Unlocking and pressing integrated device and hanging rail inspection robot

Abstract

The invention belongs to the technical field of robots, and particularly discloses an unlocking and pressing integrated device which comprises an unlocking and pressing assembly with one end installed on a robot body and the other end hinged to a driving wheel base at a prefabricated angle. The driving execution assembly is connected with the unlocking and pressing assembly, and the unlocking and pressing assembly is driven to eliminate pressure applied to the driving wheel seat; when the unlocking and pressing assembly exerts pressure on the driving wheel seat, a pressing state is formed, and the driving wheel abuts against the guide rail in a friction mode. When the unlocking and pressing assembly eliminates pressure on the driving wheel seat, an unlocking state is formed, and the driving wheel is separated from the guide rail. The unlocking and pressing assembly is adjusted to be changed into the unlocking state from the pressing state, friction between the driving wheel and the guide rail is avoided, and therefore energy consumed by the rail-mounted rescue robot is reduced, and the rail-mounted inspection robot is dragged to the designated position. The invention further discloses the hanging rail inspection robot.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an integrated unlocking and pressing device and a rail-hanging inspection robot. Background Art

[0002] The rail-hanging inspection robot is a robot that can be suspended on a track and move along the track. It is widely used in logistics warehousing, chemical industry, mining and electricity due to its high flexibility and space utilization. It can perform inspection tasks in special environments, replacing manual inspections, and solving the safety hazards caused by traditional operators inspecting in harsh environments such as high temperature, high humidity, toxicity and electric shock. The mobile track of the rail-hanging inspection robot is set high in the air. The rail-hanging inspection robot walks along the track, which can make full use of the site space and improve safety and space utilization.

[0003] At present, the driving force of the rail-hanging inspection robot is provided by a motor, and finally the robot moves along the guide rail by the friction force of the driving wheel, and the pressure of the driving wheel on the rail is provided by the clamping device. Even if the rail-hanging inspection robot fails on the guide rail of the slope, the pressure provided by the clamping device can keep the rail-hanging inspection robot from having any accidents. However, there is the following problem: when the rail-hanging inspection robot fails, a special rail-hanging rescue robot is usually used to drag it to the designated location for repair through the docking structure. If the inspection robot is still in the clamping state applied by the clamping device, the rail-hanging rescue robot needs to consume more energy to drag the rail-hanging inspection robot to the designated location. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated unlocking and clamping device, which adjusts the driving wheel from a clamping state to an unlocking state, and creates friction between the driving wheel and the guide rail, thereby reducing the energy consumption of the rail-hanging rescue robot and dragging the rail-hanging inspection robot to a designated position.

[0005] The objective of the present invention is achieved through such a technical solution, which specifically provides an integrated unlocking and pressing device, comprising:

[0006] The unlocking and clamping assembly has one end mounted on the robot body and the other end hinged to the driving wheel seat at a prefabricated angle;

[0007] A driving actuator assembly is connected to the unlocking and pressing assembly, and drives the unlocking and pressing assembly to eliminate the pressure applied to the driving wheel seat;

[0008] When the unlocking and clamping assembly applies pressure to the driving wheel seat, a clamping state is formed, and the driving wheel rubs against the guide rail; when the unlocking and clamping assembly eliminates the pressure on the driving wheel seat, an unlocking state is formed, and the driving wheel is separated from the guide rail.

[0009] Preferably, the unlocking and pressing assembly comprises:

[0010] A base is installed on one end of the robot body close to the guide rail;

[0011] The releaser sleeve is mounted on the base, and the outer surface thereof is provided with ball holes for balls to pass through at intervals along the circumference thereof;

[0012] The limiting ring sleeve is arranged on the outside of the releaser shaft sleeve and is located directly above the ball hole. The outer surface of the limiting ring is connected to the driving actuator component, and the inner wall of the limiting ring is provided with a ball withdrawal groove;

[0013] The elastic member is sleeved on the outside of the releaser shaft sleeve and includes a first spring and a second spring, and a limiting ring is located between the first spring and the second spring;

[0014] A releaser shaft, a releaser shaft sleeve is sleeved on the outside of the releaser shaft, a ball groove is provided on the outer surface of the releaser shaft, and the releaser shaft is provided with a cavity;

[0015] The tensioning force spring is arranged in the cavity, one end of the tensioning force spring is connected to the driving wheel seat, and the other end is connected to the end surface of the moving plate.

