A walking mechanism of an intelligent inspection robot

Abstract

The present invention provides a walking mechanism of an intelligent inspection robot, including a guide rail and a main body mechanism, wherein the guide rail includes an upper auxiliary mounting rail, a lower hanging rail and a connector connecting the upper auxiliary mounting rail and the lower hanging rail, wherein the upper hanging rail is provided with two mounting grooves, guide wheel rails are provided on both sides of the lower hanging rail, and a guide groove is provided on the lower side, wherein the main body mechanism includes a telescopic guide mechanism, wherein the telescopic guide mechanism includes a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, wherein the motor driving mechanism drives the movement of the guide mechanism and the telescopic driving mechanism respectively, wherein the guide mechanism includes an upper plate, a guide wheel group and a guide sphere located on both sides of the upper plate, wherein the guide wheel group includes a driving wheel, wherein the driving wheel is tightly fitted with the guide wheel rail. The walking mechanism of an intelligent inspection robot of the present invention has good guiding performance, can also drive telescopic movement, has a very compact overall structure, is small in size, has a relatively low cost, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a walking mechanism of an intelligent inspection robot. Background Art

[0002] With the rapid development of infrastructure in large, medium and small cities, the rate of network information intelligence continues to increase, and the operating conditions, information statistics, intelligent storage, etc. of various indoor equipment need to be checked, counted and updated in a timely manner. Now it mainly relies on manpower to achieve this. Inspections conducted through human subjective consciousness are costly, and data accuracy and information timeliness cannot be fully guaranteed.

[0003] The power system is a basic resource that affects the national economy and people's livelihood, and is the master switch for social and economic operations. Therefore, once a power system fails, the fault point and fault problem cannot be discovered in time, which will inevitably increase the power outage time and have a great impact on people's normal life and factory units.

[0004] Therefore, it is necessary to design a robot that can automatically detect and automatically inspect indoor equipment, especially the equipment in the power system, to ensure the normal and stable operation of the power system.

[0005] Existing intelligent inspection robots are also constantly being developed. There are inspection robots suitable for tunnels. However, due to the limitations of their detection range, they are not very suitable for inspecting various indoor equipment. At the same time, tunnel inspection robots require very high stability and need to set up multiple guiding mechanisms, and the overall cost is relatively high. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a walking mechanism for an intelligent inspection robot, which is easy to install, has good guidance, can be driven to extend and retract, has a very compact overall structure, a small size, a relatively low cost, and a wide range of applications.

[0007] To achieve the above-mentioned objectives, the present invention proposes a walking mechanism of an intelligent inspection robot, including a guide rail and a main body mechanism, the guide rail including an upper auxiliary mounting rail, a lower hanging rail and a connecting piece connecting the upper auxiliary mounting rail and the lower hanging rail, the upper hanging rail is provided with two mounting grooves, guide wheel rails are provided on both sides of the lower hanging rail, and a guide groove is provided on the lower side, the main body mechanism includes a telescopic guide mechanism, the telescopic guide mechanism includes a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism drives the movement of the guide mechanism and the telescopic driving mechanism respectively, the guide mechanism includes an upper plate, a guide wheel group and a guide ball located on both sides of the upper plate, the guide wheel group includes a driving wheel, the driving wheel is tightly fitted with the guide wheel rail, the guide ball is vertically arranged with the driving wheel, the upper end of the guide ball is stuck in the guide groove and can rotate relative to the guide groove, and also includes a telescopic sleeve, the telescopic driving mechanism is connected with the telescopic sleeve to realize the telescopic sleeve.

