A track-type inspection robot with vertical lifting mechanism

Abstract

The present invention relates to the technical field of inspection robots, and in particular to a track-type inspection robot with a vertical lifting mechanism, comprising a track and a mounting plate, a camera is arranged on the lower side of the mounting plate, and two walking devices are symmetrically arranged at both ends of the upper side of the mounting plate; the walking device comprises a bottom plate rotatably connected to the upper side of the mounting plate, and two side plates are fixed on the upper side of the bottom plate, and the upper ends of the two side plates are rotatably inserted with a bearing shaft. The present invention uses a deceleration mechanism arranged on the walking device. When the walking device drives the camera to move from a straight track segment to an arc segment at a faster speed, the deceleration mechanism can detect the curve of the arc segment ahead in advance through a mechanical structure, and at the same time decelerate the walking device, so that the walking device passes through the arc segment of the track at a slower speed, thereby effectively avoiding the lateral impact force on the walking device when passing through the arc segment of the track, and ensuring the stability of the monitoring image of the camera.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a track-type inspection robot with a vertical lifting mechanism. Background Art

[0002] Computer room inspection is one of the daily operation and maintenance tasks to ensure the safety and stable operation of the data center. At present, computer room inspection is mostly carried out by video surveillance. Although video surveillance can be deployed in large quantities, it also has problems such as limited computer room space, complex fixed camera control lines, and excessive image storage resource requirements, which lead to arduous maintenance tasks and low overall efficiency. In addition, due to space constraints, its monitoring range is limited, and it is difficult to truly achieve the requirements for all-round monitoring of the computer room environment. Therefore, some robots specifically used for computer room inspection have also emerged.

[0003] After searching, the Chinese patent with authorization announcement number: CN115229761B discloses a track-type inspection robot. The running track of the track-type inspection robot is H-steel. The walking mechanism is in contact with the H-steel and connected to the robot box. The clamping mechanism is used to press the walking mechanism on the H-steel. The robot box realizes reciprocating motion along with the clamping mechanism driven by the walking mechanism. The telescopic mechanism is used to control the detection position of the robot detection system. The robot detection system is used to collect various data during the operation of the robot. The robot control system is used to receive and process the data collected by the robot detection system and control the operation of the robot.

[0004] Based on the above search and combined with actual problems, it was found that the existing track-mounted inspection robots do not have a speed limit function. In an emergency, the operator will control the robot to move quickly along the track to the area where the situation occurs. When the robot passes through the arc segment of the track, it uses the lateral thrust applied to it from the track to achieve turning and changing direction. If the robot passes through the arc segment of the track at a faster speed, the robot will be subjected to a large lateral impact force from the track. Under the action of the impact force, it is easy to cause violent vibrations of the robot and the camera, affecting the stability of the camera monitoring screen. Summary of the invention

[0005] The purpose of the present invention is to provide a track-type inspection robot with a vertical lifting mechanism to solve the problems raised in the above-mentioned background technology.

[0006] The technical scheme of the present invention is: a track-type inspection robot with a vertical lifting mechanism, comprising a track and a mounting plate, a camera is arranged on the lower side of the mounting plate, and two walking devices are symmetrically arranged at both ends of the upper side of the mounting plate; the walking device comprises a bottom plate rotatably connected to the upper side of the mounting plate, and two side plates are fixed on the upper side of the bottom plate, and the upper ends of the two side plates are rotatably inserted with a load-bearing shaft, one end of the two load-bearing shafts is fixed with a load-bearing wheel, and the other ends of the two load-bearing shafts are provided with a reduction mechanism, two guide frames are symmetrically fixed on both sides of the two side plates, one end of the two guide frames is rotatably connected with a wheel axle, and guide wheels are fixed at both ends of the two wheel axles; the reduction mechanism comprises a brake wheel elastically arranged at the other end of the load-bearing shaft, a driving shaft rotatably connected to the upper side of the bottom plate, and a slide cylinder movably arranged on one side of the side plate, a brake block is fixed on the upper end of the slide cylinder, an extension rod is fixed on the upper end of the driving shaft, and a top pressing mechanism that drives the slide cylinder to move up and down is arranged on one side of the driving shaft, and one end of the extension rod The transmission mechanism is a kind of transmission mechanism that is used for the transmission of the invention, and the transmission mechanism has the advantages that the transmission mechanism. The transmission mechanism comprises a transmission element which is provided on the transmission side of the base plate and a transmission element which is provided on the transmission side of the base plate. The transmission element has the advantages that the transmission mechanism. The transmission element has the advantages that the transmission mechanism can be used for the transmission of the invention, and the transmission element has the advantages that the transmission mechanism can be used for the transmission of the invention.

