CN116330246A

CN116330246A - Walking assembly of track robot and track robot

Info

Publication number: CN116330246A
Application number: CN202310299435.XA
Authority: CN
Inventors: 李扬; 李瑞东; 王伟虎; 王晓辉; 张新; 李洪生; 王志国; 张鑫; 赵学刚
Original assignee: Jingneng (xilinguole) Power Co ltd
Current assignee: Jingneng (xilinguole) Power Co ltd
Priority date: 2023-03-24
Filing date: 2023-03-24
Publication date: 2023-06-27

Abstract

The invention provides a walking assembly of a track robot and the track robot, wherein the walking assembly of the track robot comprises: the device comprises a mounting bracket, two guide assemblies, two travelling wheels and two compression assemblies. The mounting bracket comprises two mounting vertical plates which are oppositely arranged along the preset direction n and a first connecting plate which is used for connecting the two mounting vertical plates, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the two guide components are symmetrically connected to the two mounting vertical plates, and the two guide components compress the web plate of the track; the two travelling wheels are symmetrically connected to the two mounting vertical plates, and the travelling wheels are abutted against the upper surface of the lower wing plate of the rail; the two compaction assemblies are symmetrically connected to the two mounting vertical plates and are abutted with the lower surface of the upper wing plate of the rail. By applying the technical scheme of the invention, the problem of low assembly efficiency of the track robot in the prior art can be effectively solved.

Description

Walking assembly of track robot and track robot

Technical Field

The invention relates to the field of robots, in particular to a walking assembly of a track robot and the track robot.

Background

Along with the intelligent development requirement of the power plant, the inspection robot can replace workers to inspect and predict risks in advance, and the intelligent power plant inspection robot becomes a product with great development potential.

Currently, inspection robots generally include a robot body, a traveling wheel, and a plurality of auxiliary parts assisting in traveling.

Because the parts and components outside the robot body of the inspection robot are complex, the inspection robot has strong disorder, and the assembly efficiency of the inspection robot is seriously affected.

Disclosure of Invention

The invention mainly aims to provide a walking assembly of a track robot and the track robot, so as to solve the problem of low assembly efficiency of the track robot in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a walking assembly of a track robot, comprising: the mounting bracket comprises two mounting vertical plates which are oppositely arranged along a preset direction n and a first connecting plate which is used for connecting the two mounting vertical plates, and an accommodating space for accommodating the rail is formed between the two mounting vertical plates; the two guide assemblies are symmetrically connected to the two mounting vertical plates and compress the web plate of the track; the two travelling wheels are symmetrically connected to the two mounting vertical plates and are in butt joint with the upper surface of the lower wing plate of the rail; the two compaction assemblies are symmetrically connected to the two mounting vertical plates and are abutted with the lower surface of the upper wing plate of the rail.

In one embodiment, the road wheel is located between the guide assembly and the compacting assembly in a direction m perpendicular to the preset direction n.

In one embodiment, the road wheels are located on the inside of the mounting riser, and the guide assembly and the compression assembly are located on both sides of the mounting riser in direction m, respectively.

In one embodiment, the mounting bracket further comprises two sets of auxiliary member mounting structures symmetrically arranged along the reference plane L, the normal direction of the reference plane L is a direction m perpendicular to the preset direction n, and the midpoint of the mounting vertical plate in the direction m is located in the reference plane L, wherein one set of auxiliary member mounting structures is used for mounting two guide assemblies, and the other set of auxiliary member mounting structures is used for mounting two compression assemblies.

In one embodiment, the guide assembly comprises a first guide mounting plate, the compression assembly comprises a first compression mounting plate, each set of auxiliary member mounting structure comprises two guide grooves symmetrically arranged on the two mounting vertical plates and a first mounting hole arranged at the bottoms of the two guide grooves, and the first guide mounting plate and the first compression mounting plate extend into the guide grooves and are matched with the first mounting hole through fasteners.

