High-altitude rapid lifting device for track robots in tunnels

Abstract

The present invention provides a high-altitude rapid lifting device for an in-tunnel track robot, comprising: a fixed bracket, a track, at least one locking unit, a driving part, and a control system. A positioning member is arranged on the fixed bracket; the track is located below the fixed bracket, and at least two sling fixing pins and at least one positioning pin are arranged on the track; the locking unit comprises: a first linear motor, a first locking pin, and a locking tongue. A first through hole is arranged on the locking tongue, and when the track rises to the installation position, the first linear motor drives the first locking pin to move and then can extend into the first through hole; the driving part comprises at least two groups of driving units, and each driving unit comprises: a driving motor, a winch, a sliding member, and a sling. One end of the sling is fixed on the winch, and the other end is fixed on a sling fixing pin. The sling contacts the sliding member, and the force direction of the sling is changed through the sliding member. The present invention has low requirements for the installation environment, low cost, and can achieve full-automatic control.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical technology, and particularly relates to a high-altitude rapid lifting device for a track robot in a tunnel. Background Art

[0002] It is inconvenient to maintain and repair a track robot installed at a high altitude in a tunnel, and the time cost of maintenance and repair is high. Therefore, when the track robot needs to be repaired, it is generally removed from the high altitude and placed on the ground for repair. If there is no lifting system and the installation height is high, a scissor lift is needed, and at least 3 people are required to cooperate to remove the robot from the track, resulting in a relatively high time cost and economic cost, with requirements for the environment and affecting production efficiency.

[0003] In the prior art, most of the track robot lifting technologies are upper and lower rigid double-track structures, which are difficult to install in a tunnel. The installation accuracy requirements for the double tracks are high. Since there will be cable installation brackets, water pipes, mud pipelines and other brackets on both sides of the tunnel, the installation space is limited, and the rigid double-track structure requires a large installation space and has high construction requirements, resulting in high construction costs. Moreover, most of the track robot lifting technologies in the prior art cannot achieve full automation control and remote automation control. Summary of the Invention

[0004] The present invention is made to solve the above problems, and aims to provide a high-altitude rapid lifting device for a track robot in a tunnel with low requirements for the installation environment, low cost, and capable of achieving full automation control.

[0005] The present invention provides a high-altitude rapid lifting device for a track robot in a tunnel, which is characterized by comprising:

[0006] A fixed bracket, on which a positioning member is provided;

[0007] A track for installing a track robot, located below the fixed bracket, on which at least two sling fixing pins and at least one positioning pin are provided, the positioning pin corresponding to the positioning member, and when the track rises to the highest position, the positioning pin cooperates with the positioning member;

[0008] At least one locking unit, each locking unit comprising: a first linear motor fixed on the fixed bracket, a first locking pin driven to be installed on the first linear motor, and a locking tongue fixed on the track corresponding to the first locking pin, a first through hole being provided on the locking tongue, and when the track rises to the installation position, the first linear motor drives the first locking pin to move and then can extend into the first through hole;

[0009] A driving part, the driving part includes: at least two groups of driving units, each group of driving units includes: a driving motor, a hoist drivenly connected to the driving motor, a sliding member fixed on the fixed bracket, and a lifting rope, one end of the lifting rope is fixed on the hoist, the other end of the lifting rope is fixed on one of the lifting rope fixing pins, the lifting rope contacts the sliding member, and the force direction of the lifting rope is changed through the sliding member; and

[0010] A control system, connected to the first linear motor and the driving motor.

[0011] Furthermore, in the high-altitude rapid lifting device for a track robot in a tunnel provided by the present invention, it may further have the following characteristics: a first limiting unit and a second limiting unit for restricting the movement of the track robot on the track are provided on the track, the first limiting unit is used to limit the farthest position where the track robot is installed into the track, and the second limiting unit is used to restrict the track robot from moving backward after being installed into the track.

[0012] Furthermore, in the high-altitude rapid lifting device for a track robot in a tunnel provided by the present invention, it may further have the following characteristics: the first limiting unit includes a limit switch, the limit switch is connected to the control system, a limit hole is provided on the track, the limit switch corresponds to the limit hole, and when the track robot moves along the track to the position of the limit hole, it is limited and the limit switch is closed at the same time.

