Lifting structure and hanging rail inspection robot

Abstract

The invention provides a lifting structure and a hanging rail inspection robot, and belongs to the technical field of inspection robots, the lifting structure comprises a lifting mechanism, a hanging rail walking mechanism, a driving assembly, a reversing assembly and a reversing locking mechanism, a guide groove is formed in a main shell, and a chain-shaped structure formed by connecting drag chain meshing blocks is placed in the guide groove; the bottom of the chain-shaped structure is connected with the top end of the inspection probe, and the driving assembly is also installed in the inner cavity of the main shell and can be in transmission connection with the lifting driving gear on one hand and in transmission connection with the walking rotating belt wheel on the other hand. Under the action that the telescopic electric cylinder pushes the switching insertion teeth to transversely move, the driving motor can independently drive the first driving gear or the second driving gear to rotate; and the reversing locking mechanism is in transmission connection between the pull plug and the auxiliary gear, the pressing state of the locking pressing block on the auxiliary gear can be completely released only after the switching insertion teeth are inserted into the lifting inner teeth to be meshed in place, and the safety effect in the switching process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a lifting structure and a rail-hanging inspection robot. Background Art

[0002] The rail inspection robot is an intelligent robot with broad application prospects and development potential. With the continuous development of technology and the deepening of application, the rail inspection robot will become an increasingly important tool for enterprise automation and digital transformation.

[0003] Existing inspection robots that hang rails usually install inspection probes at the bottom of a mechanism that can move along the rails, so that the inspection probes can inspect the environment in the area along the path of the rails. However, since the inspection probes cannot be raised or lowered or the lifting and moving range is very limited, existing inspection robots that hang rails cannot cover local areas at lower positions in the environment. Summary of the invention

[0004] One of the purposes of the present invention is to provide a lifting structure, which takes the guide groove opened in the main shell as the setting basis, and creatively arranges a chain-shaped structure composed of a drag chain engagement block in the guide groove. The switching action formed by the driving component driven by the reversing component can realize the automatic movement of the inspection robot, and can also realize its lifting action within a larger range.

[0005] The object of the present invention is achieved through such a technical solution, a lifting structure, including a lifting mechanism, a rail-hanging walking mechanism, a driving assembly and a reversing assembly, the lifting mechanism including a main housing, a bottom connecting plate, a drag chain meshing block, a guide groove and a lifting driving gear, the driving assembly including a first driving gear, a second driving gear, a walking rotating gear, a lifting rotating gear, a traverse shaft and a switching splice gear;

[0006] The top of the bottom connecting plate is telescopically connected to the bottom of the main shell, the guide groove is opened in the main body of the main shell, the chain-shaped structures distributed in pairs formed by the drag chain engagement blocks connected in sequence are located in the guide groove, the chain-shaped structures distributed in pairs can be engaged with each other in the inner middle part of the main shell, and the bottom ends are connected to the top of the bottom connecting plate, the inner side of each set of drag chain engagement blocks is fixed with an inner tooth block, the lifting drive gear is screwed to one side of the inner cavity of the main shell, and the other side of the inner cavity of the main shell is screwed with an auxiliary gear, and the auxiliary gear and the lifting drive gear are both engaged with the inner tooth block;

[0007] Travel wheels are symmetrically screwed on both sides of the top of the main shell body, the first driving gear is transmission-connected to the lifting driving gear, the second driving gear is transmission-connected to one group of travel wheels, the travel rotating gear and the lifting rotating gear are coaxially screwed in the inner cavity of the main shell body, a driving motor is fixedly installed on the outer side of the main shell body, the travel rotating gear is meshed with the second driving gear, the lifting rotating gear is meshed with the first driving gear, a travel internal tooth is provided inside the travel rotating gear, a lifting internal tooth is provided inside the lifting rotating gear, the transverse shift shaft is slidably inserted in the rotating shaft of the driving motor, the switching splice teeth are fixed in pairs on the outside of the transverse shift shaft, and the reversing assembly can push the transverse shift shaft to drive the switching splice teeth to form a meshing switch between the travel internal tooth and the lifting internal tooth.