In one embodiment, the guide assembly includes a first guide mounting plate connected to the mounting riser, a second guide mounting plate disposed opposite to the first guide mounting plate in a preset direction n, a first connecting member connecting the first guide mounting plate and the second guide mounting plate, a first elastic member between the first guide mounting plate and the second guide mounting plate, and a guide wheel pivotably connected to the second guide mounting plate, the second guide mounting plate being movable in the preset direction n relative to the first guide mounting plate, an axis of the guide wheel being vertically disposed so that the guide wheel contacts the web of the rail.

In one embodiment, the compaction assembly includes a first compaction mounting plate connected to the mounting riser, a second compaction mounting plate disposed opposite to the first compaction mounting plate and positioned above the first compaction mounting plate, a second connecting member connecting the first compaction mounting plate and the second compaction mounting plate, a second elastic member positioned between the first compaction mounting plate and the second compaction mounting plate, and a compaction wheel pivotally connected to the second compaction mounting plate, the second compaction mounting plate being floatable up and down relative to the first compaction mounting plate, an axis of the compaction wheel extending in a preset direction n to enable the compaction wheel to abut against a lower surface of the upper wing plate of the rail.

In one embodiment, the travelling wheel is rotatably connected to the middle part of the mounting vertical plate in the direction m, the direction m is perpendicular to the preset direction n, and the mounting vertical plate is provided with an avoidance hole opposite to the wheel shaft of the travelling wheel.

According to another aspect of the present invention, there is provided a rail robot including: a robot body; the walking assembly is the walking assembly and is connected to the lower part of the robot body through the mounting bracket; and the driving device is used for driving the robot body to move.

In one embodiment, the walking components are a plurality of walking components which are arranged at intervals along the direction m perpendicular to the preset direction n, the first connecting plate of the mounting bracket is pivotally connected with the bottom of the robot body, and the driving device is in driving connection with two walking wheels in one of the walking components.

By applying the technical scheme of the invention, the walking assembly integrates the guide assembly, the walking wheels and the compacting assembly, so the walking assembly has the following three functions: firstly, the walking assembly can walk on the track through the walking wheels; secondly, the walking assembly can smoothly travel along the shape of the track through the two guide assemblies, and is not influenced by the shape of the track; thirdly, when the walking assembly has a overturning trend, the pressing assembly can press the upper wing plate of the rail to prevent overturning. More importantly, by applying the technical scheme of the embodiment, a plurality of parts with the functions are integrated into one walking module (namely a walking assembly), so that the track robot with the walking assembly has the three functions; on the other hand, when the track robot is assembled, the module is directly installed on the robot body, so that the track robot is assembled in a modularized mode, and the overall assembly efficiency of the track robot is improved.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 shows a schematic perspective view of an angle of an embodiment of a walking assembly of a track robot according to the present invention;

FIG. 2 shows a schematic perspective view of another angle of the walking assembly of FIG. 1;

FIG. 3 shows a schematic perspective cross-sectional view of the walking assembly of FIG. 1;

FIG. 4 shows a schematic perspective view of the walking assembly of FIG. 1 mated with a track;

FIG. 5 shows a schematic perspective view of a mounting bracket of the walking assembly of FIG. 1;

fig. 6 shows a schematic perspective view of the mounting bracket of fig. 5, wherein fig. 6 shows a reference plane O and a reference plane L;

FIG. 7 shows an enlarged partial structural schematic view of the mounting bracket of FIG. 5;

FIG. 8 illustrates a partial enlarged structural schematic view of the walking assembly of FIG. 4;

FIG. 9 illustrates a partially enlarged structural schematic view of the walking assembly of FIG. 2;

FIG. 10 illustrates a schematic perspective view of a second guide mounting plate of the walking assembly of FIG. 1;

FIG. 11 illustrates a schematic perspective view of a first guide mounting plate of the walking assembly of FIG. 1;

FIG. 12 shows a schematic perspective view of a guide wheel of the walking assembly of FIG. 1;

FIG. 13 illustrates a schematic perspective view of a second compression mounting plate of the walking assembly of FIG. 1;

FIG. 14 illustrates a schematic perspective view of a first compression mounting plate and a second connection plate of the walking assembly of FIG. 1;

FIG. 15 shows a schematic perspective view of a pinch roller of the walking assembly of FIG. 1; and

fig. 16 shows a schematic perspective view of a track robot according to the present invention.