[0007] Preferably, the transmission mechanism includes a driving pulley fixed on the outside of the driving shaft and a driven pulley fixed on the outside of the driven shaft, the outer sides of the driving pulley and the driven pulley are connected by a synchronous belt drive, and the diameter of the driving pulley is larger than the diameter of the driven pulley.

[0008] Preferably, two buffer grooves are symmetrically opened on the inner side of the brake wheel, and push blocks are fixed at the positions of the two buffer grooves corresponding to one end of the load-bearing shaft. The two push blocks are respectively slidably adapted to the inner sides of the two buffer grooves, and the two sides of the two push blocks are elastically connected to the inner sides of the two buffer grooves through buffer springs.

[0009] Preferably, an arc-shaped groove matching the outer side of the brake wheel is provided on the upper side of the brake block.

[0010] Preferably, a guide block is fixed to one side of the side plate, and the slide cylinder penetrates and is slidably connected to the inside of the guide block.

[0011] Preferably, the power-taking mechanism includes a positive conductive strip and a negative conductive strip installed on the lower side of the track, and a positive brush and a negative brush arranged on the upper side of the mounting plate, the lower sides of the positive brush and the negative brush are elastically connected to the upper side of the mounting plate through a spring telescopic rod, and the upper sides of the positive brush and the negative brush are respectively in contact with the surface of the positive conductive strip and the negative conductive strip.

[0012] Preferably, the mounting plate and the camera are movably connected via a position adjustment mechanism, the position adjustment mechanism comprises a shell fixed on the lower side of the mounting plate, a steering shaft and a worm gear which are vertically crossed and rotatably connected to each other are passed through the inner side of the shell, a worm wheel which meshes with the worm gear is fixed on the outer side of the steering shaft, a reversing motor for driving the worm gear is installed on the outer side of the shell, bogies located on the outer side of the shell are fixed at both ends of the steering shaft, a lifting electric cylinder is installed on one side of the bogie, and the camera is installed on the telescopic end of the lifting electric cylinder.

[0013] Preferably, the clutch mechanism comprises a sliding sleeve arranged on the outside of the drive shaft, and an electromagnet installed on a base plate, a friction plate is fixed to one end of the sliding sleeve, and an armature is rotatably connected to the outside of the sliding sleeve.

[0014] Preferably, the clutch mechanism further comprises a travel switch mounted on the guide groove sleeve, and the travel switch is electrically connected to the electromagnet via a control circuit.

[0015] The present invention provides a track-type inspection robot with a vertical lifting mechanism through improvement, which has the following improvements and advantages compared with the prior art:

[0016] First, the present invention uses a deceleration mechanism disposed on the traveling device. When the traveling device drives the camera to move from a straight track segment to an arc segment at a faster speed, the deceleration mechanism can detect the curve of the arc segment ahead in advance through a mechanical structure, and decelerate the traveling device at the same time, so that the traveling device passes through the arc segment of the track at a slower speed. This can effectively avoid the lateral impact force on the traveling device when passing through the arc segment of the track, and enable the traveling device to drive the camera to travel more smoothly through the arc segment of the track, thereby ensuring the stability of the camera's monitoring image and avoiding image jitter.

[0017] Secondly, the present invention arranges a plurality of buffer springs between the brake wheel and the load-bearing shaft, thereby elastically connecting the brake wheel and the load-bearing shaft. When the brake wheel in the deceleration mechanism is subjected to friction and generates a reverse torque, the reverse torque can be smoothly transmitted to the load-bearing shaft through the buffer spring, and then transmitted to the load-bearing wheel, so that the reverse torque on the load-bearing shaft and the load-bearing wheel can be gradually increased, avoiding impact on the load-bearing wheel, further improving the stability during the deceleration process, and avoiding shaking of the camera at the moment of deceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0020] Figure 2 It is a schematic diagram of the structure of the second viewing angle of the present invention;

[0021] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 4 It is a structural schematic diagram of the combined state of two walking devices in the present invention;

[0023] Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure at B in the middle;

[0024] Figure 6 It is a structural schematic diagram of the position adjustment mechanism in the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of a single walking device in the present invention in a disassembled state;

[0026] Figure 8 It is a schematic diagram of the disassembled structure of the pressing mechanism in the present invention;

[0027] Fig. 9 For the present invention Figure 4 Schematic diagram of the enlarged structure at point C in the middle.