[0013] The second limiting unit includes: a second linear motor installed on the fixed bracket and connected to the control system, a push rod drivenly connected to the second linear motor at one end, a magnetic member installed at the end of the non-installed end of the push rod, and a second locking pin, the material of the second locking pin is ferromagnetic metal, a second through hole corresponding to the push rod is provided on the fixed bracket, when the second linear motor drives the push rod to move towards the track, the push rod passes through the second through hole, a third through hole is provided on one side of the track facing the fixed bracket, the second locking pin is slidably installed in the third through hole, and the position of the third through hole is such that after the second linear motor drives the push rod to move towards the track, the magnetic member can attract the second locking pin.

[0014] Furthermore, in the high-altitude rapid lifting device for a track robot in a tunnel provided by the present invention, it may further have the following characteristics: a guide post is further provided on the fixed bracket, a connecting rod is connected between the push rod and the second linear motor, and a fourth through hole is provided on the connecting rod, and the guide post extends into the fourth through hole.

[0015] Furthermore, the high-altitude rapid lifting device for a track robot in a tunnel provided by the present invention may also have the following feature: linear bearings are provided on both the third through hole and the fourth through hole.

[0016] Furthermore, in the high-altitude rapid lifting device of the tunnel rail robot provided by the present invention, it can also have the following characteristics: a limiting component is provided at one end of the second locking pin installed in the third through hole, and the diameter of the second locking pin at the limiting component is larger than the diameter of the third through hole, and the limiting component is used to prevent the second locking pin from being completely pulled out of the third through hole.

[0017] Furthermore, in the high-altitude rapid lifting device of the tunnel rail robot provided by the present invention, it can also have the following characteristics: each locking unit also includes an auxiliary locking component fixed on the rail, and the auxiliary locking component includes two auxiliary locking plates, and the two auxiliary locking plates are respectively located on both sides of the lock tongue, and the two auxiliary locking plates are each provided with a fourth through hole, and the two fourth through holes coincide with the central axis of the first through hole, and a proximity sensor is provided on the auxiliary lock plate on the side away from the first linear motor, and the proximity sensor is connected to the control system.

[0018] Furthermore, in the high-altitude rapid lifting device of the tunnel rail robot provided by the present invention, it can also have the following characteristics: there are two positioning pins, two rope fixing pins, two locking units and two driving units, the two positioning pins are respectively located at the two ends of the track, the two rope fixing pins are respectively located at the two ends of the track, the two locking tongues are respectively located at the two ends of the track, and the two driving motors and the two winches are both located at one end of the track.

[0019] Furthermore, in the high-altitude rapid lifting device for a rail robot in a tunnel provided by the present invention, it may also have the following characteristics: a fifth through hole is provided at one end of the fixing bracket close to the drive motor, and a sixth through hole is provided at one end of the fixing bracket away from the drive motor, and the central axes of the fifth through hole and the sixth through hole respectively coincide with the central axes of the two suspension rope fixing pins.

[0020] The sliding member in a group of the driving units is a first pulley, which is fixed to the side of the fixing bracket facing away from the track and located at an end close to the driving motor. The suspension rope passes around the first pulley, passes through the fifth through hole, and is fixed to the suspension rope fixing pin at an end close to the driving motor.

[0021] The sliding member in the other set of the driving units includes two second pulleys, and the two second pulleys are respectively fixed at two ends of the fixed bracket. The suspension rope passes around the two second pulleys and then passes through the sixth through hole and is fixed to the suspension rope fixing pin at the end away from the driving motor.

[0022] Furthermore, in the tunnel inner track robot high-altitude rapid lifting device provided by the present invention, it may further have the following feature: The driving unit including two pulleys further includes at least one guide pulley installed on the fixed bracket, the guide pulley is located between the two second pulleys, and the suspension rope located between the two second pulleys also needs to pass around the guide pulley.

[0023] The present invention has the following advantages:

[0024] 1. The system is small in volume and light in weight, suitable for the design concept of installation at various heights, without the need to consider customized development, and has low requirements for the installation environment.

[0025] 2. The track can be switched according to the track form, without the need for customized development, and the cost is low.

[0026] 3. The whole process can achieve full-automatic control, with high positioning accuracy at each docking point, stable control, and high overall safety.

[0027] 4. The operation is simple and convenient, with very high efficiency. The operation can be completed within a few minutes from descent to ascent, without the need to rely on any high-altitude tool means.