Wherein the above figures include the following reference numerals:

1. a track; 10. a robot body; 20. a mounting bracket; 21. installing a vertical plate; 213. avoidance holes; 22. a first connection plate; 30. a guide assembly; 31. a first guide mounting plate; 311. a via hole; 32. a second guide mounting plate; 321. a first threaded hole; 322. a second threaded hole; 33. a first connector; 34. a first elastic member; 35. a guide wheel; 351. a first wheel body; 352. a first axle; 40. a driving device; 50. a walking wheel; 70. a compression assembly; 71. a first compression mounting plate; 72. a second compression mounting plate; 721. a third threaded hole; 73. a second connector; 731. a screw; 732. a nut; 74. a second elastic member; 75. a pinch roller; 751. a second wheel body; 752. a second axle; 76. a second connecting plate; 90. a road wheel mounting structure; 100. an auxiliary member mounting structure; 101. a guide groove; 102. a first mounting hole; 103. convex ribs; 110. an auxiliary member; 120. and a walking assembly.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in other environments. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As shown in fig. 1 to 9, the traveling assembly of the track robot of the present embodiment includes: the mounting bracket 20, two guide assemblies 30, two road wheels 50, and two compression assemblies 70. Wherein the mounting bracket 20 includes two mounting risers 21 arranged opposite to each other in the preset direction n and a first connection plate 22 connecting the two mounting risers 21, and an accommodating space for accommodating the rail 1 is formed between the two mounting risers 21. Two guide assemblies 30 are symmetrically connected to the two mounting risers 21, the two guide assemblies 30 compressing the web of the track 1. The two travelling wheels 50 are symmetrically connected to the two mounting risers 21, and the travelling wheels 50 are abutted against the upper surfaces of the lower wing plates of the track 1. The two pressing assemblies 70 are symmetrically connected to the two mounting risers 21, and the pressing assemblies 70 are abutted against the lower surfaces of the upper wing plates of the rail 1.

By applying the technical solution of the present embodiment, the above-mentioned traveling assembly integrates the guiding assembly 30, the traveling wheel 50 and the compacting assembly 70, so the traveling assembly has the following three functions: first, the traveling assembly is enabled to travel on the track 1 by the traveling wheels 50; secondly, the walking assembly can smoothly travel along the shape of the track 1 through the two guide assemblies 30, and is not influenced by the shape of the track; third, when the walking assembly has a tendency to topple, the compression assembly 70 is able to compress the upper wing panel of the track 1, preventing toppling from occurring. More importantly, by applying the technical scheme of the embodiment, a plurality of parts with the functions are integrated into one walking module (namely a walking assembly), so that the track robot with the walking assembly has the three functions; on the other hand, when the track robot is assembled, the module is directly installed on the robot body, so that the track robot is assembled in a modularized mode, and the overall assembly efficiency of the track robot is improved.

It should be noted that "the two guide assemblies 30 are symmetrically connected to the two mounting risers 21", "the two traveling wheels 50 are symmetrically connected to the two mounting risers 21", and "the two pressing assemblies 70 are symmetrically connected to the two mounting risers 21" actually use the reference plane O in fig. 6 as a symmetry plane. The normal direction of the reference plane O is a preset direction n, and the midpoint of the first connecting plate 22 in the preset direction n is located in the reference plane O.

