Rail type inspection robot large-angle climbing auxiliary device

Abstract

The invention discloses a large-angle climbing assisting device for a rail type inspection robot, and relates to the technical field of climbing assisting of inspection robots. The inspection device comprises an inspection track, an advancing mechanism advancing on the inspection track is arranged on the inspection track, four auxiliary mechanisms are arranged on the advancing mechanism, a telescopic mechanism is arranged below the auxiliary mechanisms, and inspection equipment is arranged below the advancing mechanism. The auxiliary mechanism can be matched with the advancing mechanism, so that the inspection equipment is kept in a stable running state during large-angle climbing, the problem that the climbing ability of the inspection robot is affected due to reduction of road holding force caused by abrasion of rollers is solved, the risk that the rollers slip and are out of control is reduced, and the running safety and reliability of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of slope climbing assistance for inspection robots, and in particular to a large-angle slope climbing assistance device for a track-type inspection robot. Background Art

[0002] The functions of the large-angle climbing assist device of the rail-mounted inspection robot are mainly as follows: enhancing climbing power, improving stability, enhancing adaptability, preventing slipping, protecting robot components and ensuring safe operation.

[0003] Common large-angle climbing assist devices for track-mounted inspection robots mostly enhance climbing ability by adding specially designed drive wheels, increase the friction between the track and the robot, and prevent the robot from slipping during the climbing process. This type of climbing assist has problems such as poor power output stability and reduced grip due to roller wear. Therefore, it is necessary to design corresponding climbing assist devices to avoid these problems from affecting the large-angle climbing of the inspection robot. In response to the above problems, the inventor proposes a large-angle climbing assist device for a track-mounted inspection robot to solve the above problems. Summary of the invention

[0004] In order to solve the problem that most common large-angle climbing assistance devices for track-mounted inspection robots enhance climbing ability by adding specially designed drive wheels, increase the friction between the track and the robot, and prevent the robot from slipping during climbing, this type of climbing assistance has the problems of poor power output stability and reduced grip due to roller wear; the purpose of the present invention is to provide a large-angle climbing assistance device for a track-mounted inspection robot.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a large-angle climbing auxiliary device of a track-type inspection robot, comprising an inspection track, a traveling mechanism traveling on the inspection track, four auxiliary mechanisms are arranged on the traveling mechanism, a telescopic mechanism is arranged below the auxiliary mechanism, and an inspection device is arranged below the traveling mechanism; The travel mechanism includes two support frames arranged on both sides of the inspection track, two first rotating shafts symmetrically distributed are rotatably arranged on the support frames, a plurality of first rollers are fixedly mounted on the first rotating shafts, and the first rollers are rollingly arranged at the bottom end of the inspection track, a connecting bracket is fixedly mounted at the bottom end of the two support frames, and the inspection equipment is installed at the lower end of the connecting bracket; Two auxiliary mechanisms are provided on each of the two support frames, and the two auxiliary mechanisms are symmetrically distributed. The auxiliary mechanisms include two swing arms, and a second rotating shaft is rotatably provided at one end of the two swing arms away from the support frame, and a plurality of second rollers are fixedly mounted on the second rotating shaft, and the second rollers are rollingly arranged at the top end of the inspection track; The telescopic mechanism comprises a cylinder body, a hydraulic rod is slidably inserted into the cylinder body, and the cylinder body and the hydraulic rod are located between the supporting frame and the swing arm and can swing.

[0006] Preferably, the first rotating shaft is fixedly mounted with a first gear and a first sprocket, and the outer rings of the two first sprockets located on the same supporting frame are sleeved with a first chain.

[0007] Preferably, two driving shafts are rotatably provided on the connecting bracket, and second sprockets are fixedly mounted on the two driving shafts and the two first rotating shafts thereon, and a second chain is provided on the outer ring of the second sprockets on the driving shaft and the first rotating shaft located on the same side, and a dual-axis motor is fixedly mounted inside the connecting bracket, and two output ends of the dual-axis motor are respectively connected to one end of the two driving shafts.

[0008] Preferably, two fixed shafts are fixedly mounted on the support frame, and limiting wheels are rotatably provided at the lower ends of the fixed shafts, and the limiting wheels on the two support frames are respectively located on both sides of the inspection track.

[0009] Preferably, a cylinder is fixedly mounted at the lower end of the swing arm, and the cylinder is rotatably arranged on a support frame, a transmission shaft is rotatably arranged inside the two cylinders, a third sprocket is fixedly mounted on the transmission shaft and the second rotating shaft, and a third chain is arranged on the outer rings of the two third sprockets.

[0010] Preferably, a second gear is fixedly mounted on the transmission shaft, and the second gear is meshed with a first gear on the first rotating shaft above the second gear.

[0011] Preferably, two deflection seats are fixedly installed on the bottom end of the cylinder body, a rotatable connecting shaft is provided inside the two deflection seats, and the connecting shaft is fixedly installed inside the connecting bracket, a circular ring is fixedly installed on the top end of the hydraulic rod, a hinge seat is rotatably provided on the circular ring, and the base of the hinge seat is fixedly installed on the two swing arms of the auxiliary mechanism on one side thereof.

[0012] Preferably, a piston is fixedly installed at the lower end of the hydraulic rod, and the piston is slidably arranged inside the cylinder body, a sleeve is fixedly installed at the bottom end of the cylinder body, and the lower end of the hydraulic rod is slidably inserted into the sleeve, a first spring is fixedly installed at the piston and the bottom end of the cylinder body, and the first spring is sleeved on the outer ring of the sleeve and the hydraulic rod.