[0028] 5. It saves production time and personnel allocation, and can be operated independently by one person without affecting normal production. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of the tunnel inner track robot high-altitude rapid lifting device in the embodiment of the present invention;

[0030] Figure 2 is a schematic structural diagram of the fixed bracket;

[0031] Figure 3 is a schematic structural diagram of the track;

[0032] Figure 4 is a partial schematic structural diagram of the second limiting unit;

[0033] Figure 5 is a schematic structural diagram of the locking unit;

[0034] Figure 6 is a schematic structural diagram of the driving part. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to make the technical means, creative features, achieved objectives and functions of the present invention easily understood, the following embodiments will specifically describe a two-way moving automotive door lock mechanism of the present invention in conjunction with the accompanying drawings.

[0036] As Figure 1 shown, the high-altitude rapid lifting device 100 for the track robot in the tunnel includes: a fixed bracket 10, a track 20, at least one locking unit 30, and a driving unit 40.

[0037] In this embodiment, the structure of the fixed bracket 10 is as Figure 2 shown. The fixed bracket 10 includes a fixed side 11 fixed to the side wall of the tunnel and an installation side 12 that is 90° to the fixed side. A positioning member (not shown in the figure) is provided on the lower side of the installation side 12 of the fixed bracket 10.

[0038] The track 20 is used to install the track robot 200, and the track 20 is located below the fixed bracket 10. As Figure 3 shown, at least two sling fixing pins 21 and at least one positioning pin 22 are provided on the track 20. The positioning pin 22 corresponds to the positioning member, and when the track 20 rises to the highest position, the positioning pin 22 cooperates with the corresponding positioning member. Specifically, the positioning member is a hollow cylindrical shape that matches the positioning pin 22. Specifically, the cross-section of the track 20 is "I"-shaped, and the sling fixing pins 21 and the positioning pins 22 are installed on the upper side of the track 20.

[0039] In this embodiment, a first limiting unit 23 and a second limiting unit 24 are provided on the track 20. During installation, the track robot 200 is installed into the track 20 from the right side of the track 20. The first limiting unit 23 is used to limit the farthest position where the track robot 200 is installed into the track 20, that is, when viewed in the Figure 3 direction, the first limiting unit 23 is used to limit the maximum distance that the track robot 200 moves to the left side of the track 20. The first limiting unit 23 includes a limit switch 231, the limit switch 231 is connected to the control system, a limit hole 232 is provided on the track 20, the limit switch 231 corresponds to the limit hole 232, and when the track robot 200 moves along the track 20 to the position of the limit hole 232, it is limited and at the same time the limit switch 231 is closed, and the limit switch 231 closes and transmits a signal to the control system.

[0040] The second limiting unit 24 is used to limit that the track robot 200 will not move backward after being installed into the track 20, that is, when viewed in the Figure 3 direction, the second limiting unit 24 is used to limit that the track robot 200 will not move to the right after the track robot 200 moves to the maximum distance on the left side of the track 20.

[0041] As Figure 4As shown in the figure, the second limiting unit 24 includes: a second linear motor 241, a push rod 242, a magnetic member 243, and a second locking pin 244. The second linear motor 241 is installed on the fixed bracket 10, and the second linear motor 241 is connected to the control system, and the control system controls the operation of the second linear motor 241. One end of the push rod 242 is drivingly connected to the second linear motor 241, and the second linear motor 241 can push the push rod 242 to move up and down. The magnetic member 243 is installed at the non-mounted end of the push rod 242. The material of the second locking pin 244 is ferromagnetic metal and can be adsorbed by magnetic substances. Specifically, the material of the second locking pin 244 is iron. A second through hole 13 corresponding to the push rod 242 is provided on the fixed bracket 10. When the second linear motor 241 drives the push rod 242 to move in the direction of the track 20, the push rod 242 passes through the second through hole 13. A third through hole is provided on one side of the track 20 facing the fixed bracket 10. The second locking pin 244 is slidably installed in the third through hole, that is, when one end of the second locking pin 244 is inserted into the third through hole to a certain depth, the track robot 200 can be limited. The position of the third through hole satisfies that after the second linear motor 241 drives the push rod 242 to move in the direction of the track 20, the magnetic member 243 can attract the second locking pin 244.

[0042] Specifically, a limiting member (not shown in the figure) is provided at one end of the second locking pin 244 inserted into the third through hole, so as to Figure 3 viewed in the direction of, that is, a limiting member is provided at the lower end of the second locking pin 244. The diameter of the second locking pin 244 at the limiting member is greater than the diameter of the third through hole. Thus, when the magnetic member 243 attracts the second locking pin 244 and pulls the second locking pin 244 out of the third through hole, the limiting member at the lower end of the second locking pin 244 can prevent the second locking pin 244 from being completely withdrawn from the third through hole. More specifically, the limiting member can be a protrusion, a rib, etc.

