Rail-mounted inspection robot walking driving structure

Abstract

The application provides a walking driving structure of a hanging rail inspection robot, and belongs to the technical field of hanging rail robots. The walking driving structure comprises a slide rail component, an inspection assembly, a same-side connecting component, a speed matching switching assembly, a speed matching driving assembly, an elastic slide column component and a compensation slide sheet assembly. The slide rail component is composed of a linear slide rail and an arc-shaped slide rail. The top ends of the inspection assembly are provided with rollers on both sides, which are slidably connected with the slide rail component. The switching slide seat is transversely slidably connected in the main shell, so that the constant-speed gear and the non-constant-speed pinion and the non-constant-speed gear are meshed and switched between the rotating gears, and are synchronized. The bottom transmission gear connected with the constant-speed gear can also be meshed and switched between the two groups of driving gears rotating in the same direction, so as to improve the flexibility of the meshing connection between the gears. The compensation slide sheet assembly is used for eliminating the problem of poor progress caused by the intersection of the section of the outer slide groove in the arc-shaped slide rail and the roller during the sliding process of the inspection assembly in the arc-shaped slide rail.

Description

Technical Field

[0001] This invention relates to the field of rail-mounted robot technology, and in particular to a walking drive structure for a rail-mounted inspection robot. Background Technology

[0002] The rail-mounted inspection robot can perform specific and customized inspection tasks in special environments, achieving autonomous positioning and navigation. Equipped with a specific camera and environmental monitoring module sensor, it can capture and sense the surrounding environment in real time, enabling remote online monitoring and data analysis. It can replace manual labor in completing tasks such as routine inspections, fault diagnosis, and early warning alarms.

[0003] Traditional rail-mounted inspection robots mostly use linear guide rails as a reference, and their inspection paths are also mostly straight lines. However, due to the variability of the required environment, rail-mounted inspection robots are also required to achieve flexible turning. Currently, existing rail-mounted inspection robots mostly rely on the elastic deformation of the rollers themselves to offset the offset caused by turning when turning. The structure is simple, but the accuracy is poor and the turning process is not smooth enough. Summary of the Invention

[0004] The purpose of this invention is to provide a walking drive structure for a rail-mounted inspection robot. By utilizing the cooperation between the speed-proportioning drive component and the speed-proportioning switching component, the constant-speed gear, the non-constant-speed pinion, and the non-constant-speed large gear can simultaneously form switching engagement between the rotating large gear connected to the rollers and the bottom transmission gear connected to the constant-speed gear in the two sets of drive gears. This can achieve both constant-speed rotation of the rollers on different sides and non-constant-speed rotation, allowing the inspection component to smoothly pass through the arc-shaped slide rail in the slide rail component.

[0005] The objective of this invention is achieved through the following technical solution: a walking drive structure for a rail-mounted inspection robot, comprising a slide rail component, an inspection component, a same-side connecting component, a speed switching component, and a speed driving component. The slide rail component includes a linear slide rail and an arc-shaped slide rail. The same-side connecting component includes a large rotating gear. The speed switching component includes an inner crossbeam and a switching slide block. The speed driving component includes a drive gear and a servo motor.

[0006] The curved slide rail is connected to the corner of the straight slide rail. The inner sides of the straight slide rail and the curved slide rail are both provided with an inner groove, and the outer sides are both provided with an outer groove.

[0007] The top two sides of the inspection component are symmetrically screwed with rollers. The inner roller is connected to the inner slide groove, and the outer roller is connected to the outer slide groove. The bottom ends of the rollers on the same side are connected in the same direction. The rotating large gear is fixed to the bottom end of the actively rotating roller.

[0008] The inner cross frame is fixed to the lower inner part of the main body of the inspection component. The switching slide is slidably connected to the top of the inner cross frame. One end of the switching slide is screwed with a constant speed gear that meshes with each other, and the other end is screwed with a non-uniform speed pinion and a non-uniform speed large gear that mesh with each other. The non-uniform speed pinion is connected to a set of constant speed gears on the same side in the same direction. The non-uniform speed large gear is connected to another set of constant speed gears on the same side in the same direction. The bottom end of each set of constant speed gears is also fixed with a bottom transmission gear, and the two sets of bottom transmission gears mesh with each other.

[0009] The drive gears are symmetrically screwed into the main body of the inner cross frame and are connected in the same direction of transmission. One set of drive gears is connected to the servo motor.