[0028] Reference numerals:

[0029] 1. Track; 2. Mounting plate; 3. Camera; 101. Bottom plate; 102. Side plate; 103. Bearing shaft; 104. Bearing wheel; 105. Guide frame; 106. Guide wheel; 107. Wheel shaft; 108. Driving motor; 109. Driving gear; 110. Rack; 111. Driving shaft; 201. Guide block; 202. Brake wheel; 203. Driving shaft; 204. Extension rod; 205. Induction roller; 206. Slide; 207. Brake block; 208. Slide; 209. Extrusion spring; 210. Guide sleeve; 211. Spiral inclined groove; 212. Driving pulley; 213. Driven pulley; 2 14. Synchronous belt; 215. Driven shaft; 216. Rotating column; 217. Sliding pin; 218. Horizontal slide groove; 219. Arc groove; 220. Buffer groove; 221. Push block; 222. Buffer spring; 301. Positive conductive strip; 302. Negative conductive strip; 303. Positive brush; 304. Negative brush; 305. Spring telescopic rod; 401. Housing; 402. Steering shaft; 403. Worm; 404. Worm wheel; 405. Reversing motor; 406. Bogie; 407. Lifting electric cylinder; 501. Sliding sleeve; 502. Friction plate; 503. Armature; 504. Electromagnet; 505. Travel switch. DETAILED DESCRIPTION

[0030] The present invention is described in detail below, 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.

[0031] The present invention provides a track-type inspection robot with a vertical lifting mechanism through improvement. The technical solution of the present invention is:

[0032] like Figures 1 to 9 As shown, the embodiment of the present invention provides a track-type inspection robot with a vertical lifting mechanism, including a track 1 and a mounting plate 2, a camera 3 is arranged on the lower side of the mounting plate 2, and two walking devices are symmetrically arranged at both ends of the upper side of the mounting plate 2; the walking device includes a bottom plate 101 (such as a bottom plate 101) rotatably connected to the upper side of the mounting plate 2 Figure 4 As shown, two side plates 102 are fixed on the upper side of the bottom plate 101, and the upper ends of the two side plates 102 are rotatably inserted with a bearing shaft 103, and one end of the two bearing shafts 103 is fixed with a bearing wheel 104 (as shown in FIG. Figure 7As shown in the figure, the other ends of the two bearing shafts 103 are provided with a deceleration mechanism, two guide frames 105 are symmetrically fixed on both sides of the two side plates 102, one end of the two guide frames 105 is rotatably connected to the wheel axle 107, and both ends of the two wheel axles 107 are fixed with guide wheels 106; the deceleration mechanism includes a brake wheel 202 elastically arranged at the other end of the bearing shaft 103, a driving shaft 203 rotatably connected to the upper side of the bottom plate 101, and a slide cylinder 206 movably arranged on one side of the side plate 102, a guide block 201 is fixed on one side of the side plate 102, and the slide cylinder 206 penetrates and is slidably connected to the guide block 201. Inside the block 201, a brake block 207 is fixed on the upper end of the slide 206, and an arc groove 219 is provided on the upper side of the brake block 207 to match the outer side of the brake wheel 202. An extension rod 204 is fixed on the upper end of the driving shaft 203, and a top pressing mechanism for driving the slide 206 to move up and down is provided on one side of the driving shaft 203, and one end of the extension rod 204 is rotatably connected to the induction roller 205; a power taking mechanism and a driving mechanism are provided between the mounting plate 2 and the track 1; the top pressing mechanism includes a driven shaft 215 rotatably connected to the upper side of the bottom plate 101 and located directly below the slide 206, and a driven shaft 215 slidably inserted in the bottom plate 101. The slide bar 208 at the lower end of the slide cylinder 206, the convex ridge on the slide bar 208 cooperates with the slide groove in the slide cylinder 206 to limit the relative rotation of the slide bar 208 and the slide cylinder 206, the lower end of the slide bar 208 is fixed with a guide groove sleeve 210, the upper end of the guide groove sleeve 210 is elastically connected to the slide cylinder 206 through an extrusion spring 209, and the outer side of the guide groove sleeve 210 is provided with a spiral bevel groove 211, the upper end of the driven shaft 215 is fixed with a rotating column 216 that is movably matched with the inner side of the guide groove sleeve 210, and the outer side of the rotating column 216 is fixed with a sliding pin 210 that is slidably matched with the inner side of the spiral bevel groove 211. 17. A transmission mechanism is arranged between the driven shaft 215 and the driving shaft 203. The lower end of the spiral chute 211 also includes a horizontal slide 218 arranged horizontally, and the spiral chute 211 and the horizontal slide 218 are smoothly connected. The driving mechanism includes a rack 110 fixed to the lower side of the track 1 and a driving motor 108 installed on one side of one of the side plates 102. A driving shaft 111 is fixed to the driving end of the driving motor 108. A driving gear 109 meshing with the rack 110 is rotatably arranged on the outer side of the driving shaft 111. A clutch mechanism is arranged between the driving gear 109 and the driving shaft 111.

