CN116000896A - A fast reverse device and a fast track reverse device - Google Patents

Abstract

The present invention is applicable to the technical field of rail robots, and provides a fast reversing device and a fast rail reversing device, including a frame on which a running mechanism is rotatably connected; the running mechanism includes at least a rotating wheel train and a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction traveling wheel and a second direction traveling wheel, the driving device is used to drive the rotating wheel train to rotate, the first direction traveling wheel and the second direction traveling wheel rotate The direction is opposite; and the reverse mechanism, the reverse mechanism is connected with the frame and the running gear, and is used to change the walking by driving the running gear to swing relative to the running plane, switching the first direction running wheel or the second direction running wheel in contact with the running plane The movement direction of the mechanism on the walking plane solves the problems that the orbital robot does not respond in time when it moves in the reverse direction, the kinetic energy loss is large, and the friction between the driving wheel and the track is easy to damage the motor.

Description

A fast reverse device and a fast track reverse device

technical field

The invention belongs to the technical field of rail robots, and in particular relates to a fast reversing device and a fast rail reversing device.

Background technique

The track robot is erected or hung on the track through the walking wheel assembly. With the development of information and automation technology, the track robot can replace the traditional manual inspection and manual record inspection method, effectively solving the shortage of production personnel and the increase of inspection workload. contradiction.

At present, in the process of reverse movement of the orbital robot, in the prior art, the active wheel that is in direct contact with the orbital robot is often decelerated to zero first, and then the active wheel is rotated in the opposite direction, so as to achieve the reverse rotation of the orbital robot. purpose of exercise.

However, there are problems such as untimely response when the orbital robot moves in the reverse direction, large kinetic energy loss, and friction between the driving wheel and the track that easily damages the motor.

Contents of the invention

The purpose of the embodiments of the present invention is to provide a quick reverse device, aiming to solve the problems of the orbital robot not responding in time during the reverse motion, the kinetic energy loss is large, and the friction between the driving wheel and the track is easy to damage the motor.

The embodiment of the present invention is achieved in this way, a fast reverse device includes:

A frame, on which a traveling mechanism is rotatably connected, and the frame is used to support the traveling mechanism;

The traveling mechanism, the traveling mechanism at least includes a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction traveling wheel and a second direction traveling wheel, and the driving device is used to drive the rotating wheel train to rotate , the direction of rotation of the first direction road wheel is opposite to that of the second direction road wheel; and

The reverse mechanism, which is connected with the frame and the running mechanism, is used to change the movement of the running mechanism on the running plane by driving the running mechanism to swing relative to the running plane, and switching the first direction running wheel or the second direction running wheel in contact with the running plane. direction of movement.

Another object of the embodiments of the present invention is to provide a rapid track reversal device, comprising:

A frame, on which a traveling mechanism is rotatably connected, and the frame is used to support the traveling mechanism;

The traveling mechanism, the traveling mechanism at least includes a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction traveling wheel and a second direction traveling wheel, and the driving device is used to drive the rotating wheel train to rotate , the direction of rotation of the first direction travel wheel is opposite to that of the second direction travel wheel;

The reverse mechanism, which is connected with the frame and the running mechanism, is used to change the movement of the running mechanism on the running plane by driving the running mechanism to swing relative to the running plane, and switching the first direction running wheel or the second direction running wheel in contact with the running plane. direction of movement on ; and

The track, on which the frame is slidably set, provides a set movement route for the traveling mechanism.

The embodiment of the present application provides a quick reversing device. By setting a traveling mechanism, the device can move stably in one direction, reducing the loosening of components caused by the shaking of the device; The motor can keep rotating in one direction without changing the direction of rotation, which prolongs the service life of the motor. At the same time, different traveling wheels are used for different moving directions, which avoids the frequent replacement of the traveling wheels caused by the repeated friction of a single traveling wheel with the walking surface during the reverse process. Problem; through the reverse mechanism to switch the walking wheels in contact with the walking plane, the walking direction can be changed quickly and the action response time is reduced; through the cooperation of the above structures, the orbital robot does not respond in time when it moves in the reverse direction, and the kinetic energy The loss is large, and the friction between the driving wheel and the track is easy to damage the motor and other problems.

Description of drawings

Fig. 1 is a structural diagram of a fast reversing device and a fast track reversing device provided by an embodiment of the present invention;

Fig. 2 is a three-dimensional structure diagram of a quick reverse device provided by an embodiment of the present invention;

Fig. 3 is a front view of a quick reverse device provided by an embodiment of the present invention;

Fig. 4 is a rear view of a quick reverse device provided by an embodiment of the present invention;

Fig. 5 is a front view of a quick reverse device provided by an embodiment of the present invention;

Fig. 6 is a top view of a quick reverse device provided by an embodiment of the present invention;

Fig. 7 is a track structure diagram of a fast reversing device and a fast track reversing device provided by an embodiment of the present invention.

In the accompanying drawings: 1, walking plane; 2, first motor; 3, second motor; 4, second panel; 5, first panel; 6, first connecting rod; 7, second connecting rod; 8, machine frame; 9, first direction travel wheel; 10, driving gear; 11, second direction travel wheel; 12, driven gear; 13 aluminum column; 14, plug bolt; 15 driven gear central shaft; Motor fixing plate; 17, track.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The specific implementation of the present invention will be described in detail below in conjunction with specific embodiments.

As shown in Figure 1, it is a structural diagram of a fast reverse device and a fast track reverse device provided by an embodiment of the present invention, including:

Frame 8, the frame 8 is rotatably connected with a traveling mechanism, and the frame 8 is used to support the traveling mechanism;

The traveling mechanism, the traveling mechanism at least includes a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction traveling wheel 9 and a second direction traveling wheel 11, and the driving device is used to drive the rotating wheel Department of rotation, the first direction road wheel 9 and the second direction road wheel 11 rotation directions are opposite; and

The reverse mechanism, the reverse mechanism is connected with the frame 8 and the running gear, and is used to change the direction of travel by driving the running gear to swing relative to the running plane 1, and switching the first direction running wheel 9 or the second direction running wheel 11 in contact with the running plane 1. The direction of movement of the frame 8 on the walking plane 1.

In the embodiment of the present invention, by setting the traveling mechanism, the fast reverse device can move stably in one direction, reducing the loosening of components caused by shaking; Rotate in one direction without changing the steering, which prolongs the service life of the motor. At the same time, different traveling wheels are used in different moving directions, which avoids the problem of frequent replacement of the traveling wheels caused by repeated friction with the traveling plane 1 in the reverse process of a single traveling wheel; The walking wheel in contact with the walking plane 1 is switched by the reverse mechanism, so that the walking direction can be changed quickly, and the action response time is reduced.

In an example of the present invention, the fast reversing device can be set on the orbital robot, or it can be set in places where fast reciprocation is required, such as storage materials.

In an example of the present invention, the frame 8 moves together with the running gear to provide a rotating support point for the running gear, the frame 8 keeps the height constant during the movement, and the frame 8 and the running gear jointly support the quick reverse device .

In one example of the present invention, the running mechanism plays a role in driving the fast reverse device to move, which can be driven by the rotating wheel, or can be moved in a sliding way; the power for walking can be provided by itself, or can be provided by other Driven by the structure; the traveling mechanism is rotationally connected with the frame 8, and the rotating connection point is located on the center line of the traveling mechanism, so that the traveling mechanism can swing like a seesaw. When the traveling mechanism does not need to reverse, the traveling mechanism does not swing; exemplary, the traveling mechanism passes Driving the running wheel to rotate makes the traveling mechanism move.

In an example of the present invention, the rotating wheel train is the moving mode of the traveling mechanism. The rotating wheel train has at least one rotating wheel. The size of the rotating wheel can be different, and the rotating direction of the rotating wheel can be different. The rotating wheel train can be fixed in the traveling mechanism. Rotation can also change the rotation position in the running mechanism. The rotation wheel train can maintain the rotation angle, and can also change the rotation angle. Exemplarily, the rotation wheel train includes the first direction road wheel 9 and the second direction road wheel 11, the first direction Direction traveling wheel 9 and second direction traveling wheel 11 rotate in fixed position in running gear, and direction of rotation is opposite, and first direction traveling wheel 9 and second direction traveling wheel 11 are of the same size, and the angle of rotation is constant.

In an example of the present invention, the driving device provides power for the traveling mechanism to drive the rotating wheel train to rotate. The power of the driving device can be the rotation of the motor, the movement of the telescopic rod, and the driving method can be gear meshing, crank slider, chain, screw thread The screw is not specifically limited. Exemplarily, the power of the driving device is a motor, and the driving method is gear meshing.

In an example of the present invention, the fixed frame constitutes the main part of the running mechanism, and the rotating gear train and the driving device are installed on the fixed frame. The fixed frame does not affect the rotation of the rotating gear train. The specific shape is not limited. For example, For the steel structure plate.

In an example of the present invention, the reverse mechanism is used to reversely move the running mechanism, and the reverse mechanism can change the movement of the running mechanism by selecting one of the mutually opposite running wheels in the running mechanism to contact the walking plane 1 Direction, for example, the moving direction of the walking mechanism on the walking plane 1 is changed by switching the first direction traveling wheel 9 or the second direction traveling wheel 11 in contact with the traveling plane 1 .

In an example of the present invention, the walking plane 1 may be the ground, a wall, or a set track, which is not specifically limited. Exemplarily, the walking plane 1 is a track.

As shown in Figure 3, as a preferred embodiment of the present invention, the driving device includes:

The second motor 3 and the transmission assembly, the transmission assembly connects the second motor 3 and the rotating gear train for transmitting power to the rotating gear train, and the second motor 3 is fixedly installed on the fixed frame.

In one embodiment of the present invention, the model of the second motor 3 is an M3508 motor, and the second motor 3 is installed through the fixed frame on the side away from the frame 8. The output end of the second motor 3 is inside the fixed frame, and the rotation connection In the gear train, a part of the coil end of the second motor is outside the fixed frame and is electrically connected with the cable. The counterbore type setting of the second motor 3 effectively reduces the overall volume of the device, making its structure smaller and increasing its range of use.

In one embodiment of the present invention, the transmission assembly may be a gear meshing transmission, a belt transmission, a threaded screw transmission, and in this embodiment it is a gear meshing transmission. The gear transmission is stable and the transmission precision is high.

As shown in Figure 2, as a preferred embodiment of the present invention, the reverse mechanism includes:

The first connecting rod 6, one end of the first connecting rod 6 is rotationally connected with the output shaft of the first motor 2, and the other end of the first connecting rod 6 is rotationally connected with the second connecting rod 7; the second connecting rod 7 is far away from the first connecting rod 6 One end of one end is rotatably connected with the frame 8; the first motor 2 is fixedly mounted on the fixed frame, and is used to drive the first connecting rod 6 to rotate.

In one embodiment of the present invention, the model of the first motor 2 is M2006, the first motor 2 is installed on the inside of the fixed frame close to the side of the frame 8, the output end of the first motor 2 passes through the fixed frame, and is connected to the first connecting frame. One end of the rod 6 is fixedly connected, one end of the first connecting rod 6 away from the first motor 2 is rotatably connected to one end of the second connecting rod 7 , and the other end of the second connecting rod 7 away from the first connecting rod 6 is rotatably connected to the frame 8 . Because the fixed frame is a part of the running gear, and the running gear is rotatably connected to the frame 8, so the rotation of the first connecting rod 6 and the second connecting rod 7 can make the running gear swing around the axis of rotation.

In one embodiment of the present invention, the shapes of the first connecting rod 6 and the second connecting rod 7 may be rectangular or fan-shaped, which are not specifically limited, and the lengths of the first connecting rod 6 and the second connecting rod 7 are also not specifically limited. The first connecting rod 6 can rotate one circle, and can also rotate back and forth within a set angle. In this embodiment, the first connecting rod 6 is fan-shaped, shorter than the second connecting rod 7, and the second connecting rod 7 is rectangular. between parallel positions. The first connecting rod 6 and the second connecting rod 7 are located on the same straight line, which can effectively support the traveling mechanism and ensure the close contact between the traveling wheels and the ground.

As shown in Figure 2, as a preferred embodiment of the present invention, the parallel position of the straight line where the first connecting rod 6 is located and the straight line where the second connecting rod 7 is located is the limit position, and there are two limit positions. The second connecting rod 7 is set so that: when the first connecting rod 6 rotates to a limit position, the traveling wheel 9 in the first direction contacts the walking plane 1; when the first connecting rod 6 rotates to another limit position, the second direction travels The wheels 11 are in contact with the running plane 1 .

In an example of the present invention, the first connecting rod 6, the second connecting rod 7, the fixed frame and the frame 8 jointly form a hinged four-bar mechanism, and the first connecting rod 6 is equivalent to the connecting rod in the hinged four-bar mechanism, The second connecting rod 7 is equivalent to the rocking bar of the hinged four-bar mechanism, the frame 8 is equivalent to the frame in the hinged four-bar mechanism, and the fixed frame is equivalent to another rocking bar of the hinged four-bar mechanism. The position where the straight line of rod 6 and the straight line of second connecting rod 7 are parallel but not overlapping, in order to facilitate the understanding of the limit position, the first connecting rod and the second connecting rod are projected into the same plane, then the limit position is the first connecting rod 6 The projection of and the projection of the second connecting rod 7 are at the same linear position. At this time, the first direction traveling wheel 9 is in contact with the traveling plane 1, so that the traveling mechanism moves to the first direction, and the other limit position is the straight line where the first connecting rod 6 is located. The position parallel to and overlapping with the straight line where the second connecting rod 7 is located. At this moment, the traveling wheel 11 in the second direction is in contact with the traveling plane 1, so that the traveling mechanism moves in the second direction. When the traveling mechanism needs to move in the opposite direction, the first motor 2 rotates , drive the first connecting rod 6 to rotate from one limit position to another limit position, and then drive the second connecting rod 7 to rotate, and then change the distance between the first motor 2 and the frame 8, so that the running mechanism swings, and the running mechanism swings The first direction traveling wheel 9 or the second direction traveling wheel 11 is brought into contact with the traveling plane 1, so that the traveling mechanism moves in reverse. When it is in the extreme position, the first connecting rod 6 and the second connecting rod 7 are parallel to help support the traveling mechanism to maintain a certain angle, which is used to ensure that the wheel train is in close contact with the track. When the first motor does not output torque, the second The first connecting rod 6 and the second connecting rod 7 can maintain a parallel state for a long time, thereby ensuring stable contact between the wheel train and the track, avoiding slippage or even idling of the driving wheel, and ensuring the normal movement of the orbital robot on the track.

As shown in Figure 5, as a preferred embodiment of the present invention, the transmission assembly includes:

Drive gear 10, the center of drive gear 10 is rotationally connected with the output shaft of the second motor 3, and rotates synchronously with the output shaft,

Driven gear 12, driven gear 12 is rotatably connected on the fixed frame, meshes with driving gear 10 and rotates, and driving gear 10 and driven gear 12 rotate in opposite directions.

In an example of the present invention, the driving gear 10 is the same size as the driven gear 12, and the center of the driving gear 10 is fixedly connected with the output shaft of the second motor 3, and the driving gear 10 rotates synchronously with the output shaft of the second motor 3, and the driving gear 10 and the output shaft of the second motor 3 are connected synchronously. The driven gear 12 meshes to drive the driven gear 12 to rotate in reverse. The two gears are directly meshed, which reduces the number of intermediate transmission parts, reduces the transmission loss, and makes the transmission more stable.

As shown in Fig. 6, as a kind of preferred embodiment of the present invention, the quantity of first direction traveling wheel 9 and second direction traveling wheel 11 is one, first direction traveling wheel 9 is fixedly connected with driving gear 10, and gear The rotation direction is the same, the second direction traveling wheel 11 is fixedly connected with the driven gear 12, the outer edge of the traveling wheel is in contact with the traveling plane 1, and the traveling plane 1 is a flat surface.

In an example of the present invention, the diameters of the first direction road wheel 9 and the second direction road wheel 11 are the same, both larger than the driving gear 10 and the driven gear 12, the first direction road wheel 9 is fixedly connected with the driving gear 10, and The shaft rotates, the driving gear 10 drives the driven gear 12 to rotate, the second direction traveling wheel 11 and the driven gear 12 rotate synchronously, the first direction traveling wheel 9 and the second direction traveling wheel 11 keep rotating in the opposite direction, and the first direction traveling The outer edge of the wheel 9 is in contact with the walking plane 1 to provide rolling friction, so that the running mechanism moves. At this time, the outer edge of the second direction walking wheel 11 is not in contact with the walking plane 1; the outer edge of the second direction walking wheel 11 is in contact with the walking plane 1 contact, at this time the traveling mechanism reversely moves, and the outer edge of the traveling wheel 9 in the first direction is not in contact with the traveling plane 1. Quickly switch the traveling wheels, reduce the kinetic energy loss in the reverse direction, increase the life of the motor, and improve the efficiency and flexibility of direction change.

In an implementation of the present invention, the walking plane 1 can be a flat surface, which is not limited specifically, and can be a wall, a ground, or a glass surface.

As shown in Figure 5, as a preferred embodiment of the present invention, the fixed frame includes:

The first panel 5, the second panel 4, several aluminum columns 13 and plug bolts 14, the first panel 5 and the second panel 4 are fixed by several aluminum columns 13, and the second panel 4 is provided with a second motor fixing plate 16. A plug bolt 14 is installed through the fixed frame, and the side of the plug bolt 14 close to the frame 8 is rotated on the frame 8, so that the traveling mechanism swings around the plug bolt 14.

In one embodiment of the present invention, the first panel 5 is close to the frame 8, the first panel 5 is provided with fixing holes for several aluminum columns 13, the first motor 2 is fixedly installed on the first panel 5, and the second panel 4 Corresponding to the first panel 5, there are fixed holes for a number of aluminum columns 13, the first panel 5 and the second panel 4 are fixedly connected by the aluminum columns 13 to form a fixed frame, and the second panel 4 is also provided with a second motor for fixing plate 16, the second motor fixing plate 16 fixes the inner side of the frame through bolts, and fixes the output end of the second motor 3, and a driven gear central shaft 15 is also arranged between the first panel 5 and the second panel 4, and the driven gear 12 passes through The bearing is rotatably connected to the central shaft, and the two ends of the driven gear central shaft 15 are fixed on the first panel 5 and the second panel 4, and plug bolts 14 are also arranged between the first panel 5 and the second panel 4, and the plug bolts 14 Located on the meshing line between the driving gear 10 and the driven gear 12, and set at one end away from the running plane 1, the plug bolt 14 penetrates the first panel 5 and is rotatably connected with the frame 8, and the fixed frame can rotate around the plug bolt 14. The distance between the center of driving gear 10 and driven gear 12 is the same as that of plug bolt 14. When the fixed frame swings, the height of the midpoint of the center line of driving gear 10 and driven gear 12 is constant, so that the fixed frame is more stable when swinging. smooth.

In one embodiment of the present invention, the first direction running wheel 9 is in contact with the running plane 1, at this time the second direction running wheel 11 is not in contact with the running plane 1, and the second motor 3 keeps working so that the driving gear 10 and the driven The gear 12 keeps the opposite direction of rotation, and the driving gear 10 drives the first direction road wheel 9 to rotate, and then drives the running mechanism to move. On the contrary, the reverse mechanism and the frame 8 also move with the traveling mechanism at the same time. In the reverse mechanism, the first connecting rod 6 and the second connecting rod 7 are located near a limit position, and the first motor 2 does not work. When the traveling mechanism is required to reverse When moving, the first motor 2 works, and after driving the first connecting rod 6 to rotate to the vicinity of another limit position, the first motor 2 stops working, and the distance between the first motor 2 and the frame 8 is shortened, so that the fixed frame swings, and the first motor 2 stops working. The distance between the fixed frame on one side of the motor 2 and the running plane 1 is shortened, so that the second direction running wheel 11 is in contact with the running plane 1, while the first direction running wheel 9 is separated from the running plane 1. During the switching process, the first direction running wheel 9 and the second direction running wheel 11 are all in a rotating state, thereby realizing fast reverse. Through the small-scale mechanical movement of the reverse mechanism, the kinetic energy loss during fast reverse is reduced, the life of the motor is enhanced, and the efficiency and flexibility of direction change are improved.

As shown in Figure 7, a rapid track reversal device is also provided by the embodiment of the present invention, comprising: a frame 8 on which a traveling mechanism is rotatably connected, and the frame 8 is used to support the traveling mechanism;

The traveling mechanism, the traveling mechanism at least includes a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction traveling wheel 9 and a second direction traveling wheel 11, and the driving device is used to drive the rotating wheel system rotation, the first direction road wheel 9 is opposite to the direction of rotation of the second direction road wheel 11; the reverse mechanism, the reverse mechanism is connected with the frame 8 and the travel mechanism, and is used to drive the travel mechanism to swing relative to the travel plane 1, and switch the second direction. One direction traveling wheel 9 or the second direction traveling wheel 11 is in contact with the traveling plane 1 to change the moving direction of the frame 8 on the traveling plane 1; and

The track 17 on which the frame 8 slides is arranged, and the track 17 provides a set movement route for the traveling mechanism.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (8)

1. A quick reversing device, comprising:

the machine frame is rotationally connected with a travelling mechanism and is used for supporting the travelling mechanism;

the travelling mechanism at least comprises a rotary wheel train, a driving device and a fixed frame, wherein the rotary wheel train is arranged on the fixed frame and comprises a first-direction travelling wheel and a second-direction travelling wheel, the driving device is used for driving the rotary wheel train to rotate, and the rotation direction of the first-direction travelling wheel is opposite to that of the second-direction travelling wheel; and

the reversing mechanism is connected with the frame and the travelling mechanism and is used for changing the moving direction of the frame on the travelling plane by driving the travelling mechanism to swing relative to the travelling plane and switching the travelling wheel in the first direction or the travelling wheel in the second direction to contact with the travelling plane.

2. A quick reversing device according to claim 1, wherein the drive means comprises:

the transmission assembly is connected with the second motor and the rotating gear train and is used for transmitting power to the rotating gear train, and the second motor is fixedly arranged on the fixed frame.

3. A quick reversing device according to claim 2, wherein the transmission assembly comprises:

the center of the driving gear is rotationally connected with the output shaft of the second motor and synchronously rotates with the output shaft,

the driven gear is rotatably connected to the fixed frame and meshed with the driving gear to rotate, and the driving gear and the driven gear rotate in opposite directions.

4. A quick reversing device according to claim 1, wherein the reversing mechanism comprises:

the first motor is fixedly arranged on the fixed frame and used for driving the first connecting rod to rotate;

one end of the first connecting rod is rotationally connected with an output shaft of the first motor, and the other end of the first connecting rod is rotationally connected with the second connecting rod; and

one end of the second connecting rod far away from the first connecting rod is rotationally connected with the frame.

5. The quick reversing device according to claim 4, wherein the parallel positions of the straight line where the first link is located and the straight line where the second link is located are two limit positions, and the first link and the second link are configured to: when the first connecting rod rotates to one limit position, the first-direction travelling wheel is in contact with the travelling plane, and when the first connecting rod rotates to the other limit position, the second-direction travelling wheel is in contact with the travelling plane.

6. The quick reversing device according to claim 5 or 1, wherein the number of the first direction traveling wheels and the number of the second direction traveling wheels are one, the first direction traveling wheels are fixedly connected with the driving gear, and the second direction traveling wheels are fixedly connected with the driven gear.

7. A quick reversing device according to claim 1, wherein the stationary frame comprises:

the first panel, the second panel, a plurality of aluminium posts and stopper are beaten the bolt, first panel with pass through between the second panel a plurality of aluminium posts are fixed, be equipped with the second motor fixed plate on the second panel, fixed frame link up and be provided with stopper are beaten the bolt, stopper are beaten the bolt and are close to one side rotation setting of frame and are in the frame, so that running gear round stopper are beaten the bolt swing.

8. A quick track reversing device, comprising: a quick reversing device according to any one of claims 1 to 7; and

the track is arranged on the track in a sliding manner, and the track provides a set movement route for the travelling mechanism.

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