[0010] The process of using the technical solution of the present invention is as follows:

[0011] The travel path is composed of linear slide rails and curved slide rails;

[0012] When the inspection component moves in a straight line, the inner slide groove on the inner side of the linear slide rail and the outer slide groove on the outer side have the same path length. Therefore, the rollers on both sides of the inspection component need to roll at the same speed. At this time, the switching slide moves to the position where the two sets of constant speed gears mesh with the two sets of rotating large gears respectively. At the same time, the bottom transmission gear meshes with one of the drive gears. The servo motor drives the drive gear and the bottom transmission gear to form a transmission, which makes the two sets of constant speed gears rotate in opposite directions. This allows the two sets of rotating large gears to rotate in opposite directions. The two sets of rotating large gears drive the rollers on both sides to maintain the same speed and rotate in opposite directions, thus achieving stable linear movement of the inspection component.

[0013] When the inspection component moves along the arc-shaped slide rail, the arc length of the inner groove on the inner side of the slide rail is less than the arc length of the outer groove on the outer side. Therefore, the rollers on both sides of the inspection component need to roll at different speeds, and the rollers connected to the outer groove must rotate at a speed greater than the rollers connected to the inner groove to ensure that the inspection component can move smoothly along the arc-shaped slide rail. Therefore, the switching slide needs to be moved to the position where the unequal speed pinion and unequal speed gear mesh with the two sets of rotating large gears, respectively, while the bottom transmission gear meshes with another set of drive gears, driven by a servo motor. The drive gear and the bottom transmission gear work together to enable two sets of constant-speed gears to rotate in opposite directions. The two sets of constant-speed gears idle and drive the unequal-speed pinion and unequal-speed gear to rotate through the transmission mechanism, so that the unequal-speed pinion and unequal-speed gear rotate in opposite directions at the same speed. Since the number of teeth of the unequal-speed pinion is less than the number of teeth of the unequal-speed gear, the two sets of rotating gears can form different transmission ratios. This ensures that the speed of the roller located in the outer slide groove is greater than the speed of the roller located in the inner slide groove, allowing the inspection component to move smoothly and without jamming along the arc-shaped slide rail.

[0014] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0015] (1) The slide rail component is not only equipped with a straight slide rail, but also with an arc slide rail at the corner connection of the straight slide rail. The arc slide rail and the straight slide rail can form a steerable trajectory path, which can form a more reasonable layout on site compared with the structure that can only walk in a straight line.

[0016] (2) In order to enable the inspection component to move smoothly in both linear and arc-shaped slide rails, the present invention provides an automatic laterally movable switching slide inside the main body of the inspection component. At both ends of the switching slide, there are meshing constant speed gears, as well as non-uniform speed small gears and non-uniform speed large gears. This allows the two sets of rotating large gears to form the same transmission ratio or different transmission ratios. When the two sets of rotating large gears form the same transmission ratio, the rollers on both sides of the inspection component can be driven to move smoothly along the linear slide rail at the same speed. When the two sets of rotating large gears form different transmission ratios, the rollers on both sides of the inspection component can be driven to move along the path of the arc-shaped slide rail at different speeds.

[0017] (3) Furthermore, the present invention also includes a speed driving component nested in the speed switching component, which allows the constant speed gear, the non-constant speed pinion and the non-constant speed large gear to be in a free rotation state when the constant speed gear, the non-constant speed pinion and the non-constant speed large gear and the bottom transmission gear connected to the constant speed gear are meshing and switching between the two sets of rotating large gears, so as to facilitate meshing with the rotating large gear and the drive gear in the stopped state. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of a rail-mounted inspection robot's walking drive structure provided by the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the rail-mounted robot part of the present invention;

[0021] Figure 3 This is a schematic diagram of the slide rail component of the present invention;

[0022] Figure 4 This is a cross-sectional schematic diagram of the slide rail component of the present invention;

[0023] Figure 5This is a schematic diagram of the inspection component of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the connecting member on the same side of the present invention;

[0025] Figure 7 This is an exploded view of the connecting member on the same side of the present invention;

[0026] Figure 8 This is a schematic diagram of the speed switching component of the present invention;

[0027] Figure 9 This is a schematic diagram of the through shaft portion of the present invention;

[0028] Figure 10 This is a schematic diagram of the transmission structure of the bottom transmission gear part of the present invention;

[0029] Figure 11 This is a schematic diagram of the speed-driving component of the present invention;

[0030] Figure 12 This is a schematic diagram of the transmission structure of the drive toothed belt part of the present invention;

[0031] Figure 13 This is a schematic diagram of the structure of the elastic sliding column component of the present invention;

[0032] Figure 14 This is a schematic diagram of the roller moving along the arc-shaped slide rail of the present invention;

[0033] Figure 15 This is a schematic diagram of the structure of the compensation slider assembly of the present invention.