[0016] Preferably, two groups of ball withdrawal grooves are provided, which are symmetrically arranged on the inner walls at both ends of the limiting ring.

[0017] Preferably, the unlocking and clamping assembly also includes an adjusting column, one end of which is connected to the end face of the movable plate away from the tensioning spring, an external thread is provided on the outer surface of the adjusting column, and an internal thread matching the external thread is provided in the cavity, and the movable plate is driven to move in the cavity through the threaded cooperation.

[0018] Preferably, the releaser shaft further comprises a stop ring, which is sleeved on the outer surface of the releaser shaft close to the driving wheel seat, and the outer diameter of the stop ring is greater than the inner diameter of the first cavity.

[0019] Preferably, the base comprises a base body and an adapter block, the angle between the adapter block and the base body is adjustable, the adapter block is provided with a first groove, and the driving wheel seat is hingedly installed in the adapter block by a latch.

[0020] Preferably, the driving execution assembly comprises a toggle block, a concave ring is arranged on the outer side of the limiting ring, and a boss matched with the concave ring is arranged at one end of the toggle block.

[0021] Preferably, the base is provided with a second groove, the boss abuts against the concave ring through the second groove, and the toggle block moves along the second groove.

[0022] Preferably, the base further comprises a sliding block, the toggle block is provided with a sliding groove cooperating with the sliding block, and the toggle block moves along the sliding block.

[0023] The integrated unlocking and clamping device of the present invention applies external force to the driving execution component, which adjusts the unlocking and clamping components to eliminate the pressure exerted by the unlocking and clamping components on the driving wheel seat. The driving wheel is separated from the guide rail under the action of gravity, and the friction force is eliminated. The driving wheel is in the unlocked state, and the rail-hanging rescue robot can pull the rail-hanging inspection robot to the specified position with a smaller pulling force, thereby reducing the loss of the rail-hanging rescue robot. The unlocking component and the clamping component are integrated together, avoiding the conventional technology of using two sets of structures to brake and unlock the driving wheel respectively, which is conducive to the simplification and miniaturization of the device.

[0024] Another object of the present invention is to provide a rail-hanging inspection robot. When a fault occurs in the rail-hanging inspection robot, a device integrating unlocking and clamping is used to adjust the driving wheel from a clamping state to an unlocking state. There is no friction between the driving wheel and the guide rail, making it easier to move the rail-hanging inspection robot to a designated position.

[0025] The objective of the present invention is achieved through such a technical solution, which specifically provides a rail-hanging inspection robot including an integrated unlocking and clamping device.

[0026] Due to the adoption of the above technical scheme, the beneficial effects of the present invention are as follows: when the rail-hanging inspection robot fails, the unlocking and clamping device is used to adjust the driving wheel from the clamping state to the unlocking state, and there is no friction between the driving wheel and the guide rail, making it easier to move the rail-hanging inspection machine to the designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0028] Figure 1 It is a structural schematic diagram of a device integrating unlocking and pressing according to the present invention;

[0029] Figure 2 A cross-sectional view of the device integrating unlocking and pressing;

[0030] Figure 3 is a schematic diagram of the releaser shaft;

[0031] Figure 4 is a schematic diagram of a releaser sleeve;

[0032] Figure 5 A schematic diagram of the structure of the integrated unlocking and pressing device without the base;

[0033] Figure 6 A schematic diagram of a drive execution component;

[0034] Figure 7 This is a schematic diagram of the robot body on the guide rail.

[0035] Reference numerals:

[0036] 1-unlocking and pressing assembly, 11-base, 111-base body, 112-adapter block, 113-first groove, 114-second groove, 115-slider, 12-releaser sleeve, 121-ball hole, 122-second step, 13-ball, 14-limiting ring, 141-ball retreat groove, 142-concave ring, 15-elastic member, 151-first spring, 152-second spring, 16-releaser shaft, 161-ball groove, 162-cavity, 163-first cavity, 164-second cavity, 165-end plate, 166-retracting ring, 167-ring groove, 168-first step, 17-tensioning spring, 171-moving plate, 18-third spring, 19-adjusting column,

[0037] 2-driving actuator, 21-sliding block, 211-boss, 212-pad, 213-slideway,

[0038] 3-driving wheel, 31-driving wheel seat, 32-first pin shaft,

[0039] 4- robot body, 5- guide rail. DETAILED DESCRIPTION

[0040] See also Figure 1 and Figure 7 , an integrated unlocking and clamping device, comprising an unlocking and clamping component 1 and a driving execution component 2.