[0033] Through the pressing mechanism, when the deceleration mechanism senses the arc segment of the front track 1, the slide cylinder 206 of the deceleration mechanism can be driven to move upward, thereby driving the brake block 207 to move upward, so that the arc groove 219 on the upper side of the brake block 207 fits with the brake wheel 202, braking the brake wheel 202 and slowing down the walking device.

[0034] Furthermore, the transmission mechanism includes a driving pulley 212 fixed on the outside of the driving shaft 203 and a driven pulley 213 fixed on the outside of the driven shaft 215, the outer sides of the driving pulley 212 and the driven pulley 213 are connected by a synchronous belt 214, and the diameter of the driving pulley 212 is greater than the diameter of the driven pulley 213;

[0035] When the extension rod 204, the driving shaft 203, and the driving pulley 212 rotate at a smaller angle, the transmission mechanism can drive the driven pulley 213 and the driven shaft 215 to rotate at a larger angle, thereby improving the sensitivity of the driving pressing mechanism. When the sensing roller 205 just contacts the inner side surface of the arc segment of the track 1, the pressing mechanism can be driven to apply thrust to the brake block 207, thereby achieving a more accurate braking and deceleration effect.

[0036] Furthermore, two buffer grooves 220 are symmetrically provided on the inner side of the brake wheel 202, and push blocks 221 are fixed at positions corresponding to the two buffer grooves 220 at one end of the bearing shaft 103, and the two push blocks 221 are respectively slidably adapted to the inner sides of the two buffer grooves 220, and both sides of the two push blocks 221 are elastically connected to the inner sides of the two buffer grooves 220 through buffer springs 222;

[0037] By arranging a plurality of buffer springs 222 between the brake wheel 202 and the load-bearing shaft 103, the brake wheel 202 and the load-bearing shaft 103 are elastically and movably connected. When the brake wheel 202 in the deceleration mechanism is subjected to friction and generates a reverse torque, the reverse torque can be smoothly transmitted to the push block 221 through the buffer spring 222, and then transmitted to the load-bearing shaft 103 through the push block 221, and then transmitted to the load-bearing wheel 104, so that the reverse torque on the load-bearing shaft 103 and the load-bearing wheel 104 can be gradually increased, thereby avoiding impact on the load-bearing wheel 104, further improving the stability of the deceleration process, and avoiding shaking of the camera 3 at the moment of deceleration.

[0038] The guide wheel 106 provides lateral support for the walking device to improve the running stability of the walking device on the track 1. The induction roller 205 rolls along the side of the track 1 to reduce the resistance between the extension rod 204 and the track 1, thereby improving the smoothness of the movement of the walking device.

[0039] The driving gear 109 of the driving mechanism is always meshed with the rack 110 , and the driving motor 108 drives the driving gear 109 to rotate. The driving gear 109 can move along the outer side of the track 1 with the walking device by meshing with the rack 110 .

