooperates with the slider 115, and the actuating block 34 moves along the slider 115. Specifically, the slider 115 is detachably mounted to the outside of the base 11 by screws. A pad 343 is provided on the end face of the actuating block 34 near the base 11. The pad 343 is detachably mounted to the actuating block 34 by flat-head screws, and the pad 343 has a groove 342 that mates with the slider 115. The slider 115 and the pad 212 are detachably mounted, facilitating the replacement of the slider 115 and the pad 343. The actuating block 34 moves simultaneously along the second groove 114 and along the slider 115, ensuring the directional and stable movement of the actuating block 34. Preferably, the linkage assembly 3 has two sets, symmetrically arranged on both sides of the unlocking and clamping assembly 1, which can ensure the stability of the limit ring 14 during movement. In use, the rail-mounted inspection robot 4 and the rail-mounted rescue robot 5 dock. The rail-mounted rescue robot 5 pulls the linkage assembly 3 to move, and the linkage assembly 3 drives the limit ring 14 to move, thereby eliminating the pressure applied to the drive wheel seat 711 by the unlocking and clamping assembly 1. There is no need for staff to unlock the drive wheel 71, reducing the burden on staff.

[0081] Please see Figure 2 and Figure 16 Furthermore, the linkage assembly 3 also includes a second support plate 35, which is connected to the docking assembly 2. Specifically, the first support plate 31 and the second support plate 35 are connected by a fifth elastic element 36, and the second support plate 35 is connected to the ball joint assembly 22. The second support plate 35 is configured to assist in pulling the actuating block 21. The fifth elastic element 36 has a buffering and guiding effect on the extension and retraction of the first support plate 31.

[0082] In this utility model, the track-mounted robot assembly has a track-mounted inspection robot 4 in a clamped state, where the drive wheel 71 is tightly fitted with the guide rail 6, generating friction. When the track-mounted inspection robot 4 malfunctions, the track-mounted rescue robot 5 moves towards it. Through the docking assembly 2, it pulls the connecting rod assembly 3 forward. The connecting rod assembly 3 drives the unlocking and clamping assembly 1 to release the pressure on the drive wheel seat 711. Under the action of gravity, the drive wheel 71 disengages from the guide rail 6, eliminating friction and achieving an unlocked state. This allows the track-mounted inspection robot 4 to be pulled to a designated position with less force, reducing the energy consumption of the track-mounted rescue robot 5. By using the track-mounted rescue robot 5 to pull the docking assembly 2, which drives the unlocking and clamping assembly 1 to release the pressure on the drive wheel seat 711, there is no need for personnel to unlock the clamping device, reducing the burden on workers. Furthermore, the docking assembly 2 and the unlocking and clamping assembly 1 are integrated, avoiding the conventional technology of using two separate structures to brake and unlock the drive wheel 71, which is beneficial for simplifying and miniaturizing the device. Due to the pressure exerted by the adjustment component 23 on the chuck 212, the ball head 221 remains fixed in the chuck 212 and will not fall off even when subjected to vibration during movement. The ball head assembly 22 is equipped with a rotating part 223 and an elastic ring 224, allowing it to rotate flexibly on the guide rail 6 and preventing accidents.

[0083] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific implementation method of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, and improvements made within the scope of the spirit of this utility model should be included within the protection scope of this utility model.

Claims

1. A rail-mounted robot assembly, characterized in that, include: Rail-mounted inspection robot (4) and rail-mounted rescue robot (5); The unlocking and clamping assembly (1) is mounted on the rail inspection robot (4) at one end and hinged to the active wheel seat (711) at a pre-set angle at the other end. The docking component (2) is used for the connection between the rail-mounted inspection robot (4) and the rail-mounted rescue robot (5); and The linkage assembly (3) is connected at one end to the docking assembly (2) and at the other end to the unlocking and clamping assembly (1). Among them, the rail-mounted rescue robot (5) drives the docking assembly (2) to apply force to the unlocking and clamping assembly (1) through the linkage assembly (3), so that the unlocking and clamping assembly (1) eliminates the pressure applied to the active wheel seat (711).