[0034] Figure label:

[0035] 1. Slide rail component; 2. Inspection component; 3. Same-side connection component; 4. Speed ​​switching component; 5. Speed ​​drive component; 6. Elastic sliding column component; 7. Compensating sliding plate component; 8. Central controller;

[0036] 101. Linear slide rail; 102. Curved slide rail; 103. Inner slide groove; 104. Outer slide groove; 105. Top slide groove;

[0037] 201. Main housing; 202. Inspection probe; 203. Carriage; 204. Sliding shaft; 205. Roller;

[0038] 301. Rotate the toothed pulley; 302. Rotate the toothed belt; 303. Rotate the large gear;

[0039] 401. Inner crossbeam; 402. Switching slide; 403. Bottom slide column; 404. Side slide block; 405. Telescopic electric cylinder; 406. Telescopic seat; 407. Constant speed gear; 408. Non-constant speed pinion; 409. Non-constant speed large gear; 410. Through shaft seat; 411. Through shaft; 412. Bottom transmission gear; 413. Bottom transmission toothed pulley; 414. Bottom transmission toothed belt;

[0040] 501. Drive shaft housing; 502. Drive shaft; 503. Drive gear; 504. Servo motor; 505. Drive toothed pulley; 506. Drive toothed belt;

[0041] 601. Elastic slide block; 602. Elastic slider; 603. Elastic slide column; 604. Side column; 605. Side sliding hole; 606. Balance spring;

[0042] 701. Outer arc groove; 702. Inner fixed sliding column; 703. Outer arc-shaped sliding plate; 704. Outer sliding column; 705. Top spring; 706. Limiting seat. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] like Figures 1-15 As shown, a walking drive structure for a rail-mounted inspection robot is provided. The arc-shaped slide rail 102 in the slide rail component 1 is connected to the corner of the straight slide rail 101, which can form the straight walking path and turning path of the inspection robot.

[0046] The inner sides of the linear slide rail 101 and the arc slide rail 102 are jointly provided with an inner slide groove 103, and the outer sides are jointly provided with an outer slide groove 104.

[0047] The top two sides of the inspection component 2 are symmetrically screwed with rollers 205. The inner rollers 205 are rolled in the inner slide groove 103, and the outer rollers 205 are rolled in the outer slide groove 104. The bottom ends of the rollers 205 on the same side are connected in the same direction. The rotating large gear 303 is fixed to the bottom end of the actively rotating rollers 205.

[0048] The inner crossbeam 401 is fixed to the lower inner part of the main body of the inspection component 2. The switching slide 402 is slidably connected to the top of the inner crossbeam 401. One end of the switching slide 402 is screwed with a constant speed gear 407 that meshes with each other, and the other end is screwed with a non-uniform speed pinion 408 and a non-uniform speed gear 409 that mesh with each other. Driven by the movable switching slide 402, the two sets of constant speed gears 407 can mesh between the two sets of rotating large gears 303, or the non-uniform speed pinion 408 and the non-uniform speed gear 409 can mesh between the two sets of rotating large gears 303. The non-uniform speed pinion 408 is connected to a set of constant speed gears 407 on the same side in the same direction. The non-uniform speed gear 409 is connected to another set of constant speed gears 407 on the same side in the same direction. The bottom end of each set of constant speed gears 407 is also fixed with a bottom transmission gear 412, and the two sets of bottom transmission gears 412 mesh with each other.

[0049] The drive gears 503 are symmetrically screwed into the main body of the inner cross frame 401 and are connected in the same direction of transmission. One set of drive gears 503 is connected to the servo motor 504. While the two sets of constant speed gears 407 and the non-constant speed small gears 408 and non-constant speed large gears 409 are meshing and switching between the two sets of rotating large gears 303, one set of bottom transmission gears 412 is just meshing and switching between the two sets of drive gears 503.

[0050] The purpose of using the combination of speed drive component 5 and speed switching component 4, rather than using speed switching component 4 alone, to directly form two sets of constant speed gears 407 and unequal speed pinion 408 and unequal speed gear 409 meshing and switching between two sets of rotating gears 303 is that if servo motor 504 is used alone to directly drive the bottom transmission gear 412 to rotate, the rotation of servo motor 504 needs to be stopped during the switching process. After servo motor 504 is stopped, constant speed gears 407, unequal speed pinion 408 and unequal speed gear 409 will also stop rotating and cannot rotate freely, which is not conducive to the constant speed gears 407, unequal speed pinion 408 and unequal speed gear 409 meshing with rotating gears 303.