[0008] Compared with the prior art, the innovation of the present invention lies in: on the one hand, the guide wheel group and the guide ball are arranged in coordination with each other, the driving wheel of the guide wheel group is fitted with the guide wheel rail of the guide rail, and the guide ball is rotatably connected in the guide groove on the lower side of the guide rail, thereby realizing the straight-line walking and free turning of the present invention; on the other hand, a guide mechanism and a telescopic driving mechanism are arranged, and the telescopic driving mechanism is connected to the telescopic sleeve through a pull wire to realize the telescopic sleeve extension and retraction, and a detection device is arranged at the lower end of the telescopic sleeve to realize the dual functions of the horizontal and vertical directions, thereby expanding the detection field of the present invention and making the detection data more accurate; at the same time, the fit and clamping of the guide rail and the main mechanism, and the installation groove arranged at the upper end of the guide rail facilitate the overall installation and disassembly, and ensure the stability of the overall connection.

[0009] Preferably, the motor drive mechanism includes two motors and bevel gears arranged side by side, and the two motors respectively drive the movement of the guide mechanism and the telescopic drive mechanism through the cooperation of the bevel gears. The guide wheel group also includes a transmission shaft, and the transmission shaft is located below the lower plate. The two motors are arranged close to the transmission shaft. The telescopic drive mechanism is connected to the transmission shaft through a bearing sleeve and is driven to rotate by one of the motors. The telescopic drive mechanism includes a winding wheel and a movable pulley assembly, and the winding wheel is connected to the transmission shaft through a bearing sleeve. The movable pulley assembly is fixed to the lower plate at the upper end of the telescopic sleeve, and the telescopic sleeve passes through the movable pulley group through a pull line. The guide wheel is connected to the winding wheel to realize the extension and retraction of the length, and the other motor is rotatably connected to the transmission shaft through the cooperation of the bevel gear to realize the rotation of the guide wheel group. Such an arrangement not only realizes straight-line driving, free turning, and walking in the horizontal and vertical directions, but also expands the detection range. At the same time, the motors of the guide mechanism and the telescopic drive mechanism are arranged side by side, and the winding wheel and the bevel gear are both arranged on the transmission shaft. The limited space is utilized to realize the rotation connection of the guide and the connection of the telescopic drive to the greatest extent. The structure is very compact and the volume is small. At the same time, the cooperation between the various components is very stable, and the required space is not large. It is suitable for environmental detection of various indoor equipment.

[0010] Preferably, the guide wheel group also includes a pulley group, and an active shaft bearing seat is arranged on the upper plate. The active roller shaft passes through the active shaft bearing seat at one end and is connected to the active wheel, and the other end is connected to the pulley group to achieve simultaneous rotation and guiding; the motor drives the bevel gear, the transmission shaft and the pulley group to drive the rotation of the active wheel, and cooperates with the guide ball to achieve straight-line walking and free turning, with stable and reliable performance.

[0011] Preferably, the guide mechanism also includes a clamping device, which is located on the upper plate and on the outside of the guide ball. The clamping device includes two clamping seats that are symmetrically arranged with each other. A driven wheel is provided on the driven shaft. The clamping seat includes a fixed block and a clamping block. The fixed block and the clamping block are connected by a spring. The two clamping blocks are connected by the driven shaft to drive the extension and retraction of the driven wheel. Clamping grooves are also provided on both sides of the lower end of the lower suspension rail and are located on both sides of the guide groove. The driven wheel is clamped in the clamping groove to achieve clamping and fixing. During the inspection process, the present invention has good stability in the connection with the guide rail, does not require load-bearing, and reduces the overall weight. Through the mutual cooperation of the clamping device, the main shaft wheel group and the guide ball, it has good shock resistance, small movement resistance, and is easy to install and disassemble.

[0012] Preferably, it also includes a power-taking device, which is fixed on the upper plate. The power-taking device includes a power-taking part and an insulating shell, which is fixed on the upper plate. The connecting piece is provided with a power-taking groove, and a bus bar is provided in the power-taking groove. The bus bar is a double bus bar, and the power-taking part contacts the double bus bar to take power. By arranging the power-taking device on the upper plate, the structure is compact and the volume is small. At the same time, the power-taking part of the power-taking device contacts the bus bar to achieve power taking while moving, thereby providing power supply for various components of the present invention. Such an arrangement will not cause insufficient power supply, thereby ensuring the stable operation of the present invention.

