Walking device for inspection robot

Abstract

The invention discloses a walking device for an inspection robot. The walking device comprises a track body and an inspection vehicle arranged on the surface of the track body. The device is provided with a straddling structure, the inspection vehicle can be directly erected on the surface of the track body without cooperation of a hoisting instrument, the design can improve the deployment convenience and working efficiency of the inspection robot, the nut fastening state of the fixed track can be automatically maintained, and track shaking or displacement caused by nut loosening is reduced; fine granular impurities on the surface of the track can be cleaned, the stability of the device in the moving inspection process can be guaranteed, the sliding clamping block slides on the side face of the track body, the stability of the device in the using process is improved, and the device is prevented from being damaged when moving on the track body. And safe and stable operation of the inspection robot is guaranteed when derailment occurs, so that various inspection tasks are smoothly completed, and the reliability and accuracy of inspection work are improved.

Description

Technical Field

[0001] The invention relates to the field related to track inspection technology, and in particular to a walking device for an inspection robot. Background Art

[0002] With the continuous advancement of science and technology and the development of industrial automation, inspection robots are increasingly used in various fields. They are used to perform various inspection tasks, such as factory equipment monitoring, power facility inspection, pipeline inspection, etc., to improve inspection efficiency, reduce labor costs and ensure the safety of the working environment. The walking device is a key component of the inspection robot, and its performance directly affects the robot's working ability and scope of application.

[0003] When traditional track inspection robots are driving on the track for inspection, they need to be set up on the track. During this process, lifting equipment is often needed to lift the track inspection robot on the track. After the inspection, in order not to hinder the normal movement of vehicles, the track inspection robot needs to be removed from the track. At the same time, when transporting bulk goods (such as sand and gravel), the bulk goods will be scattered on the track. Due to the busy freight traffic, if they are not cleaned up in time, the bulk goods will accumulate on the track and affect the safety of vehicles driving on the track. The conventional track cleaning method is to push possible foreign objects off the track through a fixed structure to avoid derailment caused by contact with the guide wheels. However, for small granular foreign objects, the cleaning efficiency of the push-off method is low and the cleaning effect is poor. Summary of the invention

[0004] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a walking device for an inspection robot.

[0005] The present invention is implemented by constructing a walking device for an inspection robot, the device comprising a track body and an inspection vehicle arranged on the surface of the track body;

[0006] The surface of the inspection vehicle is equipped with a cross-row assembly, which includes a fixed frame arranged above the inspection vehicle, a support slide bar slidably connected to a through hole opened on the surface of the fixed frame, and a U-shaped frame, a universal wheel and a hydraulic rod for supporting the fixed frame;

[0007] The bottom surface of the inspection vehicle is installed with a rail clamping and anti-slipping assembly, which includes a mounting seat fixedly mounted on the bottom surface of the inspection vehicle, a sliding clamping block symmetrically arranged in the mounting seat, and a support rod, a spring and a slider for controlling the two sliding clamping blocks to synchronously move and clamp on the surface of the track body to prevent the device from derailing;

[0008] A track cleaning assembly is symmetrically installed on one side of the inspection vehicle, and the track cleaning assembly includes a U-shaped sleeve symmetrically arranged on one side of the inspection vehicle, a cleaning brush arranged in the U-shaped sleeve, and a fixed guide frame, a square rod, a sliding sleeve and a rotating rod for controlling the cleaning brush to contact and clean the surface of the track body.

[0009] Preferably, U-shaped frames are installed at both ends of the supporting slide rod, universal wheels are installed at the bottom ends of the U-shaped frames, hydraulic rods are installed on the bottom surface of the fixed frame, and the piston end of the hydraulic rod is connected to the inspection vehicle.

[0010] Preferably, a tooth plate is slidably connected in a slide groove opened on the surface of the fixed frame, and the two ends of the tooth plate are respectively connected to U-shaped frames symmetrically arranged on both sides of the fixed frame. A servo motor is installed on the surface of the fixed frame, and a gear 1 is installed on the output shaft end of the servo motor, and the gear 1 is meshed with the surface of the tooth plate.