2. The rail-mounted robot assembly according to claim 1, characterized in that, The unlocking and clamping assembly (1) includes: The base (11) is installed on one end face of the rail-mounted inspection robot (4) near the guide rail (6); The release bushing (12) is installed in the base (11), and its outer surface is provided with ball holes (121) for accommodating balls (13) at intervals along its circumference. The limiting ring (14) is sleeved on the outside of the release sleeve (12) and 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 retraction groove (141). The sixth elastic element (15) is sleeved on the outside of the release bushing (12) and includes a first spring (151) and a second spring (152). The limiting ring (14) is located between the first spring (151) and the second spring (152). Release shaft (16), release shaft sleeve (12) is sleeved on the outside of release shaft (16), ball groove (161) is provided on the outer surface of release shaft (16), and cavity (162) is provided on release shaft (16). A tension spring (17) is installed in the cavity (162). One end of the tension spring (17) is connected to the drive wheel seat (711), and the other end is connected to the end face of the moving plate (171).

3. The rail-mounted robot assembly according to claim 2, characterized in that, The unlocking and clamping assembly (1) also includes an adjusting column (19). One end of the adjusting column (19) is connected to the end face of the moving plate (171) away from the tension 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. The moving plate (171) is driven to move in the cavity (162) through the thread engagement.

4. The rail-mounted robot assembly according to claim 2 or 3, characterized in that, The base (11) includes a base body (111) and a transition block (112). The angle between the transition block (112) and the base body (111) is adjustable. The transition block (112) is provided with a first groove (113). The drive wheel seat (711) is hinged in the transition block (112) through a second pin (712).

5. The rail-mounted robot assembly according to claim 1, 2, or 3, characterized in that, The docking component (2) includes: The claw assembly (21) is mounted on the rail-mounted rescue robot (5) and includes a claw base (211) and several claws (212). The claws (212) are hinged to the claw base (211) at intervals along the circumference of the claw base (211). The ball head assembly (22) is mounted on the rail inspection robot (4) and has a ball head (221). The ball head (221) is inserted into the engagement space (213) formed between the inner walls of the claw (212). The adjustment assembly (23) includes a ring plate (231) and a plurality of first elastic elements (232). The ring plate (231) is sleeved on the outside of the claw (212). The first elastic elements (232) are spaced between the ring plate (231) and the claw seat (211). The adjustment assembly (23) adjusts the radial dimension of the engagement space (213) to clamp or release the ball head (221).

6. The rail-mounted robot assembly according to claim 5, characterized in that, The ball head assembly (22) also includes a tapered guide (222), which is located at the front end of the ball head (221). The claw assembly (21) is provided with a frustum (215), which is provided with an inner hole (2151) that matches the shape of the tapered guide (222). The tapered guide (222) is inserted into the inner hole (2151). The inner hole (2151) is provided with a second elastic element (2152) and a baffle (2153). One end of the second elastic element (2152) is connected to the top 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 provided with a third elastic element (2154) at intervals. When the tapered guide (222) is inserted into the inner hole (2151), it abuts against the outer side of the third elastic element (2154).

7. The rail-mounted robot assembly according to claim 5, characterized in that, The ball head assembly (22) also includes a rotating part (223) and an elastic ring (224). The ball head (221) is hinged to the rotating part (223), and the elastic ring (224) is nested on the outside of the rotating part (223).

8. The rail-mounted robot assembly according to claim 7, characterized in that, The rotating part (223) includes a U-shaped frame (2231), a third pin (2232) and a fourth elastic member (2233). The third pin (2232) is installed in the U-shaped frame (2231), and the ball head (221) is hinged to the third pin (2232). The fourth elastic member (2233) is sleeved on the outside of the third pin (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-mounted robot assembly according to claim 1, 2, 3, 6, 7 or 8, characterized in that, The linkage assembly (3) includes a first support plate (31), which is connected to the docking assembly (2). One end of the first link (32) is connected to the first support plate (31), and the other end of the first link (32) is connected to the second link (33). The second link (33) is connected to the toggle block (34), and the toggle block (34) is connected to the unlocking and pressing assembly (1).

10. The rail-mounted robot assembly according to claim 1, 2, 3, 6, 7 or 8, characterized in that, The linkage assembly (3) also includes a second support plate (35), which is connected to the docking assembly (2).

Images