It should also be noted that the two guide assemblies 30 and the two pressing assemblies 70 form the auxiliary member 110 of the walking assembly.

As shown in fig. 1 to 3, in the present embodiment, the traveling wheel 50 is located between the guide assembly 30 and the pressing assembly 70 in a direction m perpendicular to the preset direction n. The above layout manner enables the guide assembly 30 to be located at the end of the traveling assembly, so that after the traveling assembly is mounted on the track robot, the guide assembly 30 can be located at the front end of the track robot in the traveling direction, and the guide assembly 30 can play a guide role immediately when the track robot enters a curve.

As shown in fig. 1 to 3, in the present embodiment, the traveling wheel 50 is located inside the mounting riser 21, and the guide assembly 30 and the pressing assembly 70 are located on both sides of the mounting riser 21 in the direction m, respectively. The above structure can shorten the length of the mounting riser 21 in the direction m, thereby reducing the production cost.

As shown in fig. 1 to 6, in the present embodiment, the mounting bracket 20 further includes two sets of auxiliary member mounting structures 100 symmetrically arranged along a reference plane L, the normal direction of the reference plane L is a direction m perpendicular to the preset direction n, and the midpoint of the mounting riser 21 in the direction m is located in the reference plane L, wherein one set of auxiliary member mounting structures 100 is used for mounting two guide members 30, and the other set of auxiliary member mounting structures 100 is used for mounting two pressing members 70. The structure has the following two advantages: first, since the two sets of auxiliary member mounting structures 100 are symmetrically arranged along the reference plane L, there is no need to be divided into left and right (here, left and right refer to both sides of the track 1 in the preset direction n) when the mounting riser 21 is manufactured, so that the versatility is strong, and the production cost is reduced; second, the above structure makes it unnecessary to separate front and rear (here, front and rear refer to both sides of the traveling assembly in the direction m) when installing the guide assembly 30 and the pressing assembly 70, thereby further saving assembly time and improving assembly efficiency.

As shown in fig. 3 and 5 to 8, in the present embodiment, the guide assembly 30 includes a first guide mounting plate 31, the pressing assembly 70 includes a first pressing mounting plate 71, and each set of auxiliary member mounting structures 100 includes two guide grooves 101 symmetrically provided on the two mounting risers 21 and a first mounting hole 102 provided at the bottoms of the two guide grooves 101, and the first guide mounting plate 31 and the first pressing mounting plate 71 extend into the guide grooves 101 and are engaged with the first mounting hole 102 by fasteners. Specifically, in the present embodiment, when the guide assembly 30 is installed, the first guide mounting plate 31 is inserted into the guide groove 101, the mounting holes on the first guide mounting plate 31 are aligned with the first mounting holes 102, and then the first guide mounting plate 31 is fixed to the mounting riser 21 with fasteners. Finally, the robot body is connected to the first connecting plate 22, and the installation of the track robot is completed. The above structure enables the mounting hole on the first guide mounting plate 31 to be quickly centered with the first mounting hole 102, thereby shortening the mounting time of the guide assembly 30 and improving the mounting efficiency of the rail robot. Likewise, when the compression assembly 70 is installed, the guide groove 101 can play a guiding role on the first compression mounting plate 71, so that the mounting hole on the first compression mounting plate 71 can be quickly centered with the first mounting hole 102, thereby shortening the installation time of the compression assembly 70 and further improving the installation efficiency of the track robot.

As shown in fig. 3, 5 to 8, in the present embodiment, the guide assembly 30 includes a first guide mounting plate 31 connected to the mounting riser 21, a second guide mounting plate 32 disposed opposite to the inside of the first guide mounting plate 31 in a preset direction n, a first connecting member 33 connecting the first guide mounting plate 31 and the second guide mounting plate 32, a first elastic member 34 between the first guide mounting plate 31 and the second guide mounting plate 32, and a guide wheel 35 pivotably connected to the second guide mounting plate 32, the second guide mounting plate 32 being movable in the preset direction n with respect to the first guide mounting plate 31, an axis of the guide wheel 35 being vertically disposed so that the guide wheel 35 contacts with a web of the rail 1.