[0011] Preferably, extension plates are symmetrically installed on both sides of the inspection vehicle, a fixed support rod is fixedly installed on the bottom surface of the extension plate, and an elastic rubber plate is integrally formed on the outer surface of the bottom of the fixed support rod.

[0012] Preferably, a support rod is installed in the mounting seat, and the surface of the support rod is slidably connected to two sliders, and the two sliding clamps are respectively installed on the bottom surfaces of the two sliders, and a spring is sleeved on the surface of the support rod and located between the two sliders.

[0013] Preferably, a same guide square rod is slidably connected in a blind groove opened on the same side surface of the two sliders, the guide square rod is fixedly installed in a mounting seat, a wedge seat is installed on the surface of the slider, and a wedge plate is slidably connected in the wedge seat.

[0014] Preferably, a fixing rod is fixedly installed on one side surface of the inspection vehicle, the surface of the fixing rod is sleeved with a spring 2, one end of the spring 2 abuts against a connecting block slidably connected to the surface of the fixing rod, an L-shaped connecting rod is fixed on the surface of the connecting block, a T-shaped fixing rod is slidably connected in an L-shaped groove provided on the surface of the L-shaped connecting rod, the T-shaped fixing rod is fixedly installed on one side surface of the fixing frame, a connecting block is fixed on the surface of the wedge plate, a sliding column is slidably connected in a Z-shaped groove provided on the surface of the connecting block, one end of the sliding column is fixedly connected to a connecting plate, and the connecting plate is fixedly installed on the bottom surface of the connecting block.

[0015] Preferably, a guide seat is fixedly installed on one side of the connecting block, a T-shaped rod is slidably connected to the surface of the guide seat, a spring three is sleeved on the surface of the T-shaped rod, one end of the spring three abuts against the bottom surface of the guide seat, and the T-shaped rod is fixedly installed on the bottom surface of the inspection vehicle.

[0016] Preferably, a fixed guide frame is fixed on one side of the inspection vehicle, a U-shaped sleeve is fixedly installed on the bottom surface of the fixed guide frame, a square rod is fixed inside the U-shaped sleeve, a sliding sleeve is slidably connected to the surface of the square rod, a rotating rod 2 is rotatably connected to the bottom surface of the sliding sleeve, and a cleaning brush is fixed to the bottom end of the rotating rod 2.

[0017] Preferably, a connecting piece is fixedly installed on one side of the sliding sleeve, one end of the connecting piece is fixedly installed on a side surface of one of the sliding clamps, a spring four is sleeved on the outer side of the square rod, one end of the spring four abuts against one end of the sliding sleeve, and the other end of the spring four abuts against the U-shaped sleeve, a rotating rod one is rotatably connected to the bottom surface of the sliding sleeve, a gear two is fixed on the outer surface of the rotating rod one, a gear three is fixed on the outer surface of the rotating rod two, the gear two and the gear three are meshed with each other, and an abutting roller is fixedly installed on the bottom end of the rotating rod one.

[0018] The present invention has the following advantages: The present invention provides a walking device for an inspection robot through improvement, which has the following improvements compared with similar devices:

[0019] The walking device for an inspection robot described in the present invention is provided with a cross-row assembly, and through the coordinated use of structures such as a fixed frame, a gear, a U-shaped frame, a universal wheel, a support slide bar, an extension plate and an elastic rubber plate, the device has a cross-row structure, and the inspection vehicle can be directly mounted on the surface of the track body without the need for a lifting device. This design can improve the deployment convenience and work efficiency of the inspection robot. When walking on the track, the cross-row structure can stably support the frame, ensuring that the inspection robot installed on the surface of the inspection vehicle runs smoothly, facilitating deployment, improving efficiency, reducing costs, and enhancing stability to adapt to different track environments and work scenes. Whether it is on the production line track of a factory workshop or the track system of other specific places, the walking device can give full play to its advantages and provide reliable mobile guarantee for inspection work.