[0041] One end of the unlocking and clamping assembly 1 is installed on the robot body 4, and the other end of the unlocking and clamping assembly 1 is hinged to the driving wheel seat 31 at a prefabricated angle; the driving execution assembly 2 is connected to the unlocking and clamping assembly 1, and the unlocking and clamping assembly 1 is driven to eliminate the pressure applied to the driving wheel seat 31. When the unlocking and clamping assembly 1 applies pressure to the driving wheel seat 31, a clamping state is formed, and the driving wheel 3 and the guide rail 5 are frictionally opposed; when the unlocking and clamping assembly eliminates the pressure on the driving wheel seat 31, an unlocking state is formed, and the driving wheel 3 is separated from the guide rail 5. Specifically, the robot body 4 is hung upside down on the guide rail 5, and the robot body 4 is supported by the load-bearing wheel in the prior art. The unlocking and clamping assembly 1 is installed between the robot body 4 and the guide rail 5, and the driving wheel 3 is rotatably installed on the driving wheel seat 31. The size of the driving wheel 3 is as large as possible. In order to reduce abnormal noise during movement, the driving wheel 3 is a rubber wheel. The contact surface between the driving wheel 3 and the guide rail 5 is provided with a concave and convex pattern. In the above manner, the wider driving wheel 3 helps to improve the stability during movement, and the rubber wheel with a concave-convex pattern can increase the friction between the guide rail 5, thereby enhancing the movement stability and driving force of the robot body 4 during movement.

[0042] In the integrated unlocking and clamping device of the present invention, in a normal state, the unlocking and clamping assembly 1 always applies pressure to the driving wheel seat 31, and the pressure is greater than the gravity of the driving wheel 3 and the driving wheel seat 31, forming a clamping state, and the driving wheel 3 is tightly fitted with the guide rail 5 to generate friction, and the driving wheel 3 moves on the guide rail 5. When the robot body 4 fails and stays in the guide rail 5, an external force is applied to the driving execution assembly 2, and the driving execution assembly 2 drives the unlocking and clamping assembly 1 to eliminate the pressure on the driving wheel seat 31, forming an unlocking state, and the driving wheel 3 is separated from the guide rail 5 under the action of gravity, and the friction is eliminated, that is, the robot body 4 can be pulled to the specified position with a smaller pulling force, reducing the energy loss of the rail-hanging rescue robot, and the unlocking assembly and the clamping assembly are integrated together, avoiding the conventional technology of braking and unlocking the driving wheel with two sets of structures respectively, which is conducive to the simplification and miniaturization of the device.

[0043] See also Figures 2 to 5 Furthermore, the unlocking and pressing assembly 1 includes: a base 11, a releaser sleeve 12, a ball 13, a limit ring 14, an elastic member 15, a releaser shaft 16, a tensioning spring 17, a third spring 18 and an adjustment column 19.

[0044] The base 11 is mounted on one end face of the robot body 4 close to the guide rail 5; the releaser sleeve 12 is mounted on the base 11, and the outer surface of the releaser sleeve 12 is provided with ball holes 121 for the balls 11 to pass through at intervals along its circumference; the limiting ring 14 is sleeved on the outer side of the releaser sleeve 12 and is located directly above the ball holes 121, the outer surface of the limiting ring 14 is connected to the drive actuator 2, and the inner wall of the limiting ring 14 is provided with a ball retreat groove 141. The elastic member 15 is sleeved on the outer side of the releaser sleeve 12, including a first spring 151 and a second spring 152, and the limiting ring 14 is located between the first spring 151 and the second spring 152. The releaser sleeve 12 is sleeved on the outer side of the releaser shaft 16, and the outer surface of the releaser shaft 16 is provided with a ball groove 161, and the releaser shaft 16 is provided with a cavity 162. The tensioning force spring 17 is arranged in the cavity 162, one end of the tensioning force spring 17 is connected to the driving wheel seat 31, and the other end is connected to one end surface of the moving plate 171. The inner wall of the releaser sleeve 12 is provided with a second step 122, and one end of the releaser shaft 16 is provided with an end plate 165, and the third spring 18 is arranged between the second step 122 and the inner wall of the end plate 165. Specifically, the releaser sleeve 12, the limit ring 14 and the releaser shaft 16 are coaxially arranged. The inner wall of the releaser shaft 16 is provided with a first step 168, which divides the cavity 162 into a connected first cavity 163 and a second cavity 164, the tensioning force spring 17 and the moving plate 171 are arranged in the first cavity 163, and the first step 168 limits the moving plate 171 from moving into the second cavity 164. An end plate 165 is provided at one end of the releaser shaft 16 away from the driving wheel seat 31. The outer diameter of the end plate 165 is larger than the releaser shaft sleeve 12, which is used to facilitate the external force to push the end plate to move and limit the movement of the releaser shaft 16. Preferably, the first spring 151 and the second spring 152 have the same parameters, and the limiting ring 14 is located between the first spring 151 and the second spring 152. Preferably, the first spring 151, the second spring 152 and the third spring 18 are all springs.