[0013] Preferably, it also includes a ratchet and a pawl, the ratchet and the large bevel teeth and the winding wheel are coaxially arranged, the pawl and the ratchet are matched, the pawl is fixed to the lower side of the upper plate by a pawl fixing bracket, and an electromagnet is provided above one end of the pawl, and the electromagnet and the pawl attract each other; through the matched arrangement of the ratchet pawl and the electromagnet, the rotation of the winding wheel can be controlled to realize the free extension and retraction of the telescopic sleeve.

[0014] Preferably, an electromagnetic lock is further included, which is located below the pawl. The electromagnetic lock can be retracted and extended. Through the mutual cooperation of the electromagnetic lock and the electromagnet, the situation where the pawl cannot catch the ratchet wheel due to insufficient suction of the electromagnet is avoided, the upward thrust of the pawl is increased, the braking stability is improved, the stable contraction of the telescopic sleeve is achieved, and the accuracy and stability of the detection are improved.

[0015] Preferably, it also includes a wire crimping shaft assembly and a wire guide wheel. A front plate is provided on one side of the lower plate, and a wire crimping shaft assembly and a wire guide wheel are provided on the front plate. After the wire is lowered from the winding wheel, it passes through the wire crimping shaft assembly, the wire guide wheel, the movable pulley assembly in sequence and is connected to the telescopic sleeve. By providing the wire crimping shaft and the wire guide wheel, the wire is crimped and guided, the tightness of the wire is good, and the telescopic control performance of the telescopic sleeve is good.

[0016] Preferably, a fixed bracket is provided at the bottom of the telescopic sleeve, and the bottom end of the pull wire is connected to the fixed bracket.

[0017] Preferably, it also includes a limit switch and an encoder, side panels are provided on both sides of the upper plate, a driver is connected to the outer side of the side panel, a limit switch is connected to the upper end of the driver, a groove is provided in the middle of the upper plate, the encoder is fixed in the groove by bolts, and is electrically connected to the motor that drives the guide shaft to rotate; such a setting has a compact structure and is easy to install and disassemble; at the same time, the cooperation between the limit switch and the encoder can accurately position the robot and realize all-round measurement of data.

[0018] The beneficial effects of the present invention are as follows: through the close fitting, clamping and pressing between the main body mechanism and the guide rail, a stable connection between the main body mechanism and the guide rail is achieved, and installation and disassembly are convenient. The upper hanging rail arranged on the guide rail facilitates the overall installation of the present invention; through the mutual cooperation of the guide mechanism, the telescopic drive mechanism and the motor drive mechanism, the horizontal and vertical walking of the robot is achieved, the detection field of the robot is expanded, the data detection is more accurate, the efficiency is high, and the installation is convenient; the motors of the guide mechanism and the telescopic drive mechanism are arranged side by side, and the winding wheel and the bevel gear are all arranged on the transmission shaft, and the limited space is utilized to maximize the rotation connection of the guide and the connection of the telescopic drive. The structure is very compact and the volume is small. At the same time, the cooperation between the various components is very stable, and the required space is not large, which is suitable for environmental detection of various indoor equipment.

[0019] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 yes Figure 1 Schematic diagram of the structure at A in the middle.

[0022] Figure 3 It is a structural diagram of the main body.

[0023] Figure 4 It is a schematic diagram of the exploded structure of the main mechanism.

[0024] Figure 5 It is a structural schematic diagram of the upper plate assembly.

[0025] Figure 6 It is a structural diagram of the rotating mechanism.

[0026] Figure 7 It is a structural diagram of circuit board six.

[0027] Figure 8 It is a schematic diagram of the explosion structure of the detection device.