[0020] The elastic rubber plate with its own elasticity can contact one side of the bolts fixing the track one by one, and under the action of friction, the loosened bolts in contact with the elastic rubber plate are caused to rotate and lock themselves, which can automatically maintain the tightness of the nuts fixing the track and reduce the shaking or displacement of the track caused by loose nuts. There is no need for frequent manual inspection and tightening of nuts, which saves maintenance costs and time and improves overall work efficiency.

[0021] The walking device for an inspection robot described in the present invention is provided with a rail clamping and anti-derailment component. Through the coordinated use of structures such as a mounting seat, a slider, a wedge seat, a wedge plate, a sliding clamping block, a connecting block, a Z-shaped groove, a connecting block and a guide seat, two sliding clamping blocks are slid on the sides of a track body, which is beneficial to improving the stability of the device during use and preventing the device from derailing when moving on the track body. The rail clamping and anti-derailment structure can tightly clamp the track to ensure that the walking device always travels correctly along the track. During the inspection process, no matter what situation is encountered, such as an uneven track surface, vibration or sudden external force interference, the structure can play a role, firmly fix the walking device so that it will not derail, thereby ensuring the safe and stable operation of the inspection robot, thereby successfully completing various inspection tasks and improving the reliability and accuracy of the inspection work.

[0022] The walking device for an inspection robot described in the present invention is equipped with a track cleaning assembly. Through the coordinated use of structures such as a fixed guide frame, a U-shaped sleeve, a sliding sleeve, an abutment roller and a cleaning brush arranged therein, the fine granular impurities on the surface of the track can be cleaned. Firstly, the stability of the device during the mobile inspection process can be ensured. By timely cleaning the debris, dust, oil stains and the like on the surface of the track, the obstruction and interference of these foreign objects on the walking device are reduced, and the vibration and bumping caused by the uneven track are reduced, so that the inspection robot can move smoothly on the track, and the accuracy and stability of the inspection are improved. Secondly, it helps to extend the service life of the walking device and the track, and avoid wear and corrosion of components by debris. At the same time, keeping the track clean can also improve the working efficiency of the entire inspection system, reduce the downtime caused by failures and maintenance, and ensure the smooth and continuous progress of the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a schematic side view of the structure of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the U-shaped frame, tooth plate and supporting slide rod of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the extension plate, the fixed support rod and the elastic rubber plate of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the T-shaped fixing rod and the L-shaped connecting rod of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the fixing rod, the connecting block and the connecting plate of the present invention;

[0029] Figure 7It is a schematic diagram of the structure of the mounting seat, wedge plate, wedge seat and support rod of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the spring 1, the slider and the guide square rod of the present invention;

[0031] Fig. 9 This is a schematic diagram of the structure of the T-shaped rod, spring three and guide seat of the present invention;

[0032] Fig.10 It is a schematic diagram of the structure of the fixed guide frame, the U-shaped sleeve and the connecting piece of the present invention;

[0033] Fig.11 It is a schematic diagram of the structure of the square rod, abutment roller, sliding sleeve and cleaning brush of the present invention.

[0034] Among them: 1. Track body; 11. Inspection vehicle;

[0035] 2. Cross-row assembly; 21. Fixed frame; 22. Servo motor; 23. Gear 1; 24. Tooth plate; 25. U-shaped frame; 26. Universal wheel; 27. Support slide bar; 28. Hydraulic rod; 29. ​​Extension plate; 210. Fixed support rod; 211. Elastic rubber plate;

[0036] 3. Rail clamp anti-slip assembly; 31. Mounting seat; 32. Support rod; 33. Spring 1; 34. Sliding block; 35. Guide square rod; 36. Wedge seat; 37. Wedge plate; 38. Sliding clamp block; 39. T-shaped fixing rod; 310. L-shaped connecting rod; 311. L-shaped groove; 312. Connecting block; 313. Fixing rod; 314. Spring 2; 315. Connecting plate; 316. Z-shaped groove; 317. Connecting block; 318. Sliding column; 319. Guide seat; 320. T-shaped rod; 321. Spring 3;