[0045] The working process of the device that unlocks and presses together:

[0046] Unlocking process: under the action of external force, the driving actuator 2 pulls the limit ring 14 to move outside the releaser sleeve 12. When the ball withdrawal groove 141 moves to the top of the ball 13, the moving space of the ball 13 in the up and down directions becomes larger. Under the action of the third spring 18, the ball 13 breaks away from the ball groove 161 and squeezes into the ball withdrawal groove 141. The releaser shaft 16 loses the constraint of the ball 13. Under the action of the third spring 18 with pre-energy storage, the releaser shaft 16 pops out away from the driving wheel seat 31. The tension spring 17 loses the pressure of the releaser shaft 16 and returns to the released state. The tension spring 17 does not apply pressure to the driving wheel seat 31. After the driving wheel seat 31 loses pressure, it moves around the hinge away from the guide rail 5 under the action of the gravity of the driving wheel 3 and the driving wheel 3. The driving wheel 3 is separated from the guide rail 5 and has no contact. In the absence of external force, even if the elastic member 15 acts on it, the ball 13 locks the limiting ring 14 in the ball retreat groove 141, and the limiting ring 14 cannot return to its original position.

[0047] The clamping process: a thrust is applied to the end plate 165 to move the unlocker shaft 16 toward the driving wheel seat 31. When the ball groove 161 moves below the ball 13, the ball 13 falls into the ball groove 161. Under the centering action of the first spring 151 and the second spring 152, the limit ring 14 returns to its original position. The inner wall of the limit ring 14 locks the ball 13 in the ball groove 161. The releaser shaft 16 compresses the tension spring 17. The tension spring 17 applies pressure to the driving wheel seat 31. The driving wheel seat 31 moves toward the guide rail 5 around the hinge. The driving wheel 3 presses the guide rail 5 to generate friction. At this time, the third spring 18 is compressed and stores energy.

[0048] Furthermore, two sets of ball retreat grooves 141 are symmetrically arranged on the inner walls at both ends of the limiting ring 14. With this structure, external force can move the limiting ring 14 to the left or right, and can drive the driving wheel 3 to disengage from the guide rail 5, thereby improving the application scenario.

[0049] See also Figure 2 Furthermore, the unlocking and pressing assembly 1 further includes an adjusting column 19, one end of which is connected to the end face of the moving plate 171 away from the tensioning force spring 17, and an external thread is provided on the outer surface of the adjusting column 19, and an internal thread matching the external thread is provided in the cavity 162, and the moving plate 171 is driven to move in the cavity 162 through the thread matching. Specifically, the adjusting column 19 is arranged in the second cavity 164, and the position of the adjusting column 19 in the second cavity 164 is adjusted by a tool, so that the compression degree of the tensioning force spring 17 can be adjusted, thereby adjusting the pressure of the tensioning force spring 17 on the driving wheel seat 31, and the friction between the driving wheel 3 and the guide rail 5 can be adjusted, which is conducive to the stable movement of the robot body 4 on the guide rail 5.

[0050] See also Figure 2 and Figure 3Further, the releaser shaft 16 also includes a stop ring 166, which is sleeved on the outer surface of the releaser shaft 16 close to the driving wheel seat 31, and the outer diameter of the stop ring 166 is greater than the inner diameter of the cavity 162. Specifically, the outer surface of the releaser shaft 16 close to the driving wheel seat 31 is provided with an annular groove 167, and the stop ring 166 is tightly sleeved in the annular groove 167 and exposed on the outer surface of the releaser shaft 16. The stop ring 166 is used to limit the ejection length of the releaser shaft 16 away from the driving wheel seat 31.