[0028] In the figure: upper plate 1, transmission shaft bearing seat 21, transmission shaft 2, small pulley 3, active shaft bearing seat 41, active roller shaft 4, active wheel 5, large pulley 6, belt 7, motor fixing seat 8, small bevel gear 9, motor 10 and motor 2 11, large bevel gear 1 12, guide rail 13, guide wheel rail 131, guide ball 14 and clamping device 15, guide groove 132, driven shaft 151, driven wheel 152, fixing block 153 and clamping block 154, spring 155, clamping groove 133, power taking device 16, power taking part 161 and insulating shell 162, busbar 134, driver 17, limit switch 171, encoder 18, groove 111, upper auxiliary mounting rail 135, connector 136 and lower hanging rail 137, mounting groove 138,

[0029] Telescopic sleeve 19, winding wheel 20, crimping shaft assembly 21 and wire wheel 22, large bevel gear 23, front plate 24 and rear plate 25, lower plate 26, movable pulley 27, movable pulley seat 271, fixed bracket 28, rotating device 29, partial discharge sensor 45, camera 46 and thermal imager 47, ratchet 48, pawl 49, electromagnet 50 and electromagnetic lock 51, ratchet fixing bracket 491,

[0030] Slot 281, rotating motor 291, upper bracket 292 and lower bracket 293, bearing seat 2931, limit seat 2932, limit strip 2921, gear 2933, encoder 2 2934, circuit board 5 2935, gear plate 2922, electromagnetic 2 2923, clamping column 2924, circuit board 6 2936, electromagnetic 1 2937, clamping plate 30 and fixing plate 31, clamping slot 301, connecting bracket 1 32, main bracket 321 and side bracket 322, connecting bracket 2 33, position sensor 34, heat sink 1 35, heat sink 2 36, small bracket 37, switch mounting seat 371, network switch 38, power supply 1 39, circuit board 1 40, circuit board 4 41, circuit board 3 42 and power supply 2 43, circuit board 2 44. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0032] like Figures 1 to 8 As shown, this embodiment proposes an intelligent inspection robot walking mechanism including a guide rail 13 and a main body mechanism.

[0033] The guide rail 13 includes an upper auxiliary mounting rail 135, a connecting piece 136 and a lower hanging rail 137. The upper auxiliary mounting rail 135, the connecting piece 136 and the lower hanging rail 137 are integrally formed and made of aluminum alloy. The cross section of the upper auxiliary mounting rail 135 is a mountain shape, and two mounting grooves 138 are arranged therein, and the whole is installed and fixed through the two mounting grooves 138. The connecting piece 136 is provided with a power taking groove, and a double busbar 134 is arranged in the power taking groove. Guide wheel rails 131 are arranged on both sides of the lower hanging rail 137, and a guide groove 132 is arranged in the middle below. Pressing grooves 133 are arranged on both sides of the guide groove 132.

[0034] The main body mechanism includes an upper plate assembly, which includes an upper plate 1. Transmission shaft bearing seats 21 are provided on both sides below the upper plate 1. Both ends of the transmission shaft 2 pass through the transmission shaft bearing seats 21 and are connected to the small pulley 3. Active shaft bearing seats 41 are provided on both sides above the upper plate 1. One end of the active roller shaft 4 passes through the active shaft bearing seat 41 and is connected to the active wheel 5, and the other end is connected to the large pulley 6. The small pulley 3 and the large pulley 6 are connected by a belt 7.

[0035] Two motors are arranged side by side on one side of the transmission shaft 2 and below the upper plate 1. Each motor is fixed on the motor fixing seat 8 and connected to the small bevel gear 9. The motors are divided into motor 10 and motor 2 11. A large bevel gear 12 is fixedly sleeved at one end of the transmission shaft 2. The motor 10 drives the small bevel gear 9 and the large bevel gear 12 at one end to rotate, thereby driving the rotation of the transmission shaft 2 and the driving wheel 5. The driving wheel 5 is pressed against the guide wheel rail 131 of the guide rail 13 to achieve straight-line walking.