[0043] Specifically, a guide post 14 is further provided on the fixed bracket 10. The push rod 242 and the second linear motor 241 are connected by a connecting rod 245. A fourth through hole is provided on the connecting rod 245, and the guide post 14 extends into the fourth through hole.

[0044] More specifically, a linear bearing 25 is provided on the third through hole, and a linear bearing 246 is provided on the fourth through hole to reduce the friction when the second locking pin 244 and the guide post 14 move.

[0045] Such as Figure 5As shown in the figure, the locking unit 30 includes: a first linear motor 31, a first locking pin 32, and a locking tongue 33. The first linear motor 31 is fixed on the fixed bracket 10. The first linear motor 31 is connected to the control system, and the control system controls the operation of the first linear motor 31. The first locking pin 32 is drivingly mounted on the first linear motor 31, and the first linear motor 31 can drive the first locking pin 32 to extend and retract. The locking tongue 33 is fixed on the upper side of the track 20. A first through hole 331 is provided on the locking tongue 33. The locking tongue 33 corresponds to the first locking pin 32. When the track 20 rises to the installation position, when the first motor 31 drives the first locking pin 32 to extend, the first locking pin 32 can extend into the first through hole 331, thereby fixing the track 20 and the fixed bracket 10 together.

[0046] Specifically, the locking unit 30 further includes an auxiliary locking member 34 fixed on the track 20. The auxiliary locking member 34 includes two auxiliary locking plates. The two auxiliary locking plates are respectively located on both sides of the locking tongue 33. Fourth through holes 341 are provided on both of the two auxiliary locking plates. The central axes of the two fourth through holes 341 coincide with the central axis of the first through hole 331. A proximity sensor 342 is provided on the auxiliary locking plate on the side away from the first linear motor 31. The proximity sensor 342 is connected to the control system. The proximity sensor 342 is used to determine whether the first locking pin 32 extends to the maximum position. If the first locking pin 32 extends to the maximum position, after being sensed by the proximity sensor 342, a signal is sent to the control system.

[0047] As Figure 6 As shown in the figure, the driving part 40 includes at least two groups of driving units. Each group of driving units includes: a driving motor 41, a hoist 42, a sliding member 43, and a lifting rope 44. The driving motor 41 is installed at the bottom of the tunnel through a mounting bracket. The driving motor 41 is connected to the control system, and the control system controls the operation of the driving motor 41. The hoist 42 is drivingly connected to the driving motor 41 and is installed on the mounting bracket. The sliding member 43 is fixed on the fixed bracket 10. One end of the lifting rope 44 is fixed on the hoist 42, and the other end of the lifting rope 44 is fixed on a lifting rope fixing pin 21. The lifting rope 44 contacts the sliding member 43, and the force direction of the lifting rope is changed through the sliding member 43.

[0048] Specifically, there are two positioning pins 22, two lifting rope fixing pins 21, two locking units 30, and two driving units 41. The two positioning pins 22 are respectively located at both ends of the track 20. The two lifting rope fixing pins 21 are respectively located at both ends of the track 20. The two locking tongues 33 are respectively located at both ends of the track 20. The two driving motors 41 and the two hoists 42 are both located at one end of the track 20. Specifically, the two driving motors 41 and the two hoists 42 are both located at the end of the track 20 where the first limiting unit 23 is provided.

[0049] One end of the fixed bracket 10 close to the drive motor 41 is provided with a fifth through hole 15, and the end of the fixed bracket 10 far from the drive motor 41 is provided with a sixth through hole 16. The central axes of the fifth through hole 15 and the sixth through hole 16 coincide with the central axes of the two sling fixing pins 21 respectively.

[0050] The sliding member 43 in a set of drive units 41 is a first pulley. The first pulley is fixed on the side of the fixed bracket 10 facing away from the track 20, and the first pulley is located at one end close to the drive motor 41. The sling 44 passes around the first pulley and then passes through the fifth through hole 15 and is fixed to the sling fixing pin 21 at the end close to the drive motor 41.

[0051] The sliding member 43 in the other set of drive units 41 includes two second pulleys. The two second pulleys are respectively fixed at both ends of the fixed bracket 10. The sling 44 passes around the two second pulleys and then passes through the sixth through hole 16 and is fixed to the sling fixing pin 21 at the end far from the drive motor 41. Specifically, this set of drive units 41 further includes at least one guide pulley 17 installed on the fixed bracket 10. The guide pulley 17 is located between the two second pulleys, and the sling 414 located between the two second pulleys also needs to pass around the guide pulley 17. In this embodiment, two guide pulleys 17 are arranged between the two second pulleys.