[0040] Furthermore, the power taking mechanism includes a positive conductive strip 301 and a negative conductive strip 302 installed on the lower side of the track 1, and a positive brush 303 and a negative brush 304 arranged on the upper side of the mounting plate 2, the lower sides of the positive brush 303 and the negative brush 304 are elastically connected to the upper side of the mounting plate 2 through a spring telescopic rod 305, and the upper sides of the positive brush 303 and the negative brush 304 are respectively in contact with the surface of the positive conductive strip 301 and the negative conductive strip 302;

[0041] The positive conductive strip 301 and the negative conductive strip 302 of the power collection mechanism are electrically connected to the output end of the external power supply. Under the elastic force of the two spring telescopic rods 305, an upward thrust is always applied to the positive brush 303 and the negative brush 304, so that the upper sides of the positive brush 303 and the negative brush 304 are always respectively attached to the surfaces of the positive conductive strip 301 and the negative conductive strip 302. The positive brush 303 and the negative brush 304 can transmit the current transmitted by the positive conductive strip 301 and the negative conductive strip 302 to the camera 3 and the drive motor 108, so that the camera 3 and the drive motor 108 can be powered during the movement of the walking device.

[0042] Furthermore, the mounting plate 2 and the camera 3 are movably connected via a position adjustment mechanism, which includes a shell 401 fixed to the lower side of the mounting plate 2, a steering shaft 402 and a worm 403 perpendicular to each other are rotatably connected through the inner side of the shell 401, a worm wheel 404 meshing with the worm 403 is fixed to the outer side of the steering shaft 402, a reversing motor 405 driving the worm 403 is installed on the outer side of the shell 401, bogies 406 located on the outer side of the shell 401 are fixed at both ends of the steering shaft 402, a lifting electric cylinder 407 is installed on one side of the bogie 406, and the camera 3 is installed at the telescopic end of the lifting electric cylinder 407;

[0043] The reversing motor 405 that controls the position adjustment mechanism drives the worm 403 to rotate, the worm 403 drives the worm wheel 404 to rotate, and the worm wheel 404 drives the lifting cylinder 407 to rotate through the steering shaft 402 and the bogie 406, thereby driving the camera 3 to rotate around the axis of the steering shaft 402. At the same time, with the telescopic effect of the telescopic end of the lifting cylinder 407, the camera 3 can be driven to move in a straight line, so that the camera 3 can be moved arbitrarily in the semicircular area, thereby improving the monitoring range.

[0044] Furthermore, the clutch mechanism includes a sleeve 501 slidably mounted on the outside of the drive shaft 111, an electromagnet 504 mounted on the bottom plate 101, a friction plate 502 is fixed to one end of the sleeve 501, and an armature 503 is rotatably connected to the outside of the sleeve 501; the clutch mechanism also includes a travel switch 505 mounted on the guide groove sleeve 210, and the travel switch 505 is electrically connected to the electromagnet 504 through a control circuit;

[0045] When the robot moves to the arc segment of track 1, the induction roller 205 is acted upon by the force from the inner side of the arc segment of track 1, thereby driving the extension rod 204 to rotate outward, thereby driving the driving shaft 203 to rotate, and the driving shaft 203 drives the driving pulley 212 of the transmission mechanism to rotate, and the driving pulley 212 drives the driven shaft 215 of the top pressing mechanism to rotate through the synchronous belt 214, and the driven shaft 215 drives the rotating column 216 at the upper end to rotate, and the rotating column 216 drives the sliding pin 217 to rotate synchronously, so that the sliding pin 217 slides along the inner side of the spiral bevel groove 211, and the sliding pin 217 and the spiral bevel groove 211 are adapted to each other. When the sliding pin 217 slides along the inner side of the spiral bevel groove 211, an upward thrust can be applied to the guide groove sleeve 210, thereby driving the guide groove sleeve 210 to move upward. The upward movement of the guide groove sleeve 210 drives the travel switch 505 to move upward, so that the travel switch 505 contacts the guide block 201, thereby triggering the travel switch 505. The travel switch 505 controls the electromagnet 504 to lose the electromagnetic attraction to the armature 503 through the control circuit, thereby eliminating the pressure on the friction plate 502 and the driving gear 109. At this time, the driving shaft 111 will not transmit the rotational torque to the driving gear 109, thereby improving the deceleration effect.