[0036] A guide ball 14 and a clamping device 15 are also provided on both sides of the upper plate 1, respectively. The guide ball 14 and the clamping device 15 are arranged vertically with the driving wheel 5. The guide ball 14 is rotatably connected in the guide groove 132 at the lower side of the guide rail 13 to realize free turning and walking.

[0037] The clamping device 15 includes two clamping seats symmetrically arranged with each other, two driven wheels 152 are arranged on the driven shaft 151, and the clamping seat includes a fixed block 153 and a clamping block 154, and the fixed block 153 and the clamping block 154 are connected by a spring 155, and the driven shaft 151 is fixedly connected with the clamping block 154 to realize the extension and retraction of the clamping block 154, thereby driving the extension and retraction of the driven wheel 152, and the driven wheel 152 is stuck in the clamping groove 133 on the lower side of the guide rail 13, and the clamping groove 133 is located on both sides of the guide groove 132, and is stably connected to the guide rail 13;

[0038] The upper plate 1 is also provided with a power taking device 16, which is located on one side of one of the clamping devices 15. The power taking device 16 includes a power taking part 161 and an insulating shell 162. The insulating shell 162 is connected to the upper plate 1 by bolts. The power taking part 161 contacts the double busbars 134 on the connecting piece 136 of the guide rail 13 to take power, so that power can be taken while running, and the power usage occasions are not restricted, and the operation is safe and stable.

[0039] Side plates are provided on both sides of the upper plate 1, and drivers 17 are connected to the outer sides of the two side plates. The upper end of the driver 17 is connected to a limit switch 171. A groove 111 is provided in the middle of the upper plate 1. An encoder 18 is fixed in the groove 111 by bolts and is electrically connected to the motor 10. The encoder 18 records the number of revolutions of the motor 10. When a certain number of revolutions is reached, the encoder 18 transmits a signal to the controller, and the controller controls the limit switch 171 to move, so as to realize straight walking and turning along the track.

[0040] The above are the components for straight-line walking and turning. At the same time, in order to expand the robot's detection field of view and range, the present invention is also provided with a device for vertical movement, including a telescopic sleeve 19 and a telescopic mechanism, the telescopic mechanism includes a winding wheel 20, a wire pressing shaft assembly 21 and a wire guide wheel 22, and the other end of the transmission shaft 2 is also sleeved with a large bevel gear 23, which is fixedly connected to the winding wheel 20 through a bearing and does not rotate coaxially with the transmission shaft 2. The motor 2 11 drives the small bevel gear 9 and the large bevel gear 23 to rotate and connect, thereby driving the winding wheel 20 to rotate; the side panels on both sides of the upper plate 1 include a front plate 24 and a rear plate 25, and the wire pressing shaft assembly 21 and the wire guide wheel 22 are fixed to the rear plate 25 by bolts, and a lower plate 26 is provided at the upper end of the telescopic sleeve 19, The lower plate 26 is provided with a groove 2, and the movable pulley 27 is fixed to both sides of the groove 2 through the movable pulley seats 271 on both sides. The lower end of the telescopic sleeve 19 is provided with a fixed bracket 28. One end of the pull line is fixed to the winding wheel 20, and the other end passes through the crimping shaft assembly 21, the wire wheel 22, the movable pulley 27 and the telescopic sleeve 19 in sequence to connect with the fixed bracket 28. Specifically, the telescopic sleeve 19 is set as 6 sections of carbon fiber telescopic sleeves, which are simple in structure, light and flexible, and run smoothly. Two sections of telescopic sleeves 19 are provided to connect the detection device and the main body to achieve a stable connection between the two. The detection device is provided on the fixed bracket 28. The telescopic sleeve 19 drives the detection device to move in the vertical direction, expands the detection field of view, and improves the accuracy of the detection.