[0052] Working process:

[0053] Lowering operation:

[0054] When the track robot 200 is on the working track and needs to be removed for maintenance or repair, at this time, the first locking pin 32 is inserted into the locking tongue 33 and the auxiliary locking member 34, and the track 20 is fixed on the fixed bracket 10. The second locking pin 244 is attracted by the magnetic member 243, and the second locking pin 244 does not play a limiting role. The working track and the track 20 are aligned.

[0055] Such as Figure 1In the shown direction, the control system controls the rail robot 200 to enter the rail 20 from the right end of the rail 20. When the rail robot 200 moves along the rail 20 to the first limiting unit 23, the rail robot 200 is limited and cannot continue to move leftward. At the same time, the limit switch 231 is closed, and the limit switch 231 sends a signal to the control system. After receiving the signal, the control system controls the second linear motor 241 to drive the push rod 242 to move downward, and the push rod 242 pushes the second locking pin 244 to insert into the third through hole 25 to limit the rail robot 200 on the right. Then, the control system controls the first linear motor 31 to drive the first locking pin 32 to retract, and the first locking pin 32 completely disengages from the locking tongue 33 and the auxiliary locking member 34. The control system can judge whether the first locking pin 32 has retracted according to the signal fed back by the proximity sensor 342, and the rail 20 is disengaged from the fixed bracket 10. Then, the control system controls the drive motor 41 to drive the winch 42 to work, and the winch 42 rotates to pay out the rope, and the rail 20 descends vertically. When it descends a certain distance, the second locking pin 244 disengages from the magnetic member 243 under the action of the limiting member, and the second locking pin 244 falls, continuing to limit the rail robot 200 on the right. When the rail 20 descends to a position close to the ground, the second locking pin 244 is pulled out upward, the rail robot 200 is powered off, the tightening wheel of the rail robot 200 loses the locking force, and the rail robot 200 is pushed out to the right along the rail 20 for maintenance and repair.

[0056] Ascending process:

[0057] Such as Figure 1As shown in the figure, when the serviced track robot 200 needs to be sent onto the working track, move the second locking pin 244 upward to pull it out of the third through hole, and install the track robot 200 into the track 20 from the right end of the track 20. When the track robot 200 moves along the track 20 to the first limiting unit 23, the track robot 200 is limited and cannot move leftward continuously. At the same time, close the limit switch 231, and the limit switch 231 sends a signal to the control system. After receiving the signal, the control system controls the second linear motor 241 to drive the push rod 242 to move downward. Then insert the second locking pin 244 downward into the third through hole to limit the track robot 200, so that the track robot 200 stops stably on the track 20. The control system controls the driving motor 41 to drive the hoist 42 to work, and the hoist 42 rotates to wind the rope, and the track 20 rises vertically. When the track 20 rises to the highest position, the track 20 is aligned with the working track. The positioning pin 22 on the track 20 cooperates with the positioning member on the fixed bracket 10 to position the track 20 so that the track 20 will not move horizontally. When the track 20 rises to the highest position, the magnetic member 243 just contacts the second locking pin 244 to fix the second locking pin 244. Then the control system controls the first linear motor 31 to drive the first locking pin 32 to extend. The first locking pin 32 extends into the first through hole 331 of the lock tongue 33 and the fourth through holes 341 of the two auxiliary locking members 34 to fix the track 20. The control system can judge whether the first locking pin 32 extends into the first through hole 331 of the lock tongue 33 and the fourth through holes 341 of the two auxiliary locking members 34 to fix the track 20 according to the signal fed back by the proximity sensor 342. Then, the control system controls the second linear motor 241 to drive the push rod 242 to move upward, and pull out the second locking pin 244 from the third through hole to cancel the right limit of the track robot 200, and the track robot 200 moves rightward into the working track.

[0058] The above embodiments are preferred cases of the present invention and are not used to limit the protection scope of the present invention.