[0037] 4. Track cleaning assembly; 41. Fixed guide frame; 42. U-shaped sleeve; 43. Connector; 44. Square rod; 45. Sliding sleeve; 47. Spring four; 48. Rotating rod one; 49. Rotating rod two; 410. Gear two; 411. Gear three; 412. Abutting roller; 413. Cleaning brush. DETAILED DESCRIPTION

[0038] The following will be combined with the attached Figure 1-11 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1-11, a walking device for an inspection robot of the present invention comprises a track body 1 and an inspection vehicle 11 arranged on the surface of the track body 1;

[0040] The surface of the inspection vehicle 11 is equipped with a cross-row assembly 2, which includes a fixed frame 21, a servo motor 22, a gear 23, a tooth plate 24, a U-shaped frame 25, a universal wheel 26, a support slide 27, a hydraulic rod 28, an extension plate 29, a fixed support rod 210 and an elastic rubber plate 211;

[0041] A fixed frame 21 is arranged above the inspection vehicle 11, and a support slide rod 27 is slidably connected in a through hole opened on the surface of the fixed frame 21. U-shaped frames 25 are installed at both ends of the support slide rod 27, and a universal wheel 26 is installed at the bottom end of the U-shaped frame 25. A hydraulic rod 28 is installed on the bottom surface of the fixed frame 21, and the piston end of the hydraulic rod 28 is connected to the inspection vehicle 11.

[0042] This device has a cross-row structure and can directly set up the inspection vehicle 11 on the surface of the track body 1 without the need for lifting equipment. This design can improve the deployment convenience and work efficiency of the inspection robot. When walking on the track, the cross-row structure can stably support the frame, ensuring the smooth operation of the inspection robot installed on the surface of the inspection vehicle 11, facilitating deployment, improving efficiency, reducing costs, and enhancing stability to adapt to different track environments and work scenarios. Whether it is on the production line track in a factory workshop or on the track system in other specific places, the walking device can give full play to its advantages and provide reliable mobile guarantees for inspection work.

[0043] A toothed plate 24 is slidably connected in a slide groove provided on the surface of the fixed frame 21. Both ends of the toothed plate 24 are respectively connected to U-shaped frames 25 symmetrically arranged on both sides of the fixed frame 21. A servo motor 22 is installed on the surface of the fixed frame 21. A gear 23 is installed on the output shaft end of the servo motor 22. The gear 23 is meshed with the surface of the toothed plate 24.

[0044] Extension plates 29 are symmetrically installed on both sides of the inspection vehicle 11 . A fixed support rod 210 is fixedly installed on the bottom surface of the extension plate 29 . An elastic rubber plate 211 is integrally formed on the outer surface of the bottom of the fixed support rod 210 .

[0045] The elastic rubber plate 211, which is elastic in itself, can contact one side of the bolts that fix the rail one by one, and under the action of friction, the loose bolts that contact the elastic rubber plate 211 are caused to rotate and lock themselves, which can automatically maintain the tightness of the nuts that fix the rail, reduce the shaking or displacement of the rail caused by loose nuts, and eliminate the need for frequent manual inspection and tightening of nuts, saving maintenance costs and time and improving overall work efficiency.

[0046] The bottom surface of the inspection vehicle 11 is provided with a rail clamping anti-slip assembly 3, which includes a mounting seat 31, a support rod 32, a spring 1 33, a slider 34, a guide square rod 35, a wedge seat 36, a wedge plate 37, a sliding clamp block 38, a T-shaped fixing rod 39, an L-shaped connecting rod 310, an L-shaped groove 311, a connecting block 312, a fixing rod 313, a spring 2 314, a connecting plate 315, a Z-shaped groove 316, a connecting block 317, a sliding column 318, a guide seat 319, a T-shaped rod 320 and a spring 321;

[0047] A mounting seat 31 is fixedly installed on the bottom surface of the inspection vehicle 11, and sliding clamps 38 are symmetrically arranged inside the mounting seat 31. A support rod 32 is installed inside the mounting seat 31. The surface of the support rod 32 is slidably connected to two sliders 34. The two sliding clamps 38 are respectively installed on the bottom surfaces of the two sliders 34, and a spring 33 is sleeved on the surface of the support rod 32 and located between the two sliders 34.