By applying the technical scheme of the embodiment, the first elastic pieces 34 on two sides of the track robot can transmit elastic force to the two guide wheels 35 through the corresponding second guide mounting plates 32, so that the two guide wheels clamp the web of the track 1. When the track robot moves to the curved section, the guide wheels located at the inner side of the curve follow the shape of the track, so that the corresponding first elastic members 34 are compressed, and at the same time, the elastic force of the corresponding first guide mounting plates 31 away from the track 1 increases. Since the two first guide mounting plates 31 are connected to the mounting bracket 20, the first guide mounting plate 31 located at the inner side of the bent rail transmits the elastic force to the second guide mounting plate 32 located at the outer side of the bent rail through the mounting bracket 20, so that the second guide mounting plate 32 located at the outer side of the bent rail starts to move towards the rail 1 and presses the corresponding elastic piece, and the guide wheel 35 located at the outer side of the bent rail can be abutted with the outer side of the web plate of the bent rail under the action of the elastic force. Therefore, the rail robot can stably move in the straight rail portion and the bent rail portion under the action of the guide assembly 30, and the reliability of movement of the rail robot is ensured. In addition, the guide assembly 30 has a simple structure and few parts, so that the assembly efficiency can be effectively improved.

As shown in fig. 8, 10 and 12, in the present embodiment, the guide wheel 35 includes a first wheel body 351 and a first wheel shaft 352, the first wheel shaft 352 is provided with external threads, and the upper surface of the second guide mounting plate 32 is provided with a first screw hole 321 extending downward and engaged with the external threads. The above structure makes when installing the leading wheel 35, directly twist first shaft 352 in first screw hole 321 can, has simplified the mounting structure to can further promote assembly efficiency.

Since the rail robot moves relatively between the first guide mounting plate 31 and the second guide mounting plate 32 when passing through a curve, the first link 33 also moves with respect to the first guide mounting plate 31. In order to make the relative movement between the first guide mounting plate 31 and the second guide mounting plate 32 smoother, as shown in fig. 8, 10 and 11, in this embodiment, the first connecting member 33 is a plugging screw, the plugging screw includes a screw head, an optical axis section and a screw thread section sequentially arranged from the head to the tail, a through hole 311 penetrating the optical axis section is provided on the first guide mounting plate 31, a second screw hole 322 penetrating the screw thread section is provided on the second guide mounting plate 32, and the screw head is abutted to the outer side surface of the first guide mounting plate 31. For the screw nut structure is adopted to the connecting piece, the adoption stopper is beaten the atress that the screw can be better for the relative movement is more smooth and easy between first direction mounting panel 31 and the second direction mounting panel 32.

As shown in fig. 8, in the present embodiment, the first elastic member 34 is a spring sleeved on the jack screw. The structure is simple, so that the assembly is convenient, and the assembly efficiency is improved; on the other hand, the structure of a limit spring is not required to be arranged independently, and the cost is reduced.

As shown in fig. 8, in the present embodiment, the stopper screws are a plurality of spaced apart in a direction m perpendicular to the preset direction n, and the springs are a plurality of provided corresponding to the stopper screws. The structure ensures that the first guide mounting plate 31 and the second guide mounting plate 32 are mutually parallel even in the relative movement process, reduces the occurrence of jamming phenomenon and ensures the smoothness of the track robot when the track robot is excessively bent.

As shown in fig. 9, in the present embodiment, the pressing assembly 70 includes a first pressing mounting plate 71 connected to the mounting riser 21, a second pressing mounting plate 72 disposed opposite to the first pressing mounting plate 71 and located above the first pressing mounting plate 71, a second connecting member 73 connecting the first pressing mounting plate 71 and the second pressing mounting plate 72, a second elastic member 74 located between the first pressing mounting plate 71 and the second pressing mounting plate 72, and a pressing wheel 75 pivotably connected to the second pressing mounting plate 72, the second pressing mounting plate 72 being floatable up and down with respect to the first pressing mounting plate 71, an axis of the pressing wheel 75 extending in a preset direction n to bring the pressing wheel 75 into abutment with a lower surface of the upper wing plate of the rail 1.

With the technical solution of the present embodiment, when the rail robot has a tendency to tilt toward one side of the rail 1, the first pressing mounting plate 71 of the pressing assembly 70 located at the other side of the rail has a tendency to tilt upward. Since the pinch roller 75 abuts against the upper wing plate of the rail 1, the second elastic member 74 is compressed once the first pinch mounting plate 71 is tilted upward, thereby increasing the downward pressure applied to the first pinch mounting plate 71, and further preventing the rail robot from continuing to roll sideways. The structure can avoid the overturning of the track robot in the moving process (especially in the overbending process), thereby improving the moving reliability and stability of the track robot. In addition, the compressing assembly 70 has a simple structure, fewer parts, convenient assembly and improved assembly efficiency.

As shown in fig. 9, 13 to 15, in the present embodiment, the pressing wheel 75 includes a second wheel body 751 and a second axle 752, an external thread is provided on the second axle 752, and a third screw hole 721 extending in a preset direction n and engaged with the external thread is provided on an inner side surface of the second pressing mounting plate 72. The above structure makes it possible to directly screw the second axle 752 into the third screw hole 721 when the pinch roller 75 is mounted, simplifying the mounting structure, and thus, the assembly efficiency can be further improved.

As shown in fig. 9 and 13 to 15, in the present embodiment, the second connecting member 73 includes a screw 731 and a nut 732, the screw 731 is threaded on the first and second

compression mounting plates

71 and 72 and is screwed with the nut 732, and the first and second

compression mounting plates

71 and 72 are located between the head of the screw 731 and the nut 732. The structure is simple, the assembly is convenient, and the cost is low.

In the present embodiment, as shown in fig. 9, the second elastic member 74 is a spring that is sleeved on the screw 731. The structure is simple, so that the assembly is convenient, and the assembly efficiency is improved; on the other hand, the structure of a limit spring is not required to be arranged independently, and the cost is reduced.

As shown in fig. 9, in the present embodiment, the second connection members 73 are a plurality of spaced apart in a direction m perpendicular to the preset direction n, and the springs are a plurality of disposed corresponding to the second connection members 73. The above structure enables the first pressing mounting plate 71 and the second pressing mounting plate 72 to be guaranteed to be parallel to each other even in the relative movement process, reduces the occurrence of jamming phenomenon, and guarantees the anti-overturning capability of the track robot.

As shown in fig. 14, in the present embodiment, the pressing assembly 70 further includes a second connection plate 76 connected to an end of the first pressing mounting plate 71, and the pressing assembly 70 is connected to the mounting riser 21 through the second connection plate 76. The above structure can promote the reliability of the connection of the first pressing mounting plate 71 and the mounting riser 21. Preferably, in the present embodiment, the second connection plate 76 is connected to the mounting riser 21 by a plurality of screws.

As shown in fig. 5 and 6, in the present embodiment, the road wheel mounting structure 90 is provided on the mounting riser 21, and the road wheel 50 is mounted on the mounting riser 21 by the road wheel mounting structure 90. Specifically, in the present embodiment, the road wheel mounting structure 90 includes a plurality of second mounting holes arranged at intervals in the circumferential direction in the vertical plane around a point M located in the reference plane L. Since the road wheels 50 need to be symmetrically arranged on the two installation risers 21, the road wheel installation structure 90 is arranged in the middle of the installation riser 21, so that the road wheels are not required to be separated from left and right when the installation riser 21 is manufactured, the universality is strong, and the production cost is reduced.

As shown in fig. 5 and 6, in the present embodiment, the mounting riser 21 is provided with a relief hole 213 (specifically, at point M) opposite to the wheel shaft of the road wheel 50. Since the track robot may need a plurality of traveling assemblies, only one traveling assembly of the plurality of traveling assemblies is driven by the driving device 40 to realize the traveling of the track robot on the track 1. The driving device 40 can be arranged on the mounting vertical plate 21 of one of the walking component brackets according to actual needs, and the driving shaft of the driving device 40 can extend to the inner side of the mounting vertical plate 21 through the avoidance hole 213 so as to be in driving connection with the walking wheel 50. The above structure makes it unnecessary to provide two kinds of installation risers 21 (i.e., an installation riser with a relief hole and an installation riser without a relief hole), thereby improving versatility and reducing production cost.

As shown in fig. 7, in the present embodiment, the mounting upright plate 21 is provided with ribs 103 arranged at intervals up and down, and the guide groove 101 is formed by the two ribs 103 and a groove surrounded by the mounting upright plate 21. The above structure is simple to process without affecting the strength of the mounting riser 21. Of course, in other embodiments not shown in the figures, the guide grooves may also be made directly on the inner side of the mounting riser.

As shown in fig. 5 to 7, in the present embodiment, the first mounting holes 102 are a plurality of spaced apart along the width direction of the guide groove 101. The above structure can increase the reliability and stability of the connection of the auxiliary member 110 with the mounting riser 21.

As shown in fig. 7, in the present embodiment, the bead 103 is located on the inner side surface of the mounting riser 21. The structure of the outer side face of the walking component bracket is simpler.

As shown in fig. 5 and 6, in the present embodiment, the first connection plate 22 is detachably connected to two mounting risers 21. The structure is convenient for the disassembly and assembly of the walking component bracket, and is also convenient for the maintenance and the repair of the walking component in the later period.

As shown in fig. 16, the present application further provides a track robot, and an embodiment of the track robot according to the present application includes: robot body 10, traveling unit 120, and driving device 40. The walking assembly 120 is the walking assembly of the track robot, and the walking assembly 120 is connected to the lower part of the robot body 10 through the mounting bracket 20. The driving device 40 drives the robot body 10 to move. The walking assembly has the advantage of modularization, so that the installation efficiency of the track robot with the walking assembly can be improved to a great extent.

As shown in fig. 16, in the present embodiment, the walking components 120 are a plurality of walking components arranged at intervals along the direction m perpendicular to the preset direction n, the first connecting plate 22 of the mounting bracket 20 is pivotally connected with the bottom of the robot body 10, so that the track robot can turn, and the driving device 40 is in driving connection with two walking wheels 50 in one of the walking components 120, so that the number of the driving devices 40 is reduced, and the production cost is reduced.

In this embodiment, the track robot is a patrol robot.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A walking assembly of a track robot, comprising:

the mounting bracket (20) comprises two mounting vertical plates (21) which are oppositely arranged along a preset direction n and a first connecting plate (22) for connecting the two mounting vertical plates (21), wherein an accommodating space for accommodating the rail (1) is formed between the two mounting vertical plates (21);

two guide assemblies (30) symmetrically connected to the two mounting risers (21), the two guide assemblies (30) compressing the web of the rail (1);

the two travelling wheels (50) are symmetrically connected to the two mounting vertical plates (21), and the travelling wheels (50) are abutted to the upper surfaces of the lower wing plates of the track (1);

and the two pressing assemblies (70) are symmetrically connected to the two mounting vertical plates (21), and the pressing assemblies (70) are abutted with the lower surfaces of the upper wing plates of the track (1).

2. The walking assembly of a track robot according to claim 1, characterized in that the walking wheel (50) is located between the guiding assembly (30) and the compacting assembly (70) in a direction m perpendicular to the preset direction n.