Claims

1. An apparatus for high-altitude rapid lifting of an in-tunnel track robot, characterized in that include: A fixed bracket, wherein a positioning member is provided on the fixed bracket; A track for mounting the track robot, located below the fixed bracket, wherein the track is provided with at least two suspension rope fixing pins and at least one positioning pin, wherein the positioning pin corresponds to the positioning member and cooperates with the positioning member when the track rises to the highest position; At least one locking unit, each of the locking units comprising: a first linear motor fixed to the fixing bracket, a first locking pin driven by the first linear motor, and a locking tongue fixed to the rail and corresponding to the first locking pin, wherein the locking tongue is provided with a first through hole, and when the rail is raised to the installation position, the first linear motor drives the first locking pin to move so that the first locking pin can extend into the first through hole; A driving portion, the driving portion comprising: at least two groups of driving units, each group of the driving units comprising: a driving motor, a hoist drivingly connected to the driving motor, a sliding member fixed to the fixed bracket, and a suspension rope, one end of the suspension rope being fixed to the hoist, the other end of the suspension rope being fixed to one of the suspension rope fixing pins, the suspension rope being in contact with the sliding member, and the force direction of the suspension rope being changed by the sliding member; and a control system connected to the first linear motor and the drive motor; The track is provided with a first limiting unit and a second limiting unit for limiting the movement of the track robot on the track, the first limiting unit is used to limit the farthest position of the track robot installed in the track, and the second limiting unit is used to limit the track robot from moving backward after being installed in the track; The first limit unit includes a limit switch, which is connected to the control system. A limit hole is provided on the track, and the limit switch corresponds to the limit hole. When the track robot moves along the track to the position of the limit hole, it is limited and the limit switch is closed. The second limiting unit includes: a second linear motor mounted on the fixed bracket and connected to the control system, a push rod with one end drivingly connected to the second linear motor, a magnetic component mounted on the end of the non-mounting end of the push rod, and a second locking pin, wherein the second locking pin is made of ferromagnetic metal; Each locking unit also includes an auxiliary locking component fixed on the track, and the auxiliary locking component includes two auxiliary locking plates, which are respectively located on both sides of the lock tongue. A fourth through hole is provided on the two auxiliary locking plates, and the two fourth through holes coincide with the central axis of the first through hole. A proximity sensor is provided on the auxiliary locking plate on the side away from the first linear motor, and the proximity sensor is connected to the control system.

2. The high-altitude rapid lifting device for a tunnel rail robot according to claim 1, characterized in that: A second through-hole corresponding to the push rod is provided on the fixed bracket. When the second linear motor drives the push rod to move towards the track, the push rod passes through the second through-hole. A third through-hole is provided on one side of the track facing the fixed bracket. The second locking pin is slidably installed in the third through-hole. The position of the third through-hole is such that after the second linear motor drives the push rod to move towards the track, the magnetic member can attract the second locking pin.

3. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 2, wherein: A guiding column is further provided on the fixed bracket. The push rod and the second linear motor are connected by a connecting rod. A fourth through-hole is provided on the connecting rod, and the guiding column extends into the fourth through-hole.

4. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 3, wherein: Linear bearings are provided on both the third through-hole and the fourth through-hole.

5. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 2, wherein: A limiting member is provided at one end of the second locking pin installed in the third through-hole. The diameter of the second locking pin at the limiting member is greater than the diameter of the third through-hole. The limiting member is used to prevent the second locking pin from being completely withdrawn from the third through-hole.

6. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 1, wherein: There are two positioning pins, two suspension rope fixing pins, two locking units, and two driving units. The two positioning pins are respectively located at both ends of the track. The two suspension rope fixing pins are respectively located at both ends of the track. The two locking tongues are respectively located at both ends of the track. The two driving motors and the two winches are all located at one end of the track.

7. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 6, wherein: A fifth through-hole is provided at one end of the fixed bracket close to the driving motor, and a sixth through-hole is provided at one end of the fixed bracket away from the driving motor. The central axes of the fifth through-hole and the sixth through-hole respectively coincide with the central axes of the two suspension rope fixing pins. The sliding member in one set of the driving units is a first pulley. The first pulley is fixed on the side of the fixed bracket facing away from the track and is located at one end close to the driving motor. The suspension rope passes around the first pulley, then passes through the fifth through-hole, and is fixed to the suspension rope fixing pin at the end close to the driving motor. The sliding member in the other set of the driving units includes two second pulleys. The two second pulleys are respectively fixed at both ends of the fixed bracket. The suspension rope passes around the two second pulleys, then passes through the sixth through-hole, and is fixed to the suspension rope fixing pin at the end away from the driving motor.

8. The high-altitude rapid lifting device for an in-tunnel track robot according to claim 7, wherein: The drive unit including two pulleys further includes at least one guide pulley mounted on the fixed bracket, the guide pulley being located between the two second pulleys, and the suspension rope located between the two second pulleys also needs to bypass the guide pulley.

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