[0008] The use process of the technical solution of the present invention is as follows:

[0009] After the reversing assembly pushes the lateral shift shaft to a position where one set of switching splice teeth is inserted into the internal meshing position of the lifting inner teeth, the lateral shift shaft and the lifting rotating gear form an effective transmission. At this time, the driving motor can drive the rotation of the lifting rotating gear, so that the lifting rotating gear and the first driving gear form a matching transmission. The first driving gear drives the rotation of the lifting driving gear through the transmission mechanism, so that the lifting driving gear and the inner tooth block on the inner side of the drag chain meshing block form meshing, thereby driving the movement of the chain-shaped structure on one side, so that the paired chain-shaped structures form a mutual meshing action, thereby realizing the automatic lifting and lowering action of the bottom connecting plate relative to the main shell;

[0010] Similarly, after the reversing assembly pushes the transverse shaft to move horizontally until another set of switching splice teeth is plugged into the inner teeth of the travel and engages in place, the transverse shaft and the travel rotating gear will form an effective transmission. The driving motor can now drive the rotation of the travel rotating gear, so that the travel rotating gear and the second driving gear form a coordinated transmission. The second driving gear can drive the active rotation of one set of travel wheels through the transmission mechanism, so that the lifting mechanism generates transverse movement power.

[0011] Another object of the present invention is to provide a rail-hanging inspection robot, which also includes a reversing locking mechanism, which is transmission-connected between the reversing component and the auxiliary gear. Only after the switching splice tooth is inserted into the lifting internal tooth and meshed into place, the locking block is completely released from the clamping state of the auxiliary gear, thereby improving the safety effect during the meshing switching process.

[0012] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0013] (1) The present invention is based on a movable rail-hanging walking mechanism, and places the chain-shaped structures composed of the drag chain engaging blocks connected in sequence in pairs in the guide groove, so that after the chain-shaped structures are retracted, they are separately curled inside the guide groove, and after the chain-shaped structures are engaged with each other, they can form an outward extension effect; and more importantly, after the chain-shaped structures composed of the drag chain engaging blocks are retracted, they will be stored as a whole inside the side connecting frame, thereby ensuring that the bottom connecting plate can be lowered and moved to a distance far from the main shell body, and also greatly reducing the volume of the lifting mechanism;

[0014] (2) The present invention not only configures the driving assembly to be a mechanism capable of driving the lifting driving gear and the traveling wheel to rotate, but also configures the traveling rotating gear and the lifting rotating gear to be coaxial, and provides traveling internal teeth inside the traveling rotating gear, and provides lifting internal teeth inside the lifting rotating gear, so that after the transverse movement shaft is driven to move transversely by the toggle mechanism, the switching splice teeth can be inserted into the traveling internal teeth or the lifting internal teeth and meshed in place. In order to enable the switching splice teeth in the rotating state to be inserted and meshed with the traveling internal teeth or the lifting internal teeth, the present invention configures the starting end of the switching splice teeth to be a conical structure, so that as the switching splice teeth are inserted into the traveling internal teeth or the lifting internal teeth, the tooth body of the switching splice teeth changes from a state of non-contact with the tooth body in the traveling internal teeth or the lifting internal teeth to a state of gradual meshing, so that the switching meshing process is smoother;

[0015] (3) According to the present invention, the squeezing force of the locking block on the auxiliary gear can be completely released only when the switching splicing tooth is fully inserted into the lifting internal tooth and meshed into place. At this time, the auxiliary gear is in a free rotation state. The driving force generated by the driving motor can realize the lifting and lowering action of the chain structure composed of the drag chain meshing block through the transmission mechanism, thereby improving the safety of the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of the overall structure of a lifting structure and a rail-hanging inspection robot provided by the present invention;

[0018] Figure 2 It is a structural schematic diagram of the lifting mechanism of the present invention;

[0019] Figure 3 It is a schematic diagram of the arrangement of the engagement blocks of the drag chain of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the guide groove part of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the rail-hanging walking mechanism of the present invention;

[0022] Figure 6 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the transverse axis part of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the reversing assembly of the present invention;

[0025] Fig. 9 It is a structural schematic diagram of the reversing locking mechanism of the present invention.

[0026] Reference numerals:

[0027] 1. Lifting mechanism; 101. Main housing; 102. Bottom connecting plate; 103. Side connecting frame; 104. Telescopic rotating rod; 105. Connecting rotating shaft; 106. Top fixing seat; 107. Middle fixing frame; 108. Drag chain engaging block; 109. Connecting rotating plate; 110. Internal gear block; 111. Guide groove; 112. Lifting drive shaft seat; 113. Lifting drive shaft; 114. Lifting drive gear; 115. Auxiliary gear shaft; 116. Auxiliary gear; 117. Common groove;

[0028] 2. Rail-hanging walking mechanism; 201. Guide rail; 202. Walking connecting frame; 203. Walking wheel seat; 204. Wheel axle; 205. Walking wheel; 206. Synchronous belt; 207. Synchronous wheel; 208. Walking rotating pulley; 209. Walking driving rotating seat; 210. Walking driving shaft; 211. Walking driving pulley; 212. Walking connecting belt; 213. Synchronous connecting wheel;