[0051] With the addition of the speed-matching drive component 5, during the meshing switching process, the constant speed gear 407, the non-constant speed pinion 408, the non-constant speed gear 409, and the bottom transmission gear 412 connected to the constant speed gear 407 are in a free-rotating state. After the servo motor 504 drives the drive gear 503 to stop, it is convenient for the bottom transmission gear 412 in the free-rotating state to mesh and switch between the two sets of drive gears 503. It is also convenient for the two sets of constant speed gears 407 and the non-constant speed pinion 408 and the non-constant speed gear 409 in the free-rotating state to synchronously form meshing and switching between the two sets of rotating gears 303.

[0052] The working principle is as follows:

[0053] The linear guide rail 101 and the arc-shaped guide rail 102 form a travel path, which can be suspended from the top of the required space;

[0054] Furthermore, the travel path formed by the linear slide rail 101 and the arc slide rail 102 always turns to the same side when turning, so that the inner slide groove 103 is always located on one side of the slide rail component 1 and the outer slide groove 104 is always located on the other side of the slide rail component 1.

[0055] When the inspection component 2 moves in a straight line, the inner slide groove 103 on the inner side of the linear slide rail 101 and the outer slide groove 104 on the outer side have the same path length. Therefore, the rollers 205 on both sides of the inspection component 2 need to roll at the same speed. At this time, the switching slide 402 moves to the position where the two sets of constant speed gears 407 mesh with the two sets of rotating large gears 303 respectively. At the same time, the bottom transmission gear 412 meshes with one of the drive gears 503. The servo motor 504 drives the drive gear 503 and the bottom transmission gear 412 to form a coordinated transmission, which can make the two sets of constant speed gears 407 rotate in opposite directions, thereby making the two sets of rotating large gears 303 rotate in opposite directions. The two sets of rotating large gears 303 drive the rollers 205 on both sides to maintain the same speed and rotate in opposite directions, thereby realizing the stable linear movement of the inspection component 2.

[0056] When the inspection component 2 travels along the arc-shaped slide rail 102, the arc length of the inner slide groove 103 on the inner side of the arc-shaped slide rail 102 is less than the arc length of the outer slide groove 104 on the outer side. Therefore, the rolling speeds of the rollers 205 on both sides of the inspection component 2 need to be different, and the rotational speed of the roller 205 rolling in the outer slide groove 104 needs to be greater than the speed of the roller 205 rolling in the inner slide groove 103 to ensure that the inspection component 2 can travel smoothly along the arc-shaped slide rail 102. Therefore, the switching slide block 402 needs to be moved to the position where the unequal speed pinion 408 and the unequal speed gear 409 are respectively engaged with the two sets of rotating gears 303. At the same time, the bottom transmission gear 412 is engaged with another set of drive gears 503, and the servo motor 50 4. The drive gear 503 and the bottom transmission gear 412 are engaged to form a transmission, which allows the two sets of constant speed gears 407 to rotate in opposite directions. The two sets of constant speed gears 407 idle and drive the non-uniform speed pinion 408 and non-uniform speed gear 409 to rotate through the transmission mechanism, so that the non-uniform speed pinion 408 and non-uniform speed gear 409 maintain the same speed and rotate in opposite directions. Since the number of teeth of the non-uniform speed pinion 408 is less than the number of teeth of the non-uniform speed gear 409, the two sets of rotating gears 303 can form different transmission ratios, thereby meeting the requirement that the rotation speed of the roller 205 located in the outer slide groove 104 is greater than the rotation speed of the roller 205 located in the inner slide groove 103, so that the inspection component 2 can move smoothly and without jamming along the arc-shaped slide rail 102.

[0057] The specific structure of slide rail component 1 is as follows: Figure 3 and Figure 4 As shown, the top groove 105 is formed on both sides of the top of the linear slide rail 101 and the arc slide rail 102. After the arc slide rail 102 is connected to the linear slide rail 101, the top groove 105 in the linear slide rail 101 is directly connected to the top groove 105 in the arc slide rail 102.

[0058] The specific structure of inspection component 2 is as follows: Figure 5 As shown, the main housing 201 is the base for the inspection component 2. The top two sides of the main housing 201 are symmetrically fixed with slides 203. After assembly, the main housing 201 will not interfere with the linear slide rail 101 and the arc slide rail 102. The inner end of each slide 203 is vertically rotatably connected with a sliding shaft 204. The roller 205 is inserted and fixed in the sliding shaft 204. In order to improve the rotation accuracy of the roller 205 and the flexibility of rolling connection with the inner slide groove 103 and the outer slide groove 104, the roller 205 itself is composed of two different materials, the inner part is a rigid material, and the outer part of the rigid material is covered with silicone.