[0046] Working principle: When the robot is running, the four bearing wheels 104 of the two walking devices roll on the bottom surfaces of both sides of the track 1 respectively to support the robot as a whole. The positive conductive strip 301 and the negative conductive strip 302 of the power-taking mechanism are electrically connected to the output end of the external power supply. Under the elastic force of the two spring telescopic rods 305, an upward thrust is always applied to the positive brush 303 and the negative brush 304, so that the upper sides of the positive brush 303 and the negative brush 304 are always respectively attached to the surfaces of the positive conductive strip 301 and the negative conductive strip 302. The positive brush 303 and the negative brush 304 can transmit the current transmitted by the positive conductive strip 301 and the negative conductive strip 302 to the camera 3 and the drive motor 108, so that the camera 3 and the drive motor 108 can be powered during the movement of the walking device. At the same time, the driving gear 109 of the driving mechanism is always engaged with the rack 110, and the driving motor 108 runs with The driving shaft 111 rotates, and the electromagnet 504 is always in a power-on state. The electromagnet 504 generates an electromagnetic attraction to the armature 503. The armature 503 drives the sliding sleeve 501 to move, thereby driving the friction plate 502 to press against one side of the driving gear 109, thereby fixing the driving gear 109 to the driving shaft 111. Therefore, when the driving shaft 111 rotates, the driving gear 109 can be driven to rotate. The driving gear 109 can drive the walking device to move along the outer side of the track 1 by meshing with the rack 110. When the two walking devices drive the camera 3 to move to the arc segment of the track 1, since guide wheels 106 are provided on both sides of each side plate 102, when the walking device moves from the straight segment of the track 1 to the arc segment, the side wall of the track 1 applies a force to the guide wheel 106 located at the inner bend, and the direction of the force points to the center position of the arc segment of the track 1, so that the walking device can move in an arc along the arc segment of the track 1.

[0047] When the walking device moves at high speed, in order to prevent the walking device from being subjected to a large lateral impact force from the track 1 when it moves to the arc section of the track 1 too fast, it is necessary to use a deceleration mechanism to decelerate before the walking device moves to the arc section of the track 1. The four extension rods 204 of the four deceleration mechanisms on the two walking devices are respectively located on both sides of the track 1, and the induction rollers 205 at one end of the four extension rods 204 roll along the two sides of the track 1. When the two walking devices drive the camera 3 to approach the arc section of the track 1, the camera 3 located at the forward direction end and on the track 1 The inductive roller 205 of a deceleration mechanism of the inner bend of the arc segment will move from the straight segment of the track 1 to the inner side of the arc segment. At this time, the inductive roller 205 is subjected to the force from the inner side of the arc segment of the track 1, thereby driving the extension rod 204 to rotate outward, thereby driving the driving shaft 203 to rotate, and the driving shaft 203 drives the driving pulley 212 of the transmission mechanism to rotate, and the driving pulley 212 drives the driven shaft 215 of the top pressing mechanism to rotate through the synchronous belt 214, and the driven shaft 215 drives the rotating column 216 at the upper end to rotate, and the rotating column 216 drives the sliding pin 217 to rotate synchronously. The sliding pin 217 slides along the inner side of the spiral bevel groove 211. Under the adaptation of the sliding pin 217 and the spiral bevel groove 211, when the sliding pin 217 slides along the inner side of the spiral bevel groove 211, an upward thrust can be applied to the guide groove sleeve 210, thereby driving the guide groove sleeve 210 to move upward, and the guide groove sleeve 210 drives the slide bar 208 to move upward and extend into the interior of the slide cylinder 206. At the same time, the upward movement of the guide groove sleeve 210 compresses the extrusion spring 209, and the extrusion spring 209 is gradually compressed, so that an upward thrust can be gradually applied to the slide cylinder 206, and the slide cylinder 206 applies the brake block 208 to the brake block 206. 7 applies an upward thrust, thereby increasing the squeezing force between the arc groove 219 and the outer side of the brake wheel 202. Therefore, under the friction force of the arc groove 219 and the brake wheel 202, a braking force can be applied to the load-bearing shaft 103 and the load-bearing wheel 104, thereby playing a role of forced deceleration, and the speed of the walking device can be reduced when it moves to the arc segment of the track 1, thereby reducing the lateral impact force from the arc segment of the track 1, so that the walking device drives the camera 3 to travel more smoothly through the arc segment of the track 1, ensuring the stability of the monitoring picture of the camera 3 and avoiding picture shaking;