[0029] 3. Driving assembly; 301. Transverse connecting frame; 302. First driving seat; 303. First driving shaft; 304. First driving gear; 305. First driving pulley; 306. First connecting pulley; 307. First connecting belt; 308. Second driving seat; 309. Second driving shaft; 310. Second driving gear; 311. Driving motor; 312. Central rotating seat; 313. Traveling rotating gear; 314. Traveling inner gear; 315. Lifting rotating gear; 316. Lifting inner gear; 317. Transverse moving shaft; 318. Switching plug-in gear; 319. Extraction slot; 320. Transverse moving plug column; 321. Internal connecting gear;

[0030] 4. Reversing assembly; 401. External connection seat; 402. Telescopic electric cylinder; 403. Plug and unplug; 404. Tension spring;

[0031] 5. Reversing locking mechanism; 501. Connecting fixed column; 502. Rotating rod fixed shaft; 503. Pushing rotating rod; 504. Connecting rotating rod rotating seat; 505. Fixed slideway; 506. Sliding rack; 507. Special-shaped gear shaft; 508. Special-shaped gear; 509. Locking pressure block; 510. Connecting rotating rod; 511. Pushing shaft;

[0032] 6. Inspection probe. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0034] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0035] like Figure 1-Figure 9 As shown, a lifting structure and a rail-hanging inspection robot, the top of the bottom connecting plate 102 in the lifting mechanism 1 is telescopically connected to the bottom of the main shell 101, the guide groove 111 is opened in the body of the main shell 101, and the chain-shaped structures distributed in pairs formed by the drag chain engagement blocks 108 connected in sequence are located in the guide groove 111 and can slide in the guide groove 111. The chain-shaped structures distributed in pairs can bite each other in the inner middle part of the main shell 101, and the bottom ends are connected to the top of the bottom connecting plate 102, and the inner sides of each set of drag chain engagement blocks 108 are fixedly connected. There is an inner gear block 110, a lifting drive gear 114 is screwed on one side of the inner cavity of the main shell 101, and an auxiliary gear 116 is screwed on the other side of the inner cavity of the main shell 101, and the auxiliary gear 116 and the lifting drive gear 114 are both meshed with the inner gear block 110, and the chain structures on both sides can be meshed with each other through the rotation of the lifting drive gear 114 and the matching transmission formed by the inner gear block 110 on the inner side of the drag chain meshing block 108 of the chain-shaped structure on one side, so that the bottom connecting plate 102 can be driven to move up and down relative to the main shell 101;

[0036] The top sides of the main housing 101 are symmetrically screwed with walking wheels 205, the first driving gear 304 is connected to the lifting driving gear 114, the second driving gear 310 is connected to one set of the walking wheels 205, the walking rotating gear 313 and the lifting rotating gear 315 are coaxially screwed in the inner cavity of the main housing 101, and the driving motor 311 is fixedly installed on the outside of the main housing 101, and the walking rotating gear 313 is meshed with the second driving gear 310, and the lifting rotating gear 315 is meshed with the second driving gear 310. The gear 315 is meshed with the first driving gear 304, the traveling rotating gear 313 is provided with a traveling inner tooth 314, the lifting rotating gear 315 is provided with a lifting inner tooth 316, the transverse shaft 317 is slidably inserted in the rotating shaft of the driving motor 311, and the switching splice teeth 318 are fixed in pairs on the outside of the transverse shaft 317. The reversing assembly 4 can push the transverse shaft 317 to drive the switching splice teeth 318 to form a meshing switch between the traveling inner tooth 314 and the lifting inner tooth 316.

[0037] Here’s how it works:

[0038] The inspection probe 6 is installed at the bottom end of the bottom connecting plate 102 for monitoring a specific environment, and the telescopic structure connected between the bottom connecting plate 102 and the main housing 101 can play a supporting role;

[0039] The chain-shaped structures formed by the drag chain engagement blocks 108 are distributed in pairs in the guide grooves 111 in the main housing 101, and the lifting action of the bottom connecting plate 102 can be formed by the mutual engagement of the drag chain engagement blocks 108 in the two groups of chain-shaped structures;

[0040] After the reversing component 4 pushes the lateral movement shaft 317 to move horizontally until one set of switching splicing teeth 318 is inserted into the inside of the lifting inner teeth 316 and meshed in place, the lateral movement shaft 317 and the lifting rotating gear 315 form an effective transmission, and the driving motor 311 can drive the rotation of the lifting rotating gear 315 at this time, so that the lifting rotating gear 315 and the first driving gear 304 form a matching transmission, and the first driving gear 304 drives the rotation of the lifting driving gear 114 through the transmission mechanism, so that the lifting driving gear 114 can mesh with the inner tooth block 110 on the inner side of the drag chain meshing block 108, thereby driving the movement of the chain structure on one side, so that the paired chain structures form a mutual meshing action, thereby realizing the automatic lifting action of the bottom connecting plate 102 relative to the main shell 101;

[0041] Similarly, after the reversing component 4 pushes the transverse shaft 317 to move horizontally until another set of switching splice teeth 318 is plugged into the inside of the traveling internal teeth 314 and meshed into place, the transverse shaft 317 and the traveling rotating gear 313 will form an effective transmission. The driving motor 311 can then drive the rotation of the traveling rotating gear 313, so that the traveling rotating gear 313 and the second driving gear 310 form a coordinated transmission. The second driving gear 310 can drive the active rotation of one set of traveling wheels 205 through the transmission mechanism, so that the lifting mechanism 1 generates a transverse movement power.

[0042] The specific structure of the lifting mechanism 1 is as follows: Figure 2 , Figure 3 and Figure 4 As shown, the two outer sides of the main shell 101 are symmetrically fixedly connected with side connecting frames 103, and the outer ends of each group of side connecting frames 103 are rotatably connected with telescopic rotary rods 104. The connecting shafts 105 are arranged in sequence below the main shell 101. The telescopic rotary rods 104 on the same side are cross-distributed and respectively rotatably connected to the two ends of the connecting shafts 105. The top sides of the bottom connecting plate 102 are symmetrically fixedly connected with top fixing seats 106, and the two ends of the lower connecting shaft 105 are respectively fixedly connected to the top fixing seats 106. The number of connecting shafts 105 and telescopic rotary rods 104 can be increased or decreased according to actual requirements to achieve different telescopic strokes of the bottom connecting plate 102 relative to the main shell 101.

[0043] A middle fixed frame 107 is fixedly connected to the middle of the top of the bottom connecting plate 102, and the bottom ends of the chain-shaped structures distributed in pairs composed of the drag chain engaging blocks 108 are fixedly connected to the middle fixed frame 107;

[0044] Two adjacent groups of drag chain engagement blocks 108 in the same chain-shaped structure are connected by connecting the rotary plates 109. The connection formed by the connecting rotary plates 109 enables the drag chain engagement blocks 108 to form a flexible chain-shaped structure.

[0045] A lifting drive shaft seat 112 is fixedly connected to one side of the inner cavity of the main housing 101, a lifting drive shaft 113 is rotatably connected to the lifting drive shaft seat 112, a lifting drive gear 114 is plugged and fixed to one end of the lifting drive shaft 113, an auxiliary gear shaft 115 is fixedly installed on the other side wall of the inner cavity of the main housing 101, and an auxiliary gear 116 is rotatably connected to the auxiliary gear shaft 115;

[0046] The common groove 117 is provided at the middle of the bottom end of the main housing 101 and is connected to the symmetrically distributed guide grooves 111, so that the chain-shaped structures distributed in pairs composed of the drag chain engagement blocks 108 can form a mutually engaged state at the common groove 117;

[0047] The guide groove 111 is a spiral structure, which can fully utilize the space inside the main shell 101, increase the length of the chain structure composed of the drag chain engaging block 108 retracted into the main shell 101, thereby increasing the lifting length of the bottom connecting plate 102 relative to the main shell 101, and further improving the inspection capability of the inspection probe 6 in height.

[0048] The specific structure of the rail-hanging travel mechanism 2 and the drive assembly 3 is as follows: Figure 5 , Figure 6 and Figure 7 As shown, the guide rail 201 is arranged and fixed along the inspection path, and the travel connection frame 202 is fixedly connected to the outer top end of the main housing 101;

[0049] The outer ends of both sides of the walking connection frame 202 are symmetrically fixed with walking wheel seats 203, and each set of walking wheel seats 203 is rotatably connected with a wheel axle 204. The walking wheels 205 are plugged and fixed at the inner ends of the wheel axles 204 and are located in the inner grooves of the walking connection frame 202. The walking wheels 205 are rollingly connected in the grooves of the guide rails 201 in a flexible extrusion state;

[0050] A synchronous connecting wheel 213 is also fixed in each set of wheel axles 204, and a synchronous belt 206 is installed between the two sets of synchronous connecting wheels 213 on the same side, so that the two sets of running wheels 205 on the same side can form a synchronous rotation state;

[0051] The synchronous wheel 207 is screwed to the middle part of the main body of the traveling connecting frame 202, and the middle part of the inner bottom end of the synchronous belt 206 is in rolling friction contact with the synchronous wheel 207. Through the transmission effect formed by the synchronous wheel 207, the four sets of traveling wheels 205 can all rotate synchronously;

[0052] A travel rotating pulley 208 is plugged and fixed on the outer end of one set of wheel shafts 204, a travel driving rotary seat 209 is fixedly installed on the outer side of the main body of the main housing 101, a travel driving shaft 210 is rotatably connected in the travel driving rotary seat 209, a travel driving pulley 211 is plugged and fixed on the outer end of the travel driving shaft 210, and a travel connecting belt 212 is sleeved and installed between the travel driving pulley 211 and the travel rotating pulley 208;

[0053] The transverse connecting frame 301 is fixedly connected in the inner cavity of the main housing 101 and will not interfere with the actions of the reversing assembly 4 and the reversing locking mechanism 5. A first driving seat 302 is fixed on one side of the top of the transverse connecting frame 301. A first driving shaft 303 is rotatably connected in the first driving seat 302. A first driving gear 304 is plugged and fixed to one end of the first driving shaft 303. A first driving pulley 305 is plugged and fixed to the other end of the first driving shaft 303. A first connecting pulley 306 is plugged and fixed to the other end of the lifting driving shaft 113. A first connecting belt 307 is sleeved and installed between the first driving pulley 305 and the first connecting pulley 306.

[0054] A second drive seat 308 is fixed to the other side of the top of the transverse connecting frame 301, a second drive shaft 309 is rotatably connected to the second drive seat 308, a second drive gear 310 is plugged and fixed to the outer end of the second drive shaft 309, an inner connecting gear 321 is plugged and fixed to the inner end of the travel drive shaft 210, and the inner connecting gear 321 is meshed with the second drive gear 310;

[0055] The middle rotating seat 312 is fixed at the middle of the top of the horizontal connecting frame 301, and the travel rotating gear 313 and the lifting rotating gear 315 are both rotatably connected in the middle rotating seat 312;

[0056] The extraction slot 319 is fixedly connected to one end of the transverse shaft 317, and the transverse insertion column 320 is fixedly connected to one end of the extraction slot 319. After the transverse shaft 317 passes through the main body of the travel rotating gear 313, the transverse insertion column 320 is slidably inserted into the rotating shaft of the driving motor 311;

[0057] After the lifting rotating gear 315 forms a matching transmission with the first driving gear 304, the first driving gear 304 can coaxially drive the first driving pulley 305 to rotate through the first driving shaft 303, so that the first driving pulley 305 drives the first connecting pulley 306 to rotate through the first connecting belt 307, and the first connecting pulley 306 drives the lifting driving gear 114 to rotate coaxially through the lifting driving shaft 113, so that the lifting driving gear 114 and the inner tooth block 110 on the inner side of the drag chain meshing block 108 form a matching transmission;

[0058] Similarly, after the travel rotating gear 313 and the second driving gear 310 form a coordinated transmission, the second driving gear 310 can be coordinated with the internal connecting gear 321, and the internal connecting gear 321 can coaxially drive the travel driving pulley 211 to rotate through the travel driving shaft 210, and the travel driving pulley 211 drives the travel rotating pulley 208 to rotate through the travel connecting belt 212, so that one group of travel wheels 205 can be actively rotated, and while a group of travel wheels 205 connected to the travel rotating pulley 208 is actively rotating, other groups of travel wheels 205 can also be driven to rotate through the synchronous belt 206 and the synchronous wheel 207, so that the four groups of travel wheels 205 can all form a rotating action, which is convenient for the lifting mechanism 1 to form a stable walking.

[0059] The specific structure of the reversing component 4 is as follows: Figure 8 As shown, the telescopic electric cylinder 402 is fixedly installed on the outside of the main housing 101 through the external connection seat 401, and a through hole for avoiding the telescopic electric cylinder 402 is opened in the side wall of the main housing 101. The plug 403 is fixedly connected to the top of the telescopic rod of the telescopic electric cylinder 402, and the head end of the plug 403 is slidably stuck in the plug slot 319;

[0060] The lateral movement formed by the telescopic electric cylinder 402 driving the plug-in and pull-out 403 can drive the lateral switching movement of the lateral displacement column 320 and the lateral displacement axis 317 through the sliding effect formed with the plug-in and pull-out slot 319, so that the two symmetrically distributed groups of switching plug-in teeth 318 are respectively plugged and engaged in the lifting internal teeth 316 or the traveling internal teeth 314.

[0061] The specific structure of the reversing locking mechanism 5 is as follows: Fig. 9 As shown, the reversing locking mechanism 5 is transmission-connected between the plug-in and pull-out 403 and the auxiliary gear 116. Only after the switching plug-in tooth 318 is inserted into the lifting internal tooth 316 and meshed in place, the locking block 509 is completely released from the clamping state of the auxiliary gear 116.

[0062] The connecting column 501 is fixedly connected to one side of the bottom end of the plug-in 403, and a rotating rod fixed shaft 502 is fixed in the inner cavity of the main housing 101, and one end of the push rotating rod 503 is rotationally connected to the rotating rod fixed shaft 502, and the other end of the connecting column 501 is rotationally connected to the other end of the push rotating rod 503;

[0063] A connecting rod rotating seat 504 is also fixed in the main body of the push rotating rod 503, a fixed slideway 505 is also fixed in the inner cavity of the main housing 101, a sliding rack 506 is slidably connected in the fixed slideway 505, one end of the connecting rotating rod 510 is rotatably connected in the connecting rotating rod rotating seat 504, one end of the sliding rack 506 is fixed with a push shaft 511, and the other end of the connecting rotating rod 510 is rotatably connected in the push shaft 511;

[0064] A special-shaped gear shaft 507 is also fixed in the inner cavity of the main housing 101, and a special-shaped gear 508 is rotatably connected in the special-shaped gear shaft 507. One end of the special-shaped gear 508 is meshed with the sliding rack 506, and the other end is fixed with a locking block 509 made of a flexible material;

[0065] A tension spring 404 is also connected and fixed between the side of the plug-in 403 and the external connection seat 401. Under the tension of the tension spring 404, when there is no external force driving, the plug-in 403 can be in a position of being retracted toward the telescopic electric cylinder 402, that is, the switching plug-in tooth 318 is in a position of being inserted and engaged into the walking inner tooth 314, and the inspection robot is in a walking state at this time;

[0066] Synchronously, the plugging and unplugging 403 will drive the connecting column 501 to the extreme position of outward movement, and the connecting column 501 drives the sliding rack 506 to the extreme position of outward movement by pushing the rotating rod 503 and the rotating connecting rod 510 to form a rotating connecting mechanism, and the sliding rack 506 is meshed with the tooth body of the special-shaped gear 508, so that the locking pressure block 509 is in the extreme position of squeezing toward the auxiliary gear 116. At this time, the auxiliary gear 116 is in a state of being locked by maximum friction;

[0067] As the telescopic electric cylinder 402 drives the plug-in 403 to move the switching plug-in tooth 318 into the lifting inner tooth 316, the squeezing force of the locking pressure block 509 on the auxiliary gear 116 will gradually decrease, but still exist, so that the auxiliary gear 116 will not easily rotate freely during the switching process, that is, the chain-shaped structure composed of the drag chain engagement block 108 will not easily move;

[0068] Only when the switching splice tooth 318 is fully inserted into the lifting internal tooth 316 and meshed in place, the squeezing force of the locking pressure block 509 on the auxiliary gear 116 can be completely released. At this time, the auxiliary gear 116 is in a free rotation state, and the driving force generated by the driving motor 311 can realize the lifting and lowering action of the chain structure composed of the drag chain meshing block 108 through the transmission mechanism.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 lifting structure, comprising a lifting mechanism (1), characterized in that: It also includes a rail-hanging walking mechanism (2), a driving assembly (3) and a reversing assembly (4); The lifting mechanism (1) comprises a main housing (101), a bottom connecting plate (102), a drag chain engaging block (108), a guide groove (111) and a lifting drive gear (114); the top of the bottom connecting plate (102) is telescopically connected to the bottom of the main housing (101); the guide groove (111) is provided in the body of the main housing (101); the chain-shaped structures distributed in pairs formed by sequentially connecting the drag chain engaging blocks (108) are located in the guide groove (111); the chain-shaped structures distributed in pairs can be engaged with each other in the inner middle of the main housing (101), and the bottom ends are connected to the top of the bottom connecting plate (102). The inner side of each set of drag chain meshing blocks (108) is fixedly connected with an inner tooth block (110), the lifting drive gear (114) is screwed on one side of the inner cavity of the main shell (101), the other side of the inner cavity of the main shell (101) is screwed with an auxiliary gear (116), and the auxiliary gear (116) and the lifting drive gear (114) are both screwed with the inner tooth block (110), and the top two sides of the main shell (101) are symmetrically screwed with running wheels (205), and the reversing component (4) can drive the driving component (3) to form a switching transmission between the lifting drive gear (114) and the running wheel (205).

2. A lifting structure according to claim 1, characterized in that: The driving assembly (3) comprises a first driving gear (304), a second driving gear (310), a travel rotating gear (313), a lifting rotating gear (315), a lateral shifting shaft (317) and a switching splice gear (318); the first driving gear (304) is transmission-connected to the lifting driving gear (114); the second driving gear (310) is transmission-connected to one set of travel wheels (205); the travel rotating gear (313) and the lifting rotating gear (315) are coaxially screwed in the inner cavity of the main housing (101); a driving motor (311) is fixedly mounted on the outer side of the main housing (101); and the travel rotating gear (313 ... and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear (114); and the travel rotating gear (313) is transmission-connected to the lifting driving gear 13) is meshed with the second driving gear (310), the lifting rotating gear (315) is meshed with the first driving gear (304), the traveling rotating gear (313) is provided with traveling internal teeth (314), the lifting rotating gear (315) is provided with lifting internal teeth (316), the transverse shaft (317) is slidably inserted in the rotating shaft of the driving motor (311), the switching splice teeth (318) are fixed in pairs on the outside of the transverse shaft (317), and the reversing component (4) can push the transverse shaft (317) to drive the switching splice teeth (318) to form a meshing switch between the traveling internal teeth (314) and the lifting internal teeth (316).

3. A lifting structure according to claim 2, characterized in that: The lifting mechanism (1) further comprises a connecting swivel shaft (105), a connecting swivel plate (109) and an auxiliary gear shaft (115); the two outer sides of the main housing (101) are symmetrically fixedly connected with side connecting frames (103); the outer ends of each group of side connecting frames (103) are rotatably connected with telescopic swivel rods (104); the connecting swivel shafts (105) are sequentially arranged below the main housing (101); the telescopic swivel rods (104) on the same side are cross-distributed and respectively rotatably connected to the two ends of the connecting swivel shaft (105); the top ends of the bottom connecting plate (102) are symmetrically fixedly connected with top fixing seats (106); the two ends of the lower connecting swivel shaft (105) are respectively fixedly connected to the top fixing seats (106); the bottom connecting plate (102) is A middle fixed frame (107) is fixedly connected to the middle of the top, and the bottom ends of the chain-shaped structures distributed in pairs composed of the drag chain engagement blocks (108) are fixedly connected to the middle fixed frame (107). Two adjacent groups of drag chain engagement blocks (108) in the same chain-shaped structure are rotationally connected via a connecting rotary plate (109). A lifting drive shaft seat (112) is fixedly connected to one side of the inner cavity of the main shell (101), and a lifting drive shaft (113) is rotationally connected in the lifting drive shaft seat (112). The lifting drive gear (114) is plugged and fixed to one end of the lifting drive shaft (113), and the auxiliary gear shaft (115) is fixedly installed on the other side wall of the inner cavity of the main shell (101), and the auxiliary gear (116) is rotationally connected in the auxiliary gear shaft (115).

4. A lifting structure according to claim 1, 2 or 3, characterized in that: A common groove (117) is provided in the middle of the bottom end of the main housing (101) and is communicated with the symmetrically distributed guide grooves (111).

5. A lifting structure according to claim 3, characterized in that: The rail-hanging walking mechanism (2) further comprises a guide rail (201), a walking connection frame (202), a synchronous wheel (207) and a walking rotating pulley (208); the walking connection frame (202) is fixedly connected to the outer top end of the main housing (101); both outer ends of the walking connection frame (202) are symmetrically fixedly installed with walking wheel seats (203); each set of walking wheel seats (203) is rotatably connected with a wheel axle (204); the walking wheel (205) is plugged and fixed to the inner end of the wheel axle (204); the walking wheel (205) is rollingly connected in the groove body of the guide rail (201) in a flexible extrusion state; each set of wheel axles (204) is also fixed with a synchronous connecting wheel (213); the two sets of synchronous connecting wheels (213) on the same side are connected to the guide rail (201) in a rolling state; ), a synchronous belt (206) is sleeved and installed between the main body (202), a synchronous wheel (207) is rotatably connected to the middle part of the main body of the walking connection frame (202), and the middle part of the inner bottom end of the synchronous belt (206) is in rolling friction contact with the synchronous wheel (207), a walking rotating pulley (208) is plugged and fixed to the outer end of one group of wheel shafts (204), a walking driving rotary seat (209) is fixedly installed on the outer side of the main body of the main shell (101), a walking driving shaft (210) is rotatably connected in the walking driving rotary seat (209), a walking driving pulley (211) is plugged and fixed at the outer end of the walking driving shaft (210), and a walking connecting belt (212) is sleeved and installed between the walking driving pulley (211) and the walking rotating pulley (208).

6. A lifting structure according to claim 5, characterized in that: The driving assembly (3) further comprises a transverse connecting frame (301), a first connecting pulley (306) and a central rotating seat (312); the transverse connecting frame (301) is fixedly connected to the inner cavity of the main housing (101); a first driving seat (302) is fixed to one side of the top end of the transverse connecting frame (301); a first driving shaft (303) is rotatably connected to the first driving seat (302); a first driving gear (304) is plugged and fixed to one end of the first driving shaft (303); a first driving pulley (305) is plugged and fixed to the other end of the first driving shaft (303); the first connecting pulley (306) is plugged and fixed to the other end of the lifting driving shaft (113); the first driving pulley (305) and the first connecting gear (304) are plugged and fixed to the other end of the lifting driving shaft (113); A first connecting belt (307) is sleeved and installed between the pulleys (306); a second driving seat (308) is fixed on the other side of the top of the transverse connecting frame (301); a second driving shaft (309) is rotatably connected in the second driving seat (308); a second driving gear (310) is plugged and fixed to the outer end of the second driving shaft (309); an inner connecting gear (321) is plugged and fixed to the inner end of the travel driving shaft (210), and the inner connecting gear (321) is meshed with the second driving gear (310); a central rotating seat (312) is fixed at the middle of the top of the transverse connecting frame (301); and a travel rotating gear (313) and a lifting rotating gear (315) are both rotatably connected in the central rotating seat (312).

7. A lifting structure according to claim 2, 3, 5 or 6, characterized in that: One end of the transverse movement shaft (317) is fixedly connected with a pull-out slot (319), and one end of the pull-out slot (319) is fixedly connected with a transverse movement plug post (320). After the transverse movement shaft (317) passes through the main body of the travel rotating gear (313), the transverse movement plug post (320) is slidably plugged into the rotating shaft of the driving motor (311).

8. A lifting structure according to claim 7, characterized in that: The reversing assembly (4) comprises an external connection seat (401), a telescopic electric cylinder (402) and a plug-in connector (403). The telescopic electric cylinder (402) is fixedly mounted on the outside of the main housing (101) via the external connection seat (401). The plug-in connector (403) is fixedly connected to the top end of the telescopic rod of the telescopic electric cylinder (402). The head end of the plug-in connector (403) is slidably engaged in the plug-in connector slot (319). A tension spring (404) is also connected and fixedly disposed between the side of the plug-in connector (403) and the external connection seat (401).

9. A rail-hanging inspection robot, comprising a lifting structure according to any one of claims 1 to 8, characterized in that: The invention also comprises a reversing locking mechanism (5), which comprises a connecting column (501), a pushing rotating rod (503), a connecting rotating rod rotating seat (504), a sliding rack (506) and a connecting rotating rod (510). The connecting column (501) is fixedly connected to one side of the bottom end of the plug-in / plug-out (403). A rotating rod fixed shaft (502) is fixed in the inner cavity of the main housing (101). One end of the pushing rotating rod (503) is rotationally connected to the rotating rod fixed shaft (502). The other end of the connecting column (501) is rotationally connected to the other end of the pushing rotating rod (503). A connecting rotating rod rotating seat (504) is also fixed in the main body of the pushing rotating rod (503). The main housing (101) A fixed slideway (505) is also fixed in the inner cavity, a sliding rack (506) is slidably connected in the fixed slideway (505), one end of the connecting rotary rod (510) is rotatably connected in the connecting rotary rod rotary seat (504), one end of the sliding rack (506) is fixed with a push shaft (511), the other end of the connecting rotary rod (510) is rotatably connected in the push shaft (511), a special-shaped gear shaft (507) is also fixed in the inner cavity of the main housing (101), a special-shaped gear (508) is rotatably connected in the special-shaped gear shaft (507), one end of the tooth body of the special-shaped gear (508) is meshed with the sliding rack (506), and the other end is fixed with a locking pressure block (509) made of a flexible material.

10. The rail-hanging inspection robot according to claim 9, characterized in that: It also includes a patrol probe (6), which is mounted on the outer bottom surface of the bottom connecting plate (102).

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