[0059] The inspection probe 202 is fixedly installed on the outer bottom of the main housing 201 and can be rotated and adjusted at multiple angles.

[0060] The specific structures of the same-side connecting component 3, the speed switching component 4, and the speed driving component 5 are as follows: Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, the rotating toothed pulley 301 is inserted and fixed to the bottom end of the sliding shaft 204, and the rotating toothed belt 302 is sleeved and installed between the two sets of rotating toothed pulleys 301 on the same side.

[0061] The large rotating gear 303 is fixedly connected to the bottom end of the actively rotating sliding shaft 204;

[0062] The inner cross frame 401 is horizontally fixedly connected to the lower inner end of the main housing 201, and the bottom slide column 403 is symmetrically fixedly connected to the top of the inner cross frame 401. The switching slide block 402 forms a sliding connection with the bottom slide column 403 through the side slide blocks 404 fixed on both sides.

[0063] A telescopic electric cylinder 405 is also installed and fixed on one side of the interior of the main housing 201. The top of the telescopic rod of the telescopic electric cylinder 405 is fixedly connected to the telescopic seat 406 fixed in the middle of one side of the switching slide 402. Driven by the telescopic electric cylinder 405, the switching slide 402 can move precisely along the sliding fit formed by the side slide block 404 and the bottom slide column 403, thereby realizing the meshing switching of two sets of constant speed gears 407 and non-constant speed small gears 408 and non-constant speed large gears 409 between two sets of rotating large gears 303.

[0064] A through shaft seat 410 is fixedly installed in the main body of the switching slide 402. A through shaft 411 is rotatably connected in each through shaft seat 410. A constant speed gear 407, a non-constant speed pinion 408 and a non-constant speed gear 409 are respectively inserted and fixed at the top of different through shafts 411. A bottom transmission gear 412 is inserted and fixed at the bottom of the through shaft 411 connected to the constant speed gear 407. A bottom transmission toothed pulley 413 is also inserted and fixed at the bottom of each through shaft 411. A bottom transmission toothed belt 414 is sleeved and installed between two sets of bottom transmission toothed pulleys 413 on the same side.

[0065] The servo motor 504 is mounted and fixed on the inner bottom end of the main housing 201. Both the telescopic electric cylinder 405 and the servo motor 504, which are driven by the main housing 201, are mounted with the main housing 201 as the mounting reference. This reduces the formation of relative mounting references and improves working accuracy to a certain extent.

[0066] The inner cross frame 401 has a drive shaft seat 501 symmetrically fixedly installed in its main body. The drive shaft 502 is rotatably connected in the drive shaft seat 501. The drive gear 503 is inserted and fixedly fixed at the top of the drive shaft 502. The shaft of the servo motor 504 is fixedly connected to the bottom of one of the drive shafts 502. The bottom of each drive shaft 502 is also inserted and fixedly fixed with a drive toothed pulley 505. The drive toothed belt 506 is sleeved and installed between the two sets of drive toothed pulleys 505.

[0067] After the servo motor 504 is started, the two sets of drive gears 503 can be driven to rotate in the same direction and at the same speed through the transmission mechanism formed by the drive toothed pulley 505 and the drive toothed belt 506 connected between the two sets of drive shafts 502.

[0068] After the bottom transmission gear 412 meshes with any one of the drive gears 503, it can drive both sets of bottom transmission gears 412 to rotate in opposite directions.

[0069] Each set of gears can form a stable and high-precision fit, while each set of toothed pulleys and toothed belts can form a certain elastic fit to achieve the purpose of buffering and vibration absorption, forming a complementary relationship; thus, the meshing and switching of the constant speed gear 407, the non-constant speed pinion 408 and the non-constant speed gear 409 between the two sets of rotating large gears 303, and the meshing and switching of the bottom transmission gear 412 between the two sets of drive gears 503 can be smoother, reducing the occurrence of direct hard contact between gears;

[0070] The inner bottom of the main housing 201 is also equipped with a central controller 8. The inspection probe 202, the telescopic electric cylinder 405 and the servo motor 504 are all electrically connected to the central controller 8 to realize the walking control of the inspection component 2 and the control of the inspection probe 202.

[0071] The specific structure of the elastic sliding column component 6, which can improve the displacement accuracy of the carriage 203 relative to the linear guide rail 101 or the arc-shaped guide rail 102, is as follows: Figure 13 As shown, the elastic slide 601 is installed and fixed on the top of the slide 203, and the elastic slider 602 is slidably connected in the elastic slide 601;

[0072] Both sides of the elastic slider 602 are fixed with side posts 604. Both sides of the main body of the elastic slide block 601 are provided with side sliding holes 605. The side posts 604 on the same side are slidably connected in the side sliding holes 605. A balance spring 606 is sleeved in each set of side posts 604. One end of the balance spring 606 is fixed to one side of the elastic slider 602, and the other end is fixed to the inner side of the elastic slide block 601. The elastic slide column 603 is installed and fixed in the middle of the bottom end of the elastic slider 602, and is slidably connected in the top slide groove 105 through the main body of the slide frame 203.

[0073] Under the opposing elastic force support formed by the balance springs 606 on both sides of the elastic slider 602, the elastic slider 603 can slide in the top groove 105 at the top of the linear slide rail 101 when the inspection component 2 moves linearly in the linear slide rail 101. When the inspection component 2 moves along the path of the arc slide rail 102, the elastic slider 603 can also generate lateral displacement with the change of the path of the arc slide rail 102, so that the elastic slider 603 is always slidably connected in the top groove 105 at the top of the arc slide rail 102. Thus, the inspection component 2 can improve the sliding displacement accuracy by utilizing the elastic slider component 6 when sliding in both the linear slide rail 101 and the arc slide rail 102.

[0074] like Figure 14 As shown, when the inspection component 2 moves along the path of the arc-shaped slide rail 102, taking the inner groove 103 on the inner side of the arc-shaped slide rail 102 as the tangential reference, the roller 205 on the other side of the inspection component 2 will intersect the tangential surface of the outer groove 104 on the outer side of the arc-shaped slide rail 102. Figure 13 The shaded area is the region formed by the intersection of the tangent of the roller 205 and the outer groove 104 on the outer side of the arc-shaped slide rail 102, which affects the movement of the inspection component 2 in the arc-shaped slide rail 102. The setting of the compensation slide component 7 can solve this problem.

[0075] As the inspection component 2 moves along the path of the arc-shaped slide rail 102, the rollers 205 on both sides of the inspection component 2 can quickly and smoothly transition to the compensation slide component 7. The specific structure of the compensation slide component 7 is as follows: Figure 15 As shown;

[0076] An outer arc groove 701 is formed on the outer arc surface of the arc slide rail 102, replacing the original position of the outer slide groove 104. An inner fixed slide post 702 is symmetrically fixed at the inner end of the arc slide rail 102, and an outer sliding post 704 is symmetrically fixed on the inner surface of the outer arc slide piece 703. The outer sliding post 704 on the same side is slidably connected in the inner fixed slide post 702, and the arc length of the outer arc slide piece 703 is smaller than the arc length of the outer arc groove 701, so that when the outer arc slide piece 703 slides with the outer sliding post 704 and the inner fixed slide post 702 in cooperation, the connection between the linear slide rail 101 and the arc slide rail 102 will not cause interference to the two ends of the outer arc slide piece 703.

[0077] Each set of outer sliding column 704 is connected to the inner bottom surface of the inner fixed sliding column 702 by a top spring 705, which allows the outer arc-shaped sliding piece 703 to elastically move outward.

[0078] Both ends of the inner arc surface of the outer arc-shaped slider 703 are also fixedly connected to the limiting seat 706, so that the outer arc-shaped slider 703 will not disengage from the outer arc groove 701 after it springs out into place.

[0079] In other words, after the outer arc-shaped slide plate 703 is outwardly ejected into position, there is a certain gap between the two ends of the outer arc-shaped slide plate 703 and the outer groove 104 opened on the outside of the linear slide rail 101, and it will not affect the rolling movement of the roller 205 between the outer groove 104 opened on the outside of the linear slide rail 101 and the outside of the outer arc-shaped slide plate 703.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking drive structure for a rail-mounted inspection robot, comprising a slide rail component (1), characterized in that: It also includes an inspection component (2), a same-side connection component (3), a speed switching component (4), and a speed drive component (5); The slide rail component (1) includes a linear slide rail (101) and an arc slide rail (102). The top two sides of the inspection component (2) are symmetrically connected with rollers (205). The inner rollers (205) are rolled in the inner slide groove (103), and the outer rollers (205) are rolled in the outer slide groove (104). The bottom ends of the rollers (205) on the same side are connected in the same direction. The connecting component (3) on the same side is connected to the rollers (205) in a transmission direction. The speed driving component (5) can switch the rollers (205) on different sides between constant speed rotation and non-constant speed rotation through the speed switching component (4) and the connecting component (3) on the same side. The same-side connecting component (3) includes a rotating large gear (303), the speed switching component (4) includes an inner crossbeam (401) and a switching slide (402), the speed driving component (5) includes a drive gear (503) and a servo motor (504), the arc-shaped slide rail (102) is connected to the corner of the linear slide rail (101), the inner sides of the linear slide rail (101) and the arc-shaped slide rail (102) are jointly provided with an inner slide groove (103), and the outer sides are jointly provided with an outer slide groove (104), the rotating large gear (303) is fixed to the bottom end of the actively rotating roller (205); the inner crossbeam (401) is fixed to the lower inner part of the main body of the inspection component (2), the switching slide (402) slides on the top of the inner crossbeam (401), and the switching... One end of the slide (402) is screwed with a constant velocity gear (407) meshing with each other, and the other end is screwed with a non-constant velocity pinion (408) and a non-constant velocity gear (409) meshing with each other. The non-constant velocity pinion (408) is connected to a set of constant velocity gears (407) on the same side in the same direction of transmission. The non-constant velocity gear (409) is connected to another set of constant velocity gears (407) on the same side in the same direction of transmission. The bottom end of each set of constant velocity gears (407) is also fixed with a bottom transmission gear (412), and the two sets of bottom transmission gears (412) mesh with each other. The drive gears (503) are symmetrically screwed into the main body of the inner cross frame (401) and are connected in the same direction of transmission. One set of drive gears (503) is connected to a servo motor (504). The inspection component (2) also includes a main housing (201) and an inspection probe (202). The top two sides of the main housing (201) are symmetrically fixed with slides (203). The inner end of each slide (203) is rotatably connected with a sliding shaft (204). The roller (205) is inserted and fixed in the sliding shaft (204). The inspection component (2) also includes a main housing (201) and an inspection probe (202). The top two sides of the main housing (201) are symmetrically fixed with slides (203). The inner end of each slide (203) is rotatably connected with a sliding shaft (204). The roller (205) is inserted and fixed in the sliding shaft (204). The speed switching assembly (4) also includes a bottom slide column (403), a side slide block (404), a telescopic seat (406), and a bottom drive toothed belt (414). The inner cross frame (401) is fixedly connected to the lower inner end of the main housing (201). The bottom slide column (403) is symmetrically fixedly connected to the top of the inner cross frame (401). The switching slide (402) is slidably connected to the bottom slide column (403) through the side slide blocks (404) fixed on both sides. A telescopic electric cylinder (405) is also installed and fixed on one side of the interior of the main housing (201). The top of the telescopic rod of the telescopic electric cylinder (405) is fixedly connected to the telescopic seat (406) fixed on one side of the switching slide (402). A through shaft seat (410) is fixedly installed in the main body of the switching slide (402). A through shaft (411) is rotatably connected in each through shaft seat (410). A constant speed gear (407), a non-constant speed pinion (408), and a non-constant speed large gear (409) are respectively inserted and fixed at the top of different through shafts (411). A bottom transmission gear (412) is inserted and fixed at the bottom end of the through shaft (411) connected to the constant speed gear (407). A bottom transmission toothed pulley (413) is also inserted and fixed at the bottom end of each through shaft (411). A bottom transmission toothed belt (414) is sleeved and installed between the bottom transmission toothed pulleys (413) on the same side.

2. The walking drive structure for a rail-mounted inspection robot according to claim 1, characterized in that: The slide rail component (1) also includes a top slide groove (105), which is provided on both sides of the top of the linear slide rail (101) and the arc slide rail (102).

3. The walking drive structure for a rail-mounted inspection robot according to claim 1 or 2, characterized in that: The connecting component (3) on the same side also includes a rotating toothed pulley (301) and a rotating toothed belt (302). The rotating toothed pulley (301) is inserted and fixed at the bottom end of the sliding shaft (204). The rotating toothed belt (302) is sleeved and installed between the rotating toothed pulleys (301) on the same side. The rotating large gear (303) is fixedly connected to the bottom end of the actively rotating sliding shaft (204).

4. The walking drive structure for a rail-mounted inspection robot according to claim 1 or 2, characterized in that: The speed drive assembly (5) also includes a drive shaft (502) and a drive belt (506). The servo motor (504) is mounted and fixed at the bottom of the main housing (201). The drive shaft seat (501) is symmetrically fixed in the main body of the inner cross frame (401). The drive shaft (502) is rotatably connected in the drive shaft seat (501). The drive gear (503) is inserted and fixed at the top of the drive shaft (502). The shaft of the servo motor (504) is fixedly connected to the bottom of one of the drive shafts (502). The bottom of each drive shaft (502) is also inserted and fixed with a drive belt pulley (505). The drive belt (506) is sleeved and installed between the drive belt pulleys (505).

5. The walking drive structure of a rail-mounted inspection robot according to claim 3, characterized in that: The speed drive assembly (5) also includes a drive shaft (502) and a drive belt (506). The servo motor (504) is mounted and fixed at the bottom of the main housing (201). The drive shaft seat (501) is symmetrically fixed in the main body of the inner cross frame (401). The drive shaft (502) is rotatably connected in the drive shaft seat (501). The drive gear (503) is inserted and fixed at the top of the drive shaft (502). The shaft of the servo motor (504) is fixedly connected to the bottom of one of the drive shafts (502). The bottom of each drive shaft (502) is also inserted and fixed with a drive belt pulley (505). The drive belt (506) is sleeved and installed between the drive belt pulleys (505).

6. The walking drive structure for a rail-mounted inspection robot according to claim 1, 2, or 5, characterized in that: Each set of slides (203) is also equipped with an elastic sliding column component (6) at its top. The elastic sliding column component (6) includes an elastic slide block (601), an elastic slider (602), and an elastic sliding column (603). The elastic slide block (601) is fixedly installed at the top of the slide (203). The elastic slider (602) is slidably connected in the elastic slide block (601). Side columns (604) are fixed on both sides of the elastic slider (602). Side columns (604) are opened on both sides of the main body of the elastic slide block (601). The sliding hole (605) and the side column (604) on the same side are slidably connected in the sliding hole (605). Each set of side columns (604) is fitted with a balance spring (606). One end of the balance spring (606) is fixed to one side of the elastic slider (602), and the other end is fixed to the inner side of the elastic slide block (601). The elastic slide column (603) is installed and fixed in the middle of the bottom end of the elastic slider (602), and is slidably connected in the top slide groove (105) through the main body of the slide frame (203).

7. The walking drive structure of a rail-mounted inspection robot according to claim 3, characterized in that: Each set of slides (203) is also equipped with an elastic sliding column component (6) at its top. The elastic sliding column component (6) includes an elastic slide block (601), an elastic slider (602), and an elastic sliding column (603). The elastic slide block (601) is fixedly installed at the top of the slide (203). The elastic slider (602) is slidably connected in the elastic slide block (601). Side columns (604) are fixed on both sides of the elastic slider (602). Side columns (604) are opened on both sides of the main body of the elastic slide block (601). The sliding hole (605) and the side column (604) on the same side are slidably connected in the sliding hole (605). Each set of side columns (604) is fitted with a balance spring (606). One end of the balance spring (606) is fixed to one side of the elastic slider (602), and the other end is fixed to the inner side of the elastic slide block (601). The elastic slide column (603) is installed and fixed in the middle of the bottom end of the elastic slider (602), and is slidably connected in the top slide groove (105) through the main body of the slide frame (203).

8. The walking drive structure of a rail-mounted inspection robot according to claim 4, characterized in that: Each set of slides (203) is also equipped with an elastic sliding column component (6) at its top. The elastic sliding column component (6) includes an elastic slide block (601), an elastic slider (602), and an elastic sliding column (603). The elastic slide block (601) is fixedly installed at the top of the slide (203). The elastic slider (602) is slidably connected in the elastic slide block (601). Side columns (604) are fixed on both sides of the elastic slider (602). Side columns (604) are opened on both sides of the main body of the elastic slide block (601). The sliding hole (605) and the side column (604) on the same side are slidably connected in the sliding hole (605). Each set of side columns (604) is fitted with a balance spring (606). One end of the balance spring (606) is fixed to one side of the elastic slider (602), and the other end is fixed to the inner side of the elastic slide block (601). The elastic slide column (603) is installed and fixed in the middle of the bottom end of the elastic slider (602), and is slidably connected in the top slide groove (105) through the main body of the slide frame (203).

9. A walking drive structure for a rail-mounted inspection robot according to claim 1, 2, 5, 7 or 8, characterized in that: The outer side of the arc-shaped slide rail (102) is also equipped with a compensating slide plate assembly (7). The compensating slide plate assembly (7) also includes an outer arc groove (701) and an outer arc-shaped slide plate (703). The outer arc groove (701) is opened on the outer arc surface of the arc-shaped slide rail (102). The inner end of the arc-shaped slide rail (102) is symmetrically fixed with an inner fixed slide column (702). The inner surface of the outer arc-shaped slide plate (703) is symmetrically fixed with an outer sliding column (704). The outer sliding column (704) on the same side is slidably connected in the inner fixed slide column (702). The inner end of each set of outer sliding columns (704) is also connected to the inner bottom surface of the inner fixed slide column (702) with a top spring (705). The two ends of the inner arc surface of the outer arc-shaped slide plate (703) are also fixedly connected with a limit seat (706).

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