[0048] When the diameter of the arc segment of the track 1 is smaller, the extension rod 204 drives the driving shaft 203 to rotate at a larger angle, so the driven shaft 215 drives the rotating column 216 to rotate at a larger angle, so the sliding pin 217 can slide along the inner side of the spiral bevel groove 211 for a longer stroke, so the guide groove sleeve 210 is pushed upward, the more the extrusion spring 209 is compressed, and thus a greater thrust is applied to the slide cylinder 206 and the brake block 207, so that a greater braking force can be provided to the load-bearing wheel 104, thereby providing a greater deceleration effect to the walking device. In order to avoid locking the brake wheel 202 and ensure that the walking device can smoothly pass through the arc segment of the track 1, when the driving shaft 203 rotates to a certain angle, the sliding pin 21 7 slides from the inner side of the spiral inclined groove 211 to the inner side of the horizontal groove 218. Since the horizontal groove 218 is horizontally arranged, when the driven shaft 215 drives the rotating column 216 and the sliding pin 217 to rotate, the sliding pin 217 sliding on the inner side of the horizontal groove 218 will not continue to drive the guide groove sleeve 210 to move upward, thereby not continuing to compress the extrusion spring 209, thereby ensuring that the friction between the arc groove 219 and the brake wheel 202 will not continue to increase, thereby preventing the brake wheel 202 from locking, and further preventing the load-bearing wheel 104 from locking, so that the load-bearing wheel 104 can rotate while maintaining the braking force, thereby ensuring the stability of the walking device and the camera 3 during the deceleration process, and improving the stability of the monitoring image of the camera 3;

[0049] Since the diameter of the driving pulley 212 is greater than that of the driven pulley 213, when the extension rod 204, the driving shaft 203 and the driving pulley 212 rotate at a smaller angle, the driven pulley 213 and the driven shaft 215 can be driven to rotate at a larger angle, thereby improving the sensitivity of the driving pressing mechanism. When the induction roller 205 just contacts the inner side surface of the arc segment of the track 1, the pressing mechanism can be driven to apply thrust to the brake block 207, thereby achieving a more accurate braking and deceleration effect.

[0050] When the pressing mechanism applies pressure to the brake block 207, friction is instantly generated between the brake block 207 and the brake wheel 202. In order to prevent the friction from impacting the rotation of the brake wheel 202 and the load-bearing wheel 104, a plurality of buffer springs 222 are arranged between the brake wheel 202 and the load-bearing shaft 103. When the brake wheel 202 is instantly subjected to friction and generates a reverse torque, the reverse torque can be smoothly transmitted to the push block 221 through the buffer spring 222, and then transmitted to the load-bearing shaft 103 through the push block 221, and then transmitted to the load-bearing wheel 104, so that the reverse torque on the load-bearing shaft 103 and the load-bearing wheel 104 can be gradually increased, thereby avoiding impact on the load-bearing wheel 104, further improving the stability of the deceleration process, and avoiding shaking of the camera 3 at the moment of deceleration.

[0051] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those 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 will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A track-type inspection robot with a vertical lifting mechanism, comprising a track (1) and a mounting plate (2), wherein a camera (3) is arranged on the lower side of the mounting plate (2), characterized in that: Two walking devices are symmetrically arranged at both ends of the upper side of the mounting plate (2); The walking device comprises a bottom plate (101) rotatably connected to the upper side of the mounting plate (2), two side plates (102) are fixed to the upper side of the bottom plate (101), a bearing shaft (103) is rotatably inserted into the upper ends of the two side plates (102), a bearing wheel (104) is fixed to one end of the two bearing shafts (103), and a speed reduction mechanism is provided at the other ends of the two bearing shafts (103), two guide frames (105) are symmetrically fixed to both sides of the two side plates (102), one end of the two guide frames (105) is rotatably connected to a wheel axle (107), and guide wheels (106) are fixed to both ends of the two wheel axles (107); The deceleration mechanism comprises a brake wheel (202) elastically arranged at the other end of the bearing shaft (103), a driving shaft (203) rotatably connected to the upper side of the bottom plate (101), and a slide cylinder (206) movably arranged on one side of the side plate (102); a brake block (207) is fixed to the upper end of the slide cylinder (206); an extension rod (204) is fixed to the upper end of the driving shaft (203); a pressing mechanism for driving the slide cylinder (206) to move up and down is arranged on one side of the driving shaft (203); and one end of the extension rod (204) is rotatably connected to a sensing roller (205); A power supply mechanism and a driving mechanism are provided between the mounting plate (2) and the track (1); The pressing mechanism comprises a driven shaft (215) rotatably connected to the upper side of the bottom plate (101) and located directly below the slide cylinder (206), and a slide rod (208) slidably inserted at the lower end of the slide cylinder (206). A guide groove sleeve (210) is fixed to the lower end of the slide rod (208). The upper end of the guide groove sleeve (210) is elastically connected to the slide cylinder (206) via a compression spring (209). A spiral inclined groove (211) is provided on the outer side of the guide groove sleeve (210). A rotating column (216) movably matched with the inner side of the guide groove sleeve (210) is fixed to the upper end of the rotating column (216), a sliding pin (217) slidably matched with the inner side of the spiral chute (211) is fixed to the outer side of the rotating column (216), a transmission mechanism is arranged between the driven shaft (215) and the driving shaft (203), the lower end of the spiral chute (211) also includes a horizontal chute (218) arranged horizontally, and the spiral chute (211) and the horizontal chute (218) are smoothly connected; The driving mechanism comprises a rack (110) fixed to the lower side of the track (1) and a driving motor (108) mounted on one side of one of the side plates (102); a driving shaft (111) is fixed to the driving end of the driving motor (108); a driving gear (109) meshing with the rack (110) is rotatably arranged on the outer side of the driving shaft (111); and a clutch mechanism is arranged between the driving gear (109) and the driving shaft (111).

2. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: The transmission mechanism comprises a driving pulley (212) fixed on the outside of a driving shaft (203) and a driven pulley (213) fixed on the outside of a driven shaft (215); the outsides of the driving pulley (212) and the driven pulley (213) are connected by a synchronous belt (214); and the diameter of the driving pulley (212) is greater than the diameter of the driven pulley (213).

3. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: Two buffer grooves (220) are symmetrically provided on the inner side of the brake wheel (202); a push block (221) is fixed at a position corresponding to the two buffer grooves (220) at one end of the bearing shaft (103); the two push blocks (221) are respectively slidably adapted to the inner sides of the two buffer grooves (220); and both sides of the two push blocks (221) are elastically connected to the inner sides of the two buffer grooves (220) via buffer springs (222).

4. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: An arc-shaped groove (219) adapted to the outer side of the brake wheel (202) is provided on the upper side of the brake block (207).

5. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: A guide block (201) is fixed to one side of the side plate (102), and the slide cylinder (206) penetrates and is slidably connected to the inside of the guide block (201).

6. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: The power taking mechanism comprises a positive conductive strip (301) and a negative conductive strip (302) mounted on the lower side of the track (1), and a positive brush (303) and a negative brush (304) arranged on the upper side of the mounting plate (2); the lower sides of the positive brush (303) and the negative brush (304) are elastically connected to the upper side of the mounting plate (2) via a spring telescopic rod (305), and the upper sides of the positive brush (303) and the negative brush (304) are respectively in contact with the surface of the positive conductive strip (301) and the negative conductive strip (302).

7. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: The mounting plate (2) and the camera (3) are movably connected via a position adjustment mechanism, the position adjustment mechanism comprising a housing (401) fixed to the lower side of the mounting plate (2), a steering shaft (402) and a worm (403) intersecting each other perpendicularly passing through the inner side of the housing (401) and rotatably connected, a worm wheel (404) meshing with the worm (403) being fixed to the outer side of the steering shaft (402), a reversing motor (405) driving the worm (403) being mounted on the outer side of the housing (401), bogies (406) located on the outer side of the housing (401) being fixed at both ends of the steering shaft (402), a lifting electric cylinder (407) being mounted on one side of the bogie (406), and the camera (3) being mounted on the telescopic end of the lifting electric cylinder (407).

8. The rail-type inspection robot with a vertical lifting mechanism according to claim 1, characterized in that: The clutch mechanism comprises a sliding sleeve (501) which is arranged on the outside of the drive shaft (111), and an electromagnet (504) installed on the bottom plate (101); a friction plate (502) is fixed to one end of the sliding sleeve (501), and an armature (503) is rotatably connected to the outside of the sliding sleeve (501).

9. The rail-type inspection robot with a vertical lifting mechanism according to claim 8, characterized in that: The clutch mechanism further comprises a travel switch (505) mounted on the guide groove sleeve (210), wherein the travel switch (505) is electrically connected to the electromagnet (504) via a control circuit.

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