[0048] A guide square rod 35 is slidably connected in a blind groove on the same side surface of the two sliders 34 . The guide square rod 35 is fixedly installed in the mounting seat 31 . A wedge seat 36 is installed on the surface of the slider 34 . A wedge plate 37 is slidably connected in the wedge seat 36 .

[0049] A fixing rod 313 is fixedly installed on the surface of one side of the inspection vehicle 11, and a spring 2 314 is sleeved on the surface of the fixing rod 313, and one end of the spring 2 314 abuts against a connecting block 312 slidably connected to the surface of the fixing rod 313, and an L-shaped connecting rod 310 is fixed on the surface of the connecting block 312, and a T-shaped fixing rod 39 is slidably connected in an L-shaped groove 311 provided on the surface of the L-shaped connecting rod 310, and the T-shaped fixing rod 39 is fixedly installed on the surface of the fixing frame 21, and a connecting block 317 is fixed on the surface of the wedge plate 37, and a sliding column 318 is slidably connected in a Z-shaped groove 316 provided on the surface of the connecting block 317, and one end of the sliding column 318 is fixedly connected to a connecting plate 315, and the connecting plate 315 is fixedly installed on the bottom surface of the connecting block 312.

[0050] The slider 34 installed on the bottom surface of the wedge seat 36 is driven to move the sliding clamp 38 close to one side of the track body 1 until the two sliding clamps 38 are slid on the side of the track body 1, which is beneficial to improve the stability of the device during use and prevent the device from derailing when moving on the track body 1. The rail clamping and anti-derailment structure can tightly clamp the track to ensure that the walking device always runs correctly along the track.

[0051] A guide seat 319 is fixedly installed on one side of the connecting block 317, and a T-shaped rod 320 is slidably connected to the surface of the guide seat 319. A spring three 321 is sleeved on the surface of the T-shaped rod 320, and one end of the spring three 321 abuts against the bottom surface of the guide seat 319. The T-shaped rod 320 is fixedly installed on the bottom surface of the inspection vehicle 11.

[0052] A track cleaning assembly 4 is symmetrically installed on one side of the inspection vehicle 11, and the track cleaning assembly 4 includes a fixed guide frame 41, a U-shaped sleeve 42, a connecting piece 43, a square rod 44, a sliding sleeve 45, a spring four 47, a rotating rod one 48, a rotating rod two 49, a gear two 410, a gear three 411, an abutting roller 412 and a cleaning brush 413;

[0053] A U-shaped sleeve 42 is symmetrically arranged on one side of the inspection vehicle 11, and a cleaning brush 413 is arranged inside the U-shaped sleeve 42. A fixed guide frame 41 is fixed on one side of the inspection vehicle 11, and the bottom surface of the fixed guide frame 41 is fixedly installed with the U-shaped sleeve 42. A square rod 44 is fixed inside the U-shaped sleeve 42, and a sliding sleeve 45 is slidably connected to the surface of the square rod 44. The bottom surface of the sliding sleeve 45 is rotatably connected to a rotating rod 49, and a cleaning brush 413 is fixed to the bottom end of the rotating rod 49.

[0054] A connecting piece 43 is fixedly installed on one side of the sliding sleeve 45, and one end of the connecting piece 43 is fixedly installed on one side surface of one of the sliding clamping blocks 38. A spring four 47 is sleeved on the outer side of the square rod 44, and one end of the spring four 47 abuts against one end of the sliding sleeve 45, and the other end of the spring four 47 abuts against the U-shaped sleeve 42. A rotating rod 1 48 is rotatably connected to the bottom surface of the sliding sleeve 45, and a gear two 410 is fixed on the outer surface of the rotating rod one 48, and a gear three 411 is fixed on the outer surface of the rotating rod two 49, and the gear two 410 and the gear three 411 are meshed with each other. An abutting roller 412 is fixedly installed on the bottom end of the rotating rod one 48.

[0055] The cleaning brush 413 installed at the bottom end of the rotating rod 49 rotates to clean the fine granular impurities on the surface of the track, thereby ensuring the stability of the device during the mobile inspection process. By timely cleaning the debris, dust, oil stains, etc. on the surface of the track, the obstruction and interference of these foreign objects on the walking device are reduced, and the vibration and bumps caused by the uneven track are reduced, so that the inspection robot can move smoothly on the track, and the accuracy and stability of the inspection are improved.

[0056] The present invention provides a walking device for an inspection robot through improvement, and its working principle is as follows;

[0057] First, when using the present device, first control the piston end of the hydraulic rod 28 to retract, so that the inspection vehicle 11 installed at its piston end moves up, and then the universal wheel 26 installed at the bottom end of the U-shaped frame 25 can contact the ground. At this time, the operator can manually pull the device to move the device to one side of the track body 1. After the position of the device is moved, control the piston end of the hydraulic rod 28 to extend, so that the inspection vehicle 11 contacts the ground, so that the universal wheel 26 is lifted off the ground, and then control the servo motor 22 to start, so that the gear 23 installed at the rotating shaft end of the servo motor 22 rotates, and with the cooperation of the toothed plate 24, the support slide bar 27 slides to one side on the surface of the fixed frame 21, so that the device is straddled on the surface of the track body 1, and then the hydraulic rod 28 is controlled to cause the universal wheel 26 to contact the ground, and then Then, the fixed frame 21 is controlled to slide on the surface of the supporting slide bar 27, so that the inspection vehicle 11 is directly above the track, and the inspection vehicle 11 can be moved to the surface of the track body 1 by controlling the hydraulic rod 28, so that the device has a cross-row structure, and the inspection vehicle 11 can be directly erected on the surface of the track body 1 without the need for lifting equipment. This design can improve the deployment convenience and work efficiency of the inspection robot. When walking on the track, the cross-row structure can stably support the frame to ensure that the inspection robot installed on the surface of the inspection vehicle 11 runs smoothly, which is convenient for deployment, improves efficiency, reduces costs, and enhances stability to adapt to different track environments and work scenes. Whether it is a production line track in a factory workshop or a track system in other specific places, the walking device can give full play to its advantages and provide reliable mobile guarantee for inspection work;

[0058] Second, when the inspection vehicle 11 moves down to the surface of the track body 1 under the action of the hydraulic rod 28, the T-shaped fixing rod 39 can slide in the L-shaped groove 311 opened on the surface of the L-shaped connecting rod 310, and at the same time, it can cause the connecting block 312 at the L-shaped connecting rod 310 to slide smoothly to one side under the guidance of the fixing rod 313, and compress the spring 2 314, and the sliding column 318 on one side of the connecting plate 315 installed on the bottom surface of the connecting block 312 can slide in the Z-shaped groove 316 opened on the surface of the connecting block 317, and then can cause the connecting block 317 to move down. When the connecting block 317 moves, the connecting block 317 can ensure the smooth movement of the connecting block 317 through the provided guide seat 319 and the T-shaped rod 320. At this time, the connecting block 317 can press down the wedge plate 37, so that the wedge plate 37 contacts with the two wedge seats 36 while following the downward movement. Then, the two wedge seats 36 are prompted to move toward the side close to each other at the same time, and at this time, the slider 34 installed on the bottom surface of the wedge seat 36 can be driven by the sliding clamp 38 to move close to the side of the track body 1, until the two sliding clamps 38 are slid on the side of the track body 1, which is beneficial to improve the stability of the device during use and prevent the device from derailing when moving on the track body 1. The rail clamping and anti-derailment structure can tightly clamp the track to ensure that the walking device always travels correctly along the track. During the inspection process, no matter what situation is encountered, such as uneven track surface, vibration or sudden external force interference, the structure can play a role and firmly fix the walking device so that it will not derail, thereby ensuring the safe and stable operation of the inspection robot, thereby successfully completing various inspection tasks and improving the reliability and accuracy of the inspection work;

[0059] Third, when the device moves on the track, the elastic rubber plate 211 with its own elasticity can contact one side of the bolts fixing the track one by one, and under the action of friction, the loose bolts in contact with the elastic rubber plate 211 are rotated and locked automatically, which can automatically maintain the tightening state of the nuts fixing the track, reduce the shaking or displacement of the track caused by the loose nuts, and do not need to be frequently checked and tightened by humans, saving maintenance costs and time, and improving overall work efficiency;

[0060] Fourth, when the sliding clamp 38 moves to one side and abuts against one side of the track, it can cause the connecting member 43 connected to one side to follow the movement, and at this time, the connecting member 43 can also push the sliding sleeve 45. It can also cause the sliding sleeve 45 to slide to one side on the surface of the square rod 44, and cause the spring 47 to be compressed, and then the rotating rod 1 48 connected to the bottom surface of the sliding sleeve 45 can follow the movement to one side, so that the abutting roller 412 installed at the bottom end of the rotating rod 1 48 can contact one side of the track, and while the device is moving for inspection, the rotating rod 1 48 can rotate, and then under the coordinated use of the gear 2 410 and the gear 3 411, the rotating rod 2 49 can rotate, and then the cleaning brush 413 installed at the bottom end of the rotating rod 2 49 can rotate, so that the fine particles on the surface of the track can be cleaned. Cleaning impurities can first ensure the stability of the device during the mobile inspection process. By timely cleaning the debris, dust, oil stains, etc. on the track surface, the obstruction and interference of these foreign objects on the walking device are reduced, and the vibration and bumps caused by the uneven track are reduced, so that the inspection robot can move smoothly on the track, and the accuracy and stability of the inspection are improved. Secondly, it helps to extend the service life of the walking device and track, and avoid wear and corrosion of components by debris. At the same time, keeping the track clean can also improve the work efficiency of the entire inspection system, reduce downtime caused by failures and maintenance, and ensure the smooth and continuous progress of the inspection work.

[0061] The above shows and describes the basic principles, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0062] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A walking device for an inspection robot, comprising a track body (1) and an inspection vehicle (11) arranged on the surface of the track body (1); Features: A cross-row assembly (2) is installed on the surface of the inspection vehicle (11), and the cross-row assembly (2) includes a fixed frame (21) arranged above the inspection vehicle (11), a support slide bar (27) slidably connected to a through hole provided on the surface of the fixed frame (21), and a U-shaped frame (25) for supporting the fixed frame (21), a universal wheel (26) and a hydraulic rod (28); The bottom surface of the inspection vehicle (11) is provided with a rail clamping and anti-slipping assembly (3), the rail clamping and anti-slipping assembly (3) comprising a mounting seat (31) fixedly mounted on the bottom surface of the inspection vehicle (11), a sliding clamping block (38) symmetrically arranged in the mounting seat (31), and a support rod (32), a spring (33) and a slider (34) for controlling the two sliding clamping blocks (38) to synchronously move and clamp on the surface of the track body (1) to prevent the device from derailing; A track cleaning assembly (4) is symmetrically mounted on one side of the inspection vehicle (11), and the track cleaning assembly (4) comprises a U-shaped sleeve (42) symmetrically arranged on one side of the inspection vehicle (11), a cleaning brush (413) arranged in the U-shaped sleeve (42), and a fixed guide frame (41) for controlling the cleaning brush (413) to contact and clean the surface of the track body (1), a square rod (44), a sliding sleeve (45) and a second rotating rod (49).

2. According to claim 1, a walking device for an inspection robot, characterized in that: Both ends of the support slide bar (27) are installed with a U-shaped frame (25), the bottom end of the U-shaped frame (25) is installed with a universal wheel (26), the bottom surface of the fixed frame (21) is installed with a hydraulic rod (28), and the piston end of the hydraulic rod (28) is connected to the inspection vehicle (11).

3. The walking device for an inspection robot according to claim 1, characterized in that: A toothed plate (24) is slidably connected in a slide groove provided on the surface of the fixed frame (21), and two ends of the toothed plate (24) are respectively connected to U-shaped frames (25) symmetrically arranged on both sides of the fixed frame (21). A servo motor (22) is installed on the surface of the fixed frame (21), and a gear one (23) is installed on the output shaft end of the servo motor (22), and the gear one (23) is meshed with the surface of the toothed plate (24).

4. The walking device for an inspection robot according to claim 1, characterized in that: Extension plates (29) are symmetrically mounted on both sides of the inspection vehicle (11), a fixed support rod (210) is fixedly mounted on the bottom surface of the extension plate (29), and an elastic rubber plate (211) is integrally formed on the outer surface of the bottom of the fixed support rod (210).

5. The walking device for an inspection robot according to claim 1, characterized in that: A support rod (32) is installed in the mounting seat (31), and the surface of the support rod (32) is slidably connected to two sliders (34). The two sliding clamps (38) are respectively installed on the bottom surfaces of the two sliders (34), and a spring (33) is sleeved on the surface of the support rod (32) and located between the two sliders (34).

6. The walking device for an inspection robot according to claim 1, characterized in that: A same guide square rod (35) is slidably connected in a blind groove formed on the same side surface of the two sliders (34), and the guide square rod (35) is fixedly mounted in a mounting seat (31). A wedge seat (36) is mounted on the surface of the slider (34), and a wedge plate (37) is slidably connected in the wedge seat (36).

7. The walking device for an inspection robot according to claim 6, characterized in that: A fixing rod (313) is fixedly installed on one side surface of the inspection vehicle (11), a spring (314) is sleeved on the surface of the fixing rod (313), one end of the spring (314) is in contact with a connecting block (312) slidably connected to the surface of the fixing rod (313), an L-shaped connecting rod (310) is fixed on the surface of the connecting block (312), and a T-shaped fixing rod (310) is slidably connected in an L-shaped groove (311) provided on the surface of the L-shaped connecting rod (310). (39), the T-shaped fixing rod (39) is fixedly mounted on a side surface of the fixing frame (21), a connecting block (317) is fixedly mounted on the surface of the wedge plate (37), a sliding column (318) is slidably connected in a Z-shaped groove (316) provided on the surface of the connecting block (317), one end of the sliding column (318) is fixedly connected to a connecting plate (315), and the connecting plate (315) is fixedly mounted on the bottom surface of the connecting block (312).

8. The walking device for an inspection robot according to claim 7, characterized in that: A guide seat (319) is fixedly installed on one side of the connecting block (317), and a T-shaped rod (320) is slidably connected to the surface of the guide seat (319). A spring three (321) is sleeved on the surface of the T-shaped rod (320), and one end of the spring three (321) abuts against the bottom surface of the guide seat (319). The T-shaped rod (320) is fixedly installed on the bottom surface of the inspection vehicle (11).

9. The walking device for an inspection robot according to claim 1, characterized in that: A fixed guide frame (41) is fixed on one side of the inspection vehicle (11), a U-shaped sleeve (42) is fixedly installed on the bottom surface of the fixed guide frame (41), a square rod (44) is fixed inside the U-shaped sleeve (42), a sliding sleeve (45) is slidably connected to the surface of the square rod (44), a rotating rod (49) is rotatably connected to the bottom surface of the sliding sleeve (45), and a cleaning brush (413) is fixed to the bottom end of the rotating rod (49).

10. The walking device for an inspection robot according to claim 9, characterized in that: A connecting piece (43) is fixedly installed on one side of the sliding sleeve (45), one end of the connecting piece (43) is fixedly installed on a side surface of one of the sliding clamps (38), a spring four (47) is sleeved on the outer side of the square rod (44), one end of the spring four (47) abuts against one end of the sliding sleeve (45), and the other end of the spring four (47) abuts against the U-shaped sleeve (42), a rotating rod one (48) is rotatably connected to the bottom surface of the sliding sleeve (45), a gear two (410) is fixed on the outer surface of the rotating rod one (48), a gear three (411) is fixed on the outer surface of the rotating rod two (49), the gear two (410) and the gear three (411) are meshed with each other, and an abutting roller (412) is fixedly installed on the bottom end of the rotating rod one (48).

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