[0013] Preferably, a box body is fixedly installed on the outside of the cylinder body, a column is fixedly installed inside the box body, a slider is slidably provided inside the column, second springs are fixedly installed on both upper and lower ends of the slider, the other ends of the two second springs are respectively fixedly connected to the top and bottom ends of the column body, a scale is provided on the outside of the column, a moving rod is fixedly installed on the outside of the piston, and the moving rod is slidably arranged on the cylinder body, a pointer is fixedly installed on the end of the moving rod away from the piston, an arc plate for sealing is fixedly installed on the moving rod, and the arc plate is slidably arranged inside the outer wall of the cylinder body.

[0014] Preferably, a hydraulic pump is fixedly mounted on the connecting bracket, and a liquid outlet joint of the hydraulic pump is connected to connecting pipes at the upper and lower ends of the cylinder body through hoses.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses a telescopic mechanism to adjust the angle between the auxiliary mechanism and the traveling mechanism, so that the auxiliary mechanism can cooperate with the traveling mechanism, so that the inspection equipment can maintain a stable operating state when climbing a large angle, and avoids the problem of reduced grip due to roller wear, which affects the climbing ability of the inspection robot, reduces the risk of roller slippage and loss of control, and increases the safety and reliability of the robot operation; 2. The present invention monitors the posture and force of the first spring and feeds back the signal to the control system of the inspection equipment. The control system of the inspection equipment automatically adjusts the force at both ends of the piston inside the cylinder according to the information, so as to ensure that the inspection equipment always maintains balance and stability during the large-angle climbing process; 3. The present invention utilizes the transmission effect of the chain and the sprocket so that both the first roller and the second roller can rotate, thereby effectively improving the climbing efficiency of the inspection robot. 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the cross-sectional structure of the traveling mechanism and the auxiliary mechanism of the present invention.

[0019] Figure 3 It is a schematic diagram of the cross-sectional structure of the telescopic mechanism of the present invention.

[0020] Figure 4 For the present invention Figure 2 A schematic diagram of the enlarged structure in the middle.

[0021] Figure 5 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B in the middle.

[0022] Figure 6 For the present invention Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0023] Figure 7 For the present invention Figure 2 Enlarged schematic diagram of the structure at point D in the middle.

[0024] Figure 8 For the present invention Figure 3 Enlarged schematic diagram of the structure at point E in the middle.

[0025] In the figure: 1, inspection track; 2, travel mechanism; 201, support frame; 202, first rotating shaft; 203, first gear; 204, first sprocket; 205, first chain; 206, first roller; 207, fixed shaft; 208, limit wheel; 209, drive shaft; 210, second sprocket; 211, second chain; 212, double-axis motor; 213, hydraulic pump; 214, connecting bracket; 3, auxiliary mechanism; 301, cylinder; 302, swing arm; 303, second rotating shaft; 304, second roller ; 305, transmission shaft; 306, third sprocket; 307, third chain; 308, second gear; 4, telescopic mechanism; 401, cylinder; 402, deflection seat; 403, connecting shaft; 404, hydraulic rod; 405, ring; 406, hinged seat; 407, piston; 408, first spring; 409, sleeve; 410, moving rod; 411, box body; 412, column; 413, slider; 414, second spring; 415, scale; 416, pointer; 417, arc plate; 5, inspection equipment. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0027] Example: Figure 1-8As shown, the present invention provides a large-angle climbing auxiliary device for a track-type inspection robot, comprising an inspection track 1, a traveling mechanism 2 traveling thereon is provided on the inspection track 1, four auxiliary mechanisms 3 are provided on the traveling mechanism 2, a telescopic mechanism 4 is provided below the auxiliary mechanism 3, and an inspection device 5 is provided below the traveling mechanism 2; The traveling mechanism 2 includes two supporting frames 201 arranged on both sides of the inspection track 1, two first rotating shafts 202 symmetrically distributed are rotatably arranged on the supporting frames 201, a plurality of first rollers 206 are fixedly installed on the first rotating shafts 202, and the first rollers 206 are rollingly arranged at the bottom end of the inspection track 1, a connecting bracket 214 is fixedly installed at the bottom end of the two supporting frames 201, and the inspection equipment 5 is installed at the lower end of the connecting bracket 214; two auxiliary mechanisms 3 are arranged on the two supporting frames 201, and the two auxiliary mechanisms 3 are arranged on the two supporting frames 201. The mechanism 3 is symmetrically distributed, and the auxiliary mechanism 3 includes two swing arms 302. The two swing arms 302 are rotatably provided with a second rotating shaft 303 at one end away from the supporting frame 201. A plurality of second rollers 304 are fixedly mounted on the second rotating shaft 303, and the second rollers 304 are rollingly arranged at the top end inside the inspection track 1; the telescopic mechanism 4 includes a cylinder body 401, and a hydraulic rod 404 is slidably inserted on the cylinder body 401. The cylinder body 401 and the hydraulic rod 404 are located between the supporting frame 201 and the swing arm 302, and can swing.

[0028] The first gear 203 and the first sprocket 204 are fixedly mounted on the first rotating shaft 202 , and the outer rings of the two first sprockets 204 located on the same supporting frame 201 are sleeved with a first chain 205 .

[0029] By adopting the above technical solution, the two first rotating shafts 202 can rotate.

[0030] Two driving shafts 209 are rotatably provided on the connecting bracket 214, and second sprockets 210 are fixedly installed on the two driving shafts 209 and the two first rotating shafts 202 thereon. The outer rings of the second sprockets 210 on the driving shafts 209 and the first rotating shafts 202 located on the same side are provided with second chains 211, and a dual-axis motor 212 is fixedly installed inside the connecting bracket 214, and the two output ends of the dual-axis motor 212 are respectively connected to one end of the two driving shafts 209.

[0031] By adopting the above technical solution, the dual-axis motