CN112026462B

CN112026462B - Auxiliary driving arm of track robot and track robot

Info

Publication number: CN112026462B
Application number: CN202010801490.0A
Authority: CN
Inventors: 闫福军; 赵文彬; 詹伟刚; 郑友胜; 曾维栋; 张巍巍
Original assignee: Fujian Xinnuo Robot Automation Co ltd; Quanzhou China Ordnance Equipment Group Special Robot Research And Development Center
Current assignee: Fujian Xinnuo Robot Automation Co ltd; Quanzhou China Ordnance Equipment Group Special Robot Research And Development Center
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2024-04-16
Anticipated expiration: 2040-08-11
Also published as: CN112026462A

Abstract

The invention provides an auxiliary driving arm of a track robot, which is characterized in that: comprising a balance support arm supported between the orbital robot body and the other side orbital monorail. According to the auxiliary driving arm of the track robot, the rolling part is driven by the driving supporting arm to be placed on the track monorail to form the supporting end, and the rolling part rolls along the track, so that the auxiliary driving arm plays roles of supporting and auxiliary guiding, and can be retracted when not in use, so that the use space is greatly reduced. A railway robot includes a rail robot body that moves along a rail monorail, the support arm being mounted to the underside of the rail robot body. According to the track robot, the driving wheel sets are arranged on the track monorail, and the driving wheel sets are supported on the other track monorail in an auxiliary mode through the auxiliary driving arms, so that the space of one driving wheel set is reduced, the size of the track robot body is relatively reduced, and the track robot is light and convenient to carry.

Description

Auxiliary driving arm of track robot and track robot

Technical Field

The invention relates to the technical field of railway road protection and patrol equipment, in particular to an auxiliary driving arm of a track robot and the track robot.

Background

In the railway patrol process, basically, two wheels are attached to a track to roll, the railway patrol process cannot be used on one side, the two wheels are large in battle area, and inconvenient to recycle, if the railway patrol process is used on one side, unbalance can be caused by the fact that the railway patrol process is not supported, the railway patrol process is easy to roll over, and only two sides can be used, so that the occupied area is large.

In view of this, the present inventors have conducted intensive studies on the above problems, and have produced the present invention.

Disclosure of Invention

An object of the present invention is to provide an auxiliary drive arm of a track robot which can be supported and retracted at will.

The invention aims at providing a track robot which moves along a track monorail and defends the track.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

an auxiliary drive arm for a orbital robot includes a balance support arm supported between a main body of the orbital robot and a monorail of the other side of the orbital robot.

The balance supporting arm is contacted with the rail monomer at the other side through the rolling part.

The support arm comprises a support end facing the monorail of the other side rail, and the rolling part is connected with the support end.

The rolling part is rotationally connected with the supporting end.

The rolling part comprises a roller wheel rotatably arranged on the supporting end, and the side surface of the roller wheel is attached to one side edge of the track monorail.

The support ends extend through the rollers against the track monorail.

The support end perpendicularly intersects the track monorail.

The balance supporting arm further comprises a first supporting rod and a second supporting rod movably connected with the first supporting rod.

A orbital robot includes an orbital robot body that moves along an orbital monorail, the support arm being mounted to the underside of the orbital robot body.

The first support rod is rotationally connected with the track robot body, and the second support rod is rotationally connected with the first support rod.

The first driving device for controlling the swing of the first support rod is arranged at the joint of the first support rod and the track robot body, and the second driving device for controlling the swing of the second support rod is arranged at the joint of the first support rod and the second support rod.

The side wall of the track robot body, which is provided with the first supporting arm, is provided with a placing groove for placing the first supporting arm, and the top of the track robot body is provided with a positioning lug for positioning the second supporting arm.

The first support rod is in telescopic connection with the rail robot body, and the second support rod is in telescopic connection with the first support rod.

The track robot is characterized in that a telescopic channel is formed in the side wall of the track robot body at a position corresponding to the first supporting rod, the first supporting rod is slidably embedded in the telescopic channel, the first supporting rod is hollow, and the second supporting rod is movably embedded in the first supporting rod.

The rail robot comprises a rail robot body, wherein a groove for accommodating a rail monorail is formed in the bottom of the rail robot body upwards, and a driving wheel set for fitting the rail monorail to move is arranged in the groove.

The driving wheel group comprises a first rotating clamping piece and a second rotating clamping piece which are arranged at two parts on two sides of the track monorail.

The first rotary clamping piece comprises a first roller which is contacted with the track; the second rotary clamp includes a second roller in contact with the rail.

The first roller and the second roller are both horizontally arranged.

The first roller and the second roller are arranged corresponding to the track diameter.

The first rotary clamping piece further comprises a first rotary rod rotationally connected with the first roller; the second rotary clamping piece further comprises a second rotary rod rotationally connected with the second roller.

A top wheel is also included that resists being above the track.

The length of the top wheel is greater than the width of the track monorail.

Comprises at least two first clamping groups and second clamping groups which are arranged along the length direction of the rail; the first clamping group and the second clamping group each comprise the first rotating clamping member and the second rotating clamping member.

The first rotary clamping piece comprises two first rollers which are arranged along the length direction of the rail; the second rotary clamping piece comprises two second rollers which are arranged along the length direction of the rail.

A gap is arranged between the first clamping group and the second clamping group.

The device also comprises a driver for driving the first rotary clamping piece and the second rotary clamping piece to open and close.

The output end of the driver is provided with a first driving plate fixedly connected with the first rotary clamping piece and a second driving plate fixedly connected with the second rotary clamping piece.

The driving directions of the first driving plate and the second driving plate are perpendicular to the track monorail.

The output end of the driver is provided with a rotary table arranged between the first driving plate and the second driving plate, teeth are formed on the ring edge of the rotary table, and engaging grooves matched with the teeth are formed on the side walls of the first driving plate and the second driving plate corresponding to the rotary table.

The turntable, the first driving plate and the second driving plate are positioned on the same horizontal plane.

The first rotary clamping piece comprises a first fixed plate fixedly connected with the first driving plate; the second rotary clamping piece comprises a second fixing plate fixedly connected with the second driving plate.

The first fixing plate and the first fixing plate are arranged in parallel with the track monorail.

The bottom of the track robot body upwards forms a groove for accommodating the first rotating clamping piece and the second rotating clamping piece, and a gap for the first rotating clamping piece and the second rotating clamping piece to move is formed between two side walls of the groove and the track monorail.

The sliding blocks are arranged on the first fixing plate and the second fixing plate, a slide way is formed at the bottom of the groove corresponding to the position of the sliding blocks, and the sliding blocks are embedded in the slide way in a sliding manner.

The slide way is arranged in parallel with the first driving plate.

The bottom of the groove is provided with a movable channel, and the top wheel is rotatably arranged in the movable channel.

The top wheel is located between the first rolling wheel and the first driving plate.

The top wheel is perpendicular to the track monorail.

The driver is placed in the track robot through the moving channel.

The robot further comprises a driving fan for driving the rail robot body to move.

The driving fan comprises a propelling fan for driving the rail robot body to move along the rail.

The driving fan comprises a lifting fan for driving the rail robot body to lift.

The driving fan comprises a fan main body and a turnover driving device for driving the fan main body to turn over.

The overturning driving device comprises an overturning rotating shaft, the fan main body and the track robot body are connected together through the overturning rotating shaft, and the overturning rotating shaft is perpendicular to the rotating shaft of the fan main body.

The overturning rotating shaft is perpendicular to the track.

The fan main body comprises fan blades, a rotating shaft for bearing the fan blades, and a fixed cylinder positioned outside the fan blades; the cylinder and the rotating shaft are coaxially arranged.

The turnover rotating shaft comprises two rotating shaft monomers which are respectively arranged at two sides of the fixed cylinder, and the two rotating shaft monomers are coaxially arranged.

The axis of the overturning rotating shaft is perpendicularly intersected with the axis of the fixed cylinder.

The turnover driving device further comprises a driver for controlling the turnover rotating shaft to rotate.

Comprising two of said driving fans.

The two driving fans are arranged in front and back.

The two driving fans are independently operated.

The two driving fans are a front fan positioned in front of the track robot body and a rear fan positioned behind the track robot body.

The front support frame is configured on the turnover rotating shaft of the front fan, and the rear support frame is configured on the turnover rotating shaft of the rear fan.

The front support frame comprises two front support plates arranged on two sides of the front fan and a front connecting plate which is connected with the two front support plates and is fixed on the rail robot body.

The front support plate is arranged towards the front side of the track robot body.

The front support frame comprises two rear support plates arranged on the rear fan and a rear connecting plate which is connected with the two rear support plates and is fixed on the rail robot body.

The rear support plate is arranged towards the rear side of the rail robot body.

The track robot comprises a track robot body, wherein a monitoring cradle head is arranged on the track robot body, the monitoring cradle head comprises a control processor arranged above the track robot body and a double detection head arranged above the control processor in a transferring mode.

The double detection heads comprise a driving device and two detection cameras symmetrically arranged on two sides of the driving device, wherein the driving device is rotatably arranged on the control processor.

The rail robot body is made of aluminum thin plates.

After the technical scheme is adopted, the auxiliary driving arm of the track robot drives the rolling part to be placed on the track monorail through the driving arm to form the supporting end, and the rolling part rolls along the track, so that the functions of supporting and auxiliary guiding are achieved, and the use space can be greatly reduced when the track robot is not used.

According to the track robot, the driving wheel sets are arranged on the track monorail, and the driving wheel sets are supported on the other track monorail in an auxiliary mode through the auxiliary driving arms, so that the space of one driving wheel set is reduced, the size of the track robot body is relatively reduced, and the track robot is light and convenient to carry.

Drawings

FIG. 1 is a schematic diagram of an auxiliary driving device according to the present invention;

FIG. 2 is a schematic diagram of the auxiliary driving device of the present invention in use;

fig. 3 is a schematic structural view of the auxiliary driving device when being retracted.

In the figure:

1-Rail robot body 11-groove

2-drive wheel set

3-Rolling part 31-roller

4-Balanced support arm 41-first strut

42-second strut 43-support end

5-monitoring cradle head 51-control processor

52-double detecting head

6-placing groove 7-positioning convex block.

Detailed Description

In order to further explain the technical scheme of the invention, the following is explained in detail through specific examples.

An auxiliary drive arm of the present invention, as shown in figures 1-3, includes a counter-balance support arm 4 supported between the orbital robot body and the other side orbital monorail. The rolling part 3 is driven by the balance supporting arm 4 to be placed on the track monorail to form the supporting end 43, and the rolling part 3 rolls along the track, so that the functions of supporting and auxiliary guiding are achieved, and the use space can be greatly reduced when the track monorail is not used.

Preferably, the balance support arm 4 is in contact with the other side rail cell through the rolling part 3. Thereby being supported on the other side rail.

Preferably, the support arm comprises a support end 43 of the monorail towards the other side rail, the rolling part 3 being connected to the support end 43. The support end 43 is formed to be stably supported, and the movement is assisted by the rolling part 3.

Preferably, the rolling part 3 is rotatably connected to the support end 43. So that the rolling part 3 can stably roll on the supporting end 43 to facilitate movement.

Preferably, the rolling part 3 includes a roller 31 rotatably mounted on a supporting end 43, and a side surface of the roller 31 is fitted to a side edge of the track monorail. Acting as an auxiliary guide to prevent derailment of the support end 43.

Preferably, the support end 43 extends through the roller 31 against the track monorail. Against the formation of a support on the rail.

Preferably, the support end 43 perpendicularly intersects the track monorail. So that the support end 43 is stably urged against the track monorail.

Preferably, the balancing support arm 4 further comprises a first strut 41 and a second strut 42 movably connected to the first strut 41. The support end 43 is retractable by the cooperation of the first strut 41 and the second strut 42.

The auxiliary driving arm of the orbital robot is arranged on the orbital robot body 1 of the first supporting rod 41 orbital monorail, the second supporting rod 42 is extended, so that the first supporting rod 41 and the second supporting rod 42 are both positioned on the same water surface with the bottom of the orbital robot body 1, the supporting end 43 is supported on the orbital monorail on the other side, and the roller 31 is arranged on one side of the monorail for auxiliary rolling

A rail robot includes a rail robot body 1 moving along a rail monorail, and a support arm is mounted to a lower side of the rail robot body 1. The track robot is placed on the track monorail through the driving wheel set 2 and supported on the other track monorail through the auxiliary driving arm in an auxiliary mode, so that the space saving of one driving wheel set 2 is reduced, and the size of the track robot body 1 is reduced relatively and is changed into light and convenient to carry.

Preferably, the first strut 41 is rotatably connected to the orbital robot body 1, and the second strut 42 is rotatably connected to the first strut 41. The first and second struts 41 and 42 are contracted by rotation.

Preferably, a first driving device for controlling the first support rod 41 to swing is installed at the joint of the first support rod 41 and the orbital robot body 1, and a second driving device for controlling the second support rod 42 to swing is installed at the joint of the first support rod 41 and the second support rod 42. The first and second struts 41 and 42 are controlled to extend or retract by the actuator.

Preferably, the side wall of the rail robot body 1 provided with the first support arm is formed with a placement groove 6 for placing the first support arm, and the top of the rail robot body 1 is formed with a positioning projection 7 for positioning the second support arm. Thereby the recovered material is stored and fixed in position, and the space is saved.

Alternatively, the first strut 41 is telescopically connected with the orbital robot body 1, and the second strut 42 is telescopically connected with the first strut 41. The first and second struts 41 and 42 are contracted by telescoping.

Alternatively, a telescopic channel is formed on the side wall of the rail robot body 1 at a position corresponding to the first supporting rod 41, the first supporting rod 41 is slidably embedded in the telescopic channel, the first supporting rod 41 is hollow, and the second supporting rod 42 is movably embedded in the first supporting rod 41. So that the entire balance support arm 4 is retracted into the orbital robot body 1.

Preferably, a groove 11 for accommodating the track monorail is formed upwards at the bottom of the track robot body 1, and a driving wheel set 2 which is in fit with the track monorail is arranged in the groove 11. The orbital robot body 1 is placed on an orbital monorail for movement through a driving wheel group 2.

Preferably, the driving wheel set 2 comprises two first and second rotating gripping members arranged at both sides of the monorail of the track. Thereby arrange in the both sides at track monorail respectively through being equipped with two rotation clamping pieces and fix for track robot body 1 stabilizes on the track, realizes unilateral use, and occupation space not.

Preferably, the first rotary clamp comprises a first roller in contact with the rail; the second rotary clamp includes a second roller in contact with the rail. And the roller is attached to the track for movement.

Preferably, the first roller and the second roller are both disposed horizontally. So that the rolling surface of the roller is attached to the track monorail.

Preferably, the first roller and the second roller are arranged corresponding to the track diameter. The clamping is arranged at the small diameter part so as not to derail.

Preferably, the first rotary clamping member further comprises a first rotary rod rotatably connected with the first roller; the second rotary clamping piece further comprises a second rotary rod rotationally connected with the second roller. The roller can stably roll along the track monorail through the arrangement of the rotating rod.

Preferably, a top wheel is also included that resists being above the track. The support is formed by a top wheel placed on top of the rail monorail and is capable of rolling along the rail.

Preferably, the length of the top wheel is greater than the width of the track monorail. So that the top wheel can be stably resisted on the track monorail.

Preferably, the rail comprises at least two first clamping groups and second clamping groups which are arranged along the length direction of the rail; the first clamping group and the second clamping group each comprise a first rotary clamping member and a second rotary clamping member. The first clamping group and the second clamping group are arranged to enhance the fixity.

Preferably, the first rotary clamping member comprises two first rollers arranged along the length of the rail; the second rotary clamping piece comprises two second rollers which are arranged along the length direction of the rail. The multiple roller arrangement makes the movement smoother.

Preferably, there is a gap between the first clamping group and the second clamping group. The clearance is set up and can have the wobbling space when making the single track of bend, makes the bend more smooth and easy.

Preferably, the device further comprises a driver for driving the first rotary clamping piece and the second rotary clamping piece to open and close. The first rotary clamping piece and the second rotary clamping piece are controlled by the driver to clamp the track monorail or loosen the track monorail, so that the track monorail is conveniently placed and separated.

Preferably, the output end of the driver is provided with a first drive plate fixedly connected with the first rotary clamping member and a second drive plate fixedly connected with the second rotary clamping member. The first driving plate and the second driving plate are driven by the operation of the driver, so that the first rotary clamping piece and the second rotary clamping piece are opened and closed.

Preferably, the driving direction of the first driving plate and the second driving plate is perpendicular to the track monorail. The movement direction of the first rotary clamping piece and the second rotary clamping piece is perpendicular to the track monorail, and clamping on the track monorail is ensured.

Preferably, the output end of the driver is provided with a rotary table between the first driving plate and the second driving plate, the ring edge of the rotary table is provided with teeth, and the side walls of the first driving plate and the second driving plate corresponding to the rotary table are provided with engaging grooves matched with the teeth. The driver can drive the first driving plate and the second driving plate to move through the rotary disc by matching the teeth with the fit grooves.

Preferably, the turntable is on the same horizontal plane as the first drive plate and the second drive plate. The first driving plate and the second driving plate are stably driven to move by the turntable on the same horizontal plane.

Preferably, the first rotary clamping member includes a first fixed plate fixedly connected with the first driving plate; the second rotary clamping piece comprises a second fixing plate fixedly connected with the second driving plate. The rollers are assembled together through the fixing plate, so that the rollers are driven to move simultaneously.

Preferably, the first rotating lever is vertically installed under the first fixed plate, and the second rotating lever is vertically installed under the second fixed plate.

Preferably, the first fixing plate and the first fixing plate are both arranged parallel to the track monorail. When clamping, the first roller and the second roller can be ensured to be stably attached to the monorail side wall of the track.

The utility model provides a rail robot, includes rail robot body 1, rail robot's bottom upwards forms the recess that holds first rotation clamping piece and second rotation clamping piece, has the space that supplies first rotation clamping piece and second rotation clamping piece to remove between the track monorail of both sides wall of recess. So that the first rotary clamping member and the second rotary clamping member are not restricted in movement with a sufficient movement space.

Preferably, the first fixing plate and the second fixing plate are both provided with sliding blocks, the bottoms of the grooves are provided with sliding ways corresponding to the sliding blocks, and the sliding blocks are embedded in the sliding ways in a sliding manner. Guiding is provided when the first and second rotating clamps are moved.

Preferably, the slide is arranged parallel to the first drive plate. The first driving plate is prevented from moving in the offset direction.

Preferably, the bottom of the groove is formed with a moving channel in which the top wheel is rotatably mounted. The track robot moves on the track monorail through the top wheel.

Preferably, the top wheel is located between the first rolling wheel and the first drive plate. Ensuring that the rolling bar is able to resist against the rail monorail and that the rail is not in contact with other parts.

Preferably, the top wheel is perpendicular to the track monorail. So that the top wheel does not shift.

Preferably, the drive is placed in the orbital robot through the movement channel. Space is saved, and the track robot can protect the driver of the track robot.

Preferably, a driving fan for driving the rail robot body 1 to move is further included. By arranging the rotatable driving fan, the output angle of the driving fan is changed, and the robot can vertically take off and avoid trains when walking on the track.

Preferably, the driving fan includes a propulsion fan driving the rail robot body 1 to move along the rail. The rotating shaft of the propelling fan is perpendicular to the corresponding side surface of the track robot body 1, so that the track robot body 1 is pushed to move along the track by the thrust.

Preferably, the driving fan includes a lifting fan driving the rail robot body 1 to lift. The rotating shaft of the lifting fan is vertical to the ground, so that the power-driven track robot body 1 is separated from the track and lifted upwards.

Preferably, the driving fan includes a fan main body, and a turnover driving device driving the fan main body to turn over. The fan main body is driven by the overturning driving device to overturn to form a propelling driving fan or a lifting fan, so that the movement mode of the track robot body 1 is changed.

Preferably, the overturning driving device comprises an overturning rotating shaft, the fan main body and the track robot body 1 are connected together through the overturning rotating shaft, and the overturning rotating shaft is perpendicular to the rotating shaft of the fan main body. Thereby ensuring the fan body to rotate stably.

Preferably, the overturning rotating shaft is perpendicular to the track. The fan main body can rotate stably and correctly.

Preferably, the fan body includes a fan blade, a rotation shaft carrying the fan blade, and a fixed cylinder outside the fan blade; the cylinder and the rotating shaft are coaxially arranged. The stable output force is formed by the rotation of the fan blade.

Preferably, the turnover rotating shaft comprises two rotating shaft monomers which are respectively arranged at two sides of the fixed cylinder, and the two rotating shaft monomers are coaxially arranged. The two rotating shaft monomers are matched with each other to rotate the fan main body.

Preferably, the axis of the turning shaft perpendicularly intersects with the axis of the fixed cylinder. Ensuring the stable rotation of the fan main body.

Preferably, the turnover driving device further comprises a driver for controlling the rotation of the turnover rotating shaft. The turnover rotating shaft is controlled to rotate through the driver.

Preferably, two drive fans are included. So that there is sufficient power.

Preferably, the two driving fans are disposed in tandem. The forward and backward thrust is formed to be capable of forward and backward thrust.

Preferably, the two drive fans are operated independently. Can be operated without mutual influence.

Preferably, the two driving fans are a front fan located in front of the rail robot body 1 and a rear fan located behind the rail robot body 1.

Preferably, the front support frame is configured on the turnover rotating shaft of the front fan, and the rear support frame is configured on the turnover rotating shaft of the rear fan. The fan main body is fixed on the rail robot body 1 through a supporting frame.

Preferably, the front support frame includes two front support plates disposed at both sides of the front fan, and a front connection plate connecting the two front support plates and fixed to the rail robot body 1. An arch-shaped supporting frame is formed to stably fix the fan body on the track robot body 1.

Preferably, the front support plate is disposed toward the front side of the rail robot body 1. Forming a front-end power unit.

Preferably, the front support frame includes two rear support plates disposed at the rear fan, and a rear connection plate connecting the two rear support plates and fixed to the rail robot body 1. An arch-shaped supporting frame is formed to stably fix the fan body on the track robot body 1.

Preferably, the rear support plate is provided toward the rear side of the rail robot body 1. Forming a rear power unit.

Preferably, the track robot body 1 is mounted with a monitoring head 5, the monitoring head 5 comprising a control processor 51 mounted above the track robot body 1, and a double detection head 52 arranged above the control processor 51. The railway condition is detected and collected by the double monitoring heads, and then transmitted to the control processor 51 and then integrated to the terminal.

Preferably, the dual detection head 52 includes a driving device rotatably disposed with the control processor 51, and two detection cameras symmetrically disposed at both sides of the driving device. The driving device drives the two detection cameras to rotate, so that the detection can be performed in all directions.

Preferably, the rail robot body 1 is made of an aluminum sheet metal. The aluminum sheet metal has light weight and high strength, can be used for electromagnetic shielding, and prevents the rail robot body 1 from being interfered.

The orbital robot of the invention firstly places the orbital robot body 1 on a single track of the orbit, the groove 11 is aligned with the single track so as to enable the driving wheel group 2 to be arranged on the single track, the first fixing plate and the second fixing plate are matched with the first driving plate and the second driving plate through the turntable, so that the first fixing plate and the second fixing plate drive the first driving wheel group and the second driving wheel group to open towards opposite directions, then the first idler wheel and the second idler wheel are arranged on two sides of the single track, then the driver rotates towards opposite directions, so that the first fixing plate and the second fixing plate drive the first driving wheel group and the second driving wheel group to shrink towards the single track of the orbit, the first idler wheel and the second idler wheel are clamped on the single track, the top wheel resists on the single track of the orbit, the auxiliary supporting rod is supported on the other single track, then the robot is started to drive the first supporting rod to stretch through the first driving device, and then the second supporting rod is driven to stretch through the second driving device, so that the supporting end is supported on the other monorail, the roller wheels are in auxiliary rolling on one side of the monorail, the first supporting rod is retracted into the placing groove of the track robot body by the driving of the first driving device and the second driving device when not in use, the top of the second supporting rod is fixed on the top of the track robot body by the positioning convex block, then the robot is started to drive the first supporting rod 41 to stretch by the first driving device, then drive the second supporting rod 42 to stretch by the second driving device, so that the supporting end 43 is supported on the other monorail, the roller wheels 31 are in auxiliary rolling on one side of the monorail, the first supporting rod 41 is retracted into the placing groove 6 of the track robot body 1 by the driving of the first driving device and the second driving device when not in use, the top of the second supporting rod 42 is fixed on the top of the track robot body 1 by the positioning convex block 7, the fan main body is driven to rotate through the overturning driving device, the rotating shaft end of the fan main body is perpendicular to the side face of the track robot main body 1, the output directions of the two fan main bodies are set towards the same direction, then the fan main body is started to rotate to form thrust, the track robot main body 1 is pushed to move along the track, when the monitoring cradle head 8 detects that a train approaches or the total control desk sends a take-off command, the driving fan is rotated again to enable the output direction to be downwards set, then the fan main body is started to rotate, meanwhile, the rolling wheel set is separated from the track, the track robot main body 1 takes off to one side to avoid the train or stops at a designated check point through the thrust generated by the fan main body, and if the train passes, the train flies back on the track without checking, and the action is repeated to continue moving monitoring.

The form of the present invention is not limited to the illustrations and examples, and any person who performs a similar idea of the present invention should be regarded as not departing from the scope of the patent of the invention.

Claims

1. An auxiliary drive arm of a track robot, which is characterized in that: comprises a balance supporting arm which is supported between a track robot main body and a track monorail at the other side; the balance supporting arm further comprises a first supporting rod and a second supporting rod which is movably connected with the first supporting rod;

the track robot further comprises a track robot body moving along the track monorail, and the support arm is installed below the track robot body; the first support rod is rotationally connected with the track robot body, and the second support rod is rotationally connected with the first support rod; a first driving device for controlling the first support rod to swing is arranged at the joint of the first support rod and the track robot body, and a second driving device for controlling the second support rod to swing is arranged at the joint of the first support rod and the second support rod;

the lateral wall of track robot body is formed with the standing groove of placing first branch, track robot body top is formed with the location lug to the location of second branch.

2. An auxiliary drive arm for an orbital robot according to claim 1, wherein: the balance supporting arm is contacted with the rail monomer at the other side through the rolling part.

3. An auxiliary drive arm for an orbital robot according to claim 2, wherein: the support arm comprises a support end facing the monorail of the other side rail, and the rolling part is connected with the support end.

4. An auxiliary drive arm for an orbital robot according to claim 3, wherein: the rolling part is rotationally connected with the supporting end.

5. The auxiliary drive arm of an orbital robot of claim 4 wherein: the rolling part comprises a roller wheel rotatably arranged on the supporting end, and the side surface of the roller wheel is attached to one side edge of the track monorail.

6. The auxiliary drive arm of an orbital robot of claim 5 wherein: the support ends extend through the rollers against the track monorail.

7. The auxiliary drive arm of an orbital robot of claim 6 wherein: the support end perpendicularly intersects the track monorail.

8. An auxiliary drive arm for an orbital robot according to any one of claims 1-7, wherein: the rail robot comprises a rail robot body, wherein a groove for accommodating a rail monorail is formed in the bottom of the rail robot body upwards, and a driving wheel set for fitting the rail monorail to move is arranged in the groove.

9. The auxiliary drive arm of an orbital robot of claim 8 wherein: the track robot comprises a track robot body, wherein a monitoring cradle head is arranged on the track robot body, the monitoring cradle head comprises a control processor arranged above the track robot body and a double detection head arranged above the control processor in a transferring mode.

10. An auxiliary drive arm for an orbital robot according to claim 9, wherein: the double detection heads comprise a driving device and two detection cameras symmetrically arranged on two sides of the driving device, wherein the driving device is rotatably arranged on the control processor.

11. The auxiliary drive arm of an orbital robot of claim 10 wherein: the rail robot body is made of aluminum thin plates.