[0041] It also includes a ratchet 48, a pawl 49, an electromagnet 50 and an electromagnetic lock 51. The ratchet 48, the large bevel tooth 23 and the winding wheel 20 are coaxially arranged. The pawl 49 and the ratchet 48 are matched. The pawl 49 is fixed to the lower side of the upper plate 1 through a pawl fixing bracket 491. An electromagnet 50 is provided above one end of the pawl 49. The electromagnet 50 and the pawl 49 attract each other. An electromagnetic lock 51 is provided below one end of the pawl 49. The electromagnetic lock 51 is fixed on the lower plate 26. The electromagnetic lock 51 and the electromagnet 50 are located in the same vertical direction, and the electromagnetic lock 51 can be extended and retracted to control the rotation of the winding wheel 20 to realize the free extension and retraction of the telescopic sleeve 19.

[0042] The detection device includes two rotating devices 29, a partial discharge sensor 45, a camera 46 and a thermal imager 47. The two sides of the fixed bracket 28 are provided with card slots 281.

[0043] The rotating device 29 includes a rotating motor 291, an upper bracket 292 and a lower bracket 293. The motor is a stepping motor. An inner cavity is provided on one side of the lower bracket 293. A bearing seat 2931 is provided in the middle of the inner cavity. The upper bracket 292 is mounted on the bearing seat 2931 through a bearing. A limit seat 2932 is also provided on one side of the inner cavity. The limit seat 2932 is set in an L shape. A limit bar 2921 is provided on the outer side of the upper bracket 292. When the upper bracket 292 rotates, the limit seat 2932 limits the limit bar 2921 to limit the upper bracket 2921. The rotation range of the bracket 292 realizes 360-degree rotation of the upper bracket 292; two gears 2933 are arranged around the inner cavity, and a toothed disc 2922 is arranged around one side of the upper bracket 292 close to the lower bracket 293, and the toothed disc 2922 and the gear 2933 can rotate in coordination with each other, and the rotating motor 291 is fixed to the other side of the lower bracket 293 and passes through the lower bracket 293 to be connected with one of the gears 2933, driving the rotation of the gear 2933 and the toothed disc 2922, thereby driving the rotation of the upper bracket 292;

[0044] In order to facilitate the rotating motor 291 to receive the control command issued by the controller in a timely and accurate manner and respond in a timely manner, an encoder 2934 and a circuit board 5 2935 are fixedly provided on the lower bracket 293 and on one side of the rotating motor 291, and a circuit board 6 2936 is provided in the inner cavity of the lower bracket 293. The circuit board 5 2935 and the circuit board 6 2936 are electrically connected to the encoder 2 2934 respectively. Electromagnetic 1 2937 is provided on both sides of the circuit board 6 2936. The two electromagnetic 1 2937 are respectively a cuboid arranged horizontally and a cuboid arranged vertically;

[0045] The upper bracket 292 is provided with an electromagnetic second 2923 on one side of the gear 2933. The electromagnetic first 2937 and the electromagnetic second 2923 attract each other and are used to locate the starting position of the forward and reverse rotation of the rotating motor 291 respectively;

[0046] It also includes a clamping plate 30 and a fixing plate 31. A plurality of clamping columns 2924 are arranged around the upper bracket 292. A plurality of clamping slots 301 are arranged around the clamping plate 30. The clamping plate 30 is positioned on the upper bracket 292 by the mutual clamping of the clamping slots 301 and the clamping columns 2924, and is fixedly connected by screws. The middle of the clamping plate 30 is a through hole, and the fixing plate 31 is clamped in the through hole and is fixedly connected to the upper bracket 292 by screws.

[0047] The rotating motors 291 on both sides are respectively clamped in the clamping slots 281 on both sides, and the lower brackets 293 on both sides are respectively fixedly connected to the two sides of the fixed bracket 28 by screws to form a continuous and stable connection.