[0051] See also Figure 2 Further, the base 11 includes a base body 111 and an adapter block 112, and the angle between the adapter block 112 and the base body 111 is adjustable; the adapter block 112 is provided with a first groove 113, and the driving wheel seat 31 is hingedly installed in the adapter block 112 through a first pin shaft 32. Specifically, the base body 111 and the adapter block 112 are provided with coaxial through holes, and the base body 111 is also provided with a second pin shaft and a nut. The second pin shaft is installed in the through hole, and the adapter block 112 rotates around the second pin shaft to adjust its angle with the base body 111. When the angle is appropriate, it is fixed with a nut, and the angle between the adapter block 112 and the guide rail 5 can be adjusted. The adapter block 112 is provided with a first groove 113, and the driving wheel seat 31 is hingedly installed in the first groove 113 through the first pin shaft 32. When the driving wheel seat 31 is subjected to force or relieved of force, the driving wheel seat 31 moves along the first groove 113, so that the driving wheel 3 contacts or detaches from the guide rail 5. Preferably, two first pin shafts 32 are provided.

[0052] See also Figure 5 and Figure 6 Further, the driving execution assembly 2 includes a toggle block 21, a concave ring 142 is provided on the outer side of the limit ring 14, and a boss 211 is provided at one end of the toggle block 21 to match the concave ring 142. Specifically, a concave ring 142 is provided on the outer side of the middle of the limit ring 14, and the boss 211 is nested in the concave ring 142. Under the action of external force, the boss 211 drives the limit ring 14 to move.

[0053] See also Figure 5 Further, the base 11 is provided with a second groove 114 , the boss 211 abuts against the concave ring 142 through the second groove 114 , and the toggle block 21 moves along the second groove 114 .

[0054] See also Figure 6, further, the base 11 also includes a slider 115, the toggle block 21 is provided with a slide groove 213 that cooperates with the slider 115, and the toggle block 21 moves along the slider 115. Specifically, the slider 115 is detachably mounted on the outside of the base 11 by screws, and the end surface of the toggle block 21 close to the base 11 is provided with a cushion block 212, and the cushion block 212 is detachably mounted on the toggle block 21 by flat head screws, and the cushion block 212 is provided with a slide groove 213 that cooperates with the slider 115. The slider 115 and the cushion block 212 are detachably mounted, which is convenient for replacing the slider 115 and the cushion block 212. The toggle block 21 moves along the second groove 114 and along the slider 115 at the same time, so that the toggle block 21 moves in a directional and stable manner. Preferably, the drive execution assembly 2 is provided with two groups, which are symmetrically arranged on both sides of the unlocking and clamping assembly 1. The two groups of drive execution assemblies 2 are symmetrically arranged on the base 11. The stability of the movement process of the limit ring 14 can be guaranteed.

[0055] A rail-hanging inspection robot comprises an integrated unlocking and clamping device.

[0056] The invention discloses an integrated unlocking and clamping device and a rail-hanging inspection robot. When the rail-hanging inspection robot is in a clamping state, the driving wheel 3 and the guide rail 5 are closely fitted to generate friction, and the rail-hanging inspection robot moves on the guide rail 5 under the drive of internal power. When the rail-hanging inspection robot fails, an external force is applied to the driving execution component 2, and the driving execution component 2 moves the limit ring 14 to eliminate the pressure exerted by the unlocking and clamping component 1 on the driving wheel seat 31. The driving wheel 3 is separated from the guide rail 5 under the action of gravity, and the friction is eliminated. The rail-hanging inspection robot is in an unlocked state, and the rail-hanging rescue robot can pull the robot to a designated position with a small pulling force, thereby reducing the loss of the rail-hanging rescue robot. The unlocking component and the clamping component are integrated together, avoiding the conventional technology of braking and unlocking the driving wheel 3 respectively with two sets of structures, which is conducive to the simplification and miniaturization of the device. The unlocking and clamping component 1 is provided with an adjustment column 19, which can adjust the friction between the driving wheel 3 and the guide rail 5, which is conducive to the stable movement of the rail-hanging inspection robot on the guide rail 5. The driving wheel seat 31 is hingedly installed in the first groove 113 through the first pin shaft 32. When the driving wheel seat 31 is subjected to force or the force is eliminated, the driving wheel seat 31 moves along the first groove 113, so that the driving wheel 3 contacts or separates from the guide rail 5. The base 11 is provided with a second groove 114 and a slider 115, so that the toggle block 21 moves in a directional and stable manner.