3. The track robot walking assembly according to claim 2, characterized in that the walking wheels (50) are located inside the mounting riser (21), the guiding assembly (30) and the compacting assembly (70) being located on both sides of the mounting riser (21) in the direction m, respectively.

4. A walking assembly of a rail robot according to claim 3, characterized in that the mounting bracket (20) further comprises two sets of auxiliary mounting structures (100) symmetrically arranged along a reference plane L, the normal direction of the reference plane L being a direction m perpendicular to the preset direction n, and the midpoint of the mounting riser (21) in the direction m being located within the reference plane L, wherein one set of auxiliary mounting structures (100) is used for mounting two of the guide assemblies (30) and the other set of auxiliary mounting structures (100) is used for mounting two of the compression assemblies (70).

5. The track robot walking assembly according to claim 4, characterized in that the guide assembly (30) comprises a first guide mounting plate (31), the pressing assembly (70) comprises a first pressing mounting plate (71), each set of auxiliary mounting structures (100) comprises two guide grooves (101) symmetrically arranged on two mounting risers (21) and a first mounting hole (102) arranged at the bottoms of the two guide grooves (101), and the first guide mounting plate (31) and the first pressing mounting plate (71) extend into the guide grooves (101) and are matched with the first mounting hole (102) through fasteners.

6. The track robot walking assembly according to claim 1, characterized in that the guiding assembly (30) comprises a first guiding mounting plate (31) connected to the mounting riser (21), a second guiding mounting plate (32) arranged opposite to the inside of the first guiding mounting plate (31) in the preset direction n, a first connecting piece (33) connecting the first guiding mounting plate (31) and the second guiding mounting plate (32), a first elastic piece (34) between the first guiding mounting plate (31) and the second guiding mounting plate (32), and a guiding wheel (35) pivotably connected to the second guiding mounting plate (32), the second guiding mounting plate (32) being movable in the preset direction n relative to the first guiding mounting plate (31), the axis of the guiding wheel (35) being arranged vertically such that the guiding wheel (35) is in contact with the web of the track (1).

7. The walking assembly of the rail robot according to claim 1, characterized in that the pressing assembly (70) comprises a first pressing mounting plate (71) connected with the mounting riser (21), a second pressing mounting plate (72) arranged opposite to the first pressing mounting plate (71) and located above the first pressing mounting plate (71), a second connecting piece (73) connecting the first pressing mounting plate (71) and the second pressing mounting plate (72), a second elastic piece (74) located between the first pressing mounting plate (71) and the second pressing mounting plate (72), and a pressing wheel (75) pivotally connected to the second pressing mounting plate (72), the second pressing mounting plate (72) being floatable up and down relative to the first pressing mounting plate (71), the axis of the pressing wheel (75) extending in the preset direction n to bring the pressing wheel (75) into abutment with the upper lower surface of the rail (1).

8. The track robot walking assembly according to claim 1, characterized in that the walking wheel (50) is rotatably connected to the middle part of the installation riser (21) in a direction m, which is perpendicular to the preset direction n, and the installation riser (21) is provided with a avoidance hole (213) opposite to the wheel axle of the walking wheel (50).

9. A track robot comprising:

a robot body (10);

-a walking assembly (120), characterized in that the walking assembly (120) is a walking assembly of the orbital robot according to any one of claims 1 to 8, the walking assembly (120) being connected to the underside of the robot body (10) by means of a mounting bracket (20);

and a driving device (40) for driving the robot body (10) to move.

10. The orbital robot according to claim 9, wherein the walking assembly (120) is a plurality of walking wheels (50) arranged at intervals in a direction m perpendicular to a preset direction n, the first connecting plate (22) of the mounting bracket (20) is pivotally connected with the bottom of the robot body (10), and the driving device (40) is in driving connection with two walking wheels (50) in one of the walking assemblies (120).