[0048] The fixing plate 31 on one side is connected to the connecting bracket 1 32. Position sensors 34 are arranged at both ends of the connecting bracket 1 32, which are convenient for real-time monitoring of the position of the inspection robot itself and for other equipment to make corresponding actions; the connecting bracket 1 32 includes a main bracket 321 and a side bracket 322. Both position sensors 34 are provided with grooves 3. One end of the partial discharge sensor 45 passes through one of the grooves 3 and is connected to the main bracket 321 to ensure the stability of the connection. The partial discharge sensor 45 is also fixedly connected to the side bracket 322 by screws;

[0049] The fixing plate 31 on the other side is connected to the second connecting bracket 33, one end of the second connecting bracket 33 is connected to a camera 46, a heat sink 35 is provided between the camera 46 and the second connecting bracket 33, the other side of the second connecting bracket 33 is connected to a thermal imager 47, a heat sink 36 is provided between the thermal imager 47 and the second connecting bracket 33, and the heat dissipation of the camera 46 and the thermal imager 47 is good when working;

[0050] The small bracket 37 is also included, and the small bracket 37 is connected to both sides of the fixed bracket 28. A switch mounting seat 371 is installed on the small bracket 37. The network switch 38 is perpendicular to the bottom of the fixed bracket 28, and its side is fixedly connected to the small bracket 37 through the switch mounting seat 371; by setting the connection between the small bracket 37 and the fixed bracket 28, the connection structure is simple, the network switch 38 is located between the small bracket 37 and the fixed bracket 28, the space utilization is reasonable, the volume is small, the connection between them is convenient, the data exchange is stable, and the practicability is strong; the power supply 39 is located on one side of the network switch 38, and the circuit board 40 and Circuit board four 41 is respectively installed on both sides of the small bracket 37, circuit board three 42 and power supply two 43 are installed on the right side of the fixed bracket 28, circuit board two 44 is installed on the small bracket 37 and is located on the opposite side of circuit board one 40, power supply one 39 and power supply two 43 are respectively electrically connected to the power taking device 16, power supply one 39 is used for supplying power to the rotating device 29, position sensor 34 and partial discharge sensor 45 located on the left side, power supply two 43 is used for supplying power to the rotating device 29, camera 46 and thermal imager 47 located on the right side, circuit board three 42 and circuit board four 41 are respectively electrically connected to the camera 46 and thermal imager 47.

[0051] The working process of the present invention is as follows: first, the driven wheel 152 of the clamping device 15 is clamped in the clamping grooves 133 on both sides below the guide rail 13, the guide ball 14 is located in the guide groove 132, the driving wheel 5 is fitted with the guide wheel rail 131 of the guide rail 13, and the power taking part 161 of the power taking device 16 is in contact with the busbar 134 of the guide rail 13, so as to realize the overall straight-line walking and free turning, and the encoder 18 and the limit switch 171 cooperate with each other to accurately locate the walking position; the pull wire drives the free extension and retraction of the telescopic sleeve 19 through the rotation of the winding wheel 20, so as to realize the vertical movement of the detection device, and the rotating device 29 of the detection device rotates 360 degrees, which doubles the detection range and improves the detection accuracy.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent inspection robot walking mechanism, characterized in that: The invention comprises a guide rail and a main body mechanism, wherein the guide rail comprises an upper auxiliary mounting rail, a lower hanging rail and a connecting piece connecting the upper auxiliary mounting rail and the lower hanging rail, the upper auxiliary mounting rail is provided with two mounting grooves, guide wheel rails are provided on both sides of the lower hanging rail, and a guide groove is provided on the lower side, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism drives the movement of the guide mechanism and the telescopic driving mechanism respectively, the guide mechanism comprises an upper plate, a guide wheel group and a guide ball located on both sides of the upper plate, the guide wheel group comprises a driving wheel, the driving wheel is tightly fitted with the guide wheel rail, the guide ball is vertically arranged with the driving wheel, the upper end of the guide ball is stuck in the guide groove and can rotate relative to the guide groove, and also comprises a telescopic sleeve, the telescopic driving mechanism is connected with the telescopic sleeve to realize the telescopic sleeve; The motor drive mechanism includes two motors and bevel gears arranged side by side, and the two motors respectively drive the movement of the guide mechanism and the telescopic drive mechanism through the cooperation of the bevel gears. The guide wheel group also includes a transmission shaft, and the transmission shaft is located below the lower plate. The two motors are arranged close to the transmission shaft. The telescopic drive mechanism is connected to the transmission shaft through a bearing sleeve and is driven to rotate by one of the motors. The telescopic drive mechanism includes a winding wheel and a movable pulley assembly, and the winding wheel is connected to the transmission shaft through a bearing sleeve. The movable pulley assembly is fixed to the lower plate at the upper end of the telescopic sleeve. The telescopic sleeve is connected to the winding wheel by pulling a wire through the movable pulley assembly to achieve extension and retraction of the length. The other motor is rotatably connected to the transmission shaft through the cooperation of the bevel gear to achieve rotation of the guide wheel group.