[0057] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A device integrating unlocking and pressing, characterized in that: include An unlocking and clamping assembly (1), one end of which is mounted on the robot body (4), and the other end of which is hinged to the driving wheel seat (31) at a prefabricated angle; A driving actuator component (2) is connected to the unlocking and pressing component (1), and drives the unlocking and pressing component (1) to eliminate the pressure applied to the driving wheel seat (31); When the unlocking and pressing component (1) applies pressure to the driving wheel seat (31), a pressing state is formed, and the driving wheel (3) and the guide rail (5) are in frictional contact; when the unlocking and pressing component (1) eliminates the pressure on the driving wheel seat (31), an unlocking state is formed, and the driving wheel (31) is separated from the guide rail (5).

2. The integrated unlocking and pressing device according to claim 1, characterized in that: The unlocking and pressing assembly (1) comprises: A base (11) is mounted on an end surface of the robot body (4) close to the guide rail (5); A releaser sleeve (12) is mounted on the base (11), and has an outer surface provided with ball holes (121) for the balls (13) to pass through at intervals along its circumference; A limiting ring (14) is sleeved on the outside of the releaser shaft sleeve (12) and is located above the ball hole (121); the outer surface of the limiting ring (14) is connected to the driving actuator component (2); and the inner wall of the limiting ring (14) is provided with a ball retreat groove (141); The elastic member (15) is sleeved on the outside of the releaser shaft sleeve (12), and comprises a first spring (151) and a second spring (152); the limiting ring (14) is located between the first spring (151) and the second spring (152); A releaser shaft (16), a releaser shaft sleeve (12) is sleeved on the outer side of the releaser shaft (16), a ball groove (161) is provided on the outer surface of the releaser shaft (16), and the releaser shaft (16) is provided with a cavity (162); The tensioning force spring (17) is arranged in the cavity (162), one end of the tensioning force spring (17) is connected to the driving wheel seat (31), and the other end is connected to the end surface of the moving plate (171).

3. The integrated unlocking and pressing device according to claim 2, characterized in that: Two groups of ball retreat grooves (141) are provided, which are symmetrically arranged on the inner walls at both ends of the limiting ring (14).

4. The integrated unlocking and pressing device according to claim 2 or 3, characterized in that: The unlocking and pressing assembly (1) also includes an adjusting column (19), one end of which is connected to the end surface of the movable plate (171) away from the tensioning spring (17), the outer surface of the adjusting column (19) is provided with an external thread, and the cavity (162) is provided with an internal thread that matches the external thread, and the movable plate (171) is driven to move in the cavity (162) through the threaded cooperation.

5. The integrated unlocking and pressing device according to claim 2 or 3, characterized in that: The releaser shaft (16) further comprises a stop ring (166), which is sleeved on the outer surface of the releaser shaft (16) close to the driving wheel seat (31), and the outer diameter of the stop ring (166) is greater than the inner diameter of the cavity (162).

6. The integrated unlocking and pressing device according to claim 2 or 3, characterized in that: The base (11) comprises a base body (111) and an adapter block (112); the angle between the adapter block (112) and the base body (111) is adjustable; the adapter block (112) is provided with a first groove (113); and the driving wheel seat (31) is hingedly mounted in the adapter block (112) via a first pin shaft (32).

7. The integrated unlocking and pressing device according to claim 2 or 3, characterized in that: The driving execution assembly (2) comprises a toggle block (21), a concave ring (142) is arranged on the outer side of the limiting ring (14), and a boss (211) matching with the concave ring (142) is arranged at one end of the toggle block (21).

8. The integrated unlocking and pressing device according to claim 7, characterized in that: The base (11) is provided with a second groove (114), the boss (211) passes through the second groove (114) and abuts against the concave ring (142), and the shifting block (21) moves along the second groove (114).

9. The integrated unlocking and pressing device according to claim 7, characterized in that: The base (11) further comprises a sliding block (115), the toggle block (21) is provided with a sliding groove (213) matched with the sliding block (115), and the toggle block (21) moves along the sliding block (115).

10. A rail inspection robot, characterized in that: A device comprising the integrated unlocking and clamping device as described in any one of claims 1 to 9.

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