2. The walking mechanism of the intelligent inspection robot according to claim 1, characterized in that: The guide wheel group also includes a pulley group. A driving shaft bearing seat is arranged on the upper plate. The driving roller shaft passes through the driving shaft bearing seat at one end and is connected to the driving wheel, and the other end is connected to the pulley group to achieve simultaneous rotation and guidance.

3. The intelligent inspection robot walking mechanism according to claim 1, characterized in that: The guide mechanism also includes a clamping device, which is located on the upper plate and on the outside of the guide ball. The clamping device includes two clamping seats that are symmetrically arranged with each other. A driven wheel is provided on the driven shaft. The clamping seat includes a fixed block and a clamping block. The fixed block and the clamping block are connected by a spring. The two clamping blocks are connected by the driven shaft. Clamping grooves are also provided on both sides of the lower end of the lower suspension rail and are located on both sides of the guide groove. The driven wheel is clamped in the clamping groove.

4. The intelligent inspection robot walking mechanism according to claim 1, characterized in that: It also includes a power-taking device, which is fixed on the upper plate. The power-taking device includes a power-taking part and an insulating shell, which is fixed on the upper plate. The connecting piece is provided with a power-taking groove, and a busbar is provided in the power-taking groove. The busbar is a double busbar, and the power-taking part contacts the double busbar to take power.

5. The walking mechanism of the intelligent inspection robot according to claim 1, characterized in that: It also includes a ratchet and a pawl, wherein the ratchet, the large bevel teeth and the winding wheel are coaxially arranged, the pawl and the ratchet are matched, the pawl is fixed to the lower side of the upper plate through a pawl fixing bracket, an electromagnet is arranged above one end of the pawl, and the electromagnet and the pawl attract each other.

6. The walking mechanism of the intelligent inspection robot according to claim 5, characterized in that: It also includes an electromagnetic lock, which is located below the ratchet pawl and can be retracted.

7. The walking mechanism of the intelligent inspection robot according to claim 5, characterized in that: It also includes a wire crimping shaft assembly and a wire guide wheel. A front plate is provided on one side of the lower plate. The front plate also includes a wire crimping shaft assembly and a wire guide wheel. After the wire comes down from the winding wheel, it passes through the wire crimping shaft assembly, the wire guide wheel, and the movable pulley assembly in sequence and is connected to the telescopic sleeve.

8. The walking mechanism of the intelligent inspection robot according to claim 1, characterized in that: A fixing bracket is provided at the bottom of the telescopic sleeve, and the bottom end of the pull wire is connected to the fixing bracket.

9. The walking mechanism of the intelligent inspection robot according to any one of claims 1 to 8, characterized in that: It also includes a limit switch and an encoder. Side plates are provided on both sides of the upper plate. A driver is connected to the outer side of the side plate. The upper end of the driver is connected to a limit switch. A groove is provided in the middle of the upper plate. The encoder is fixed in the groove by bolts and is electrically connected to the motor that drives the guide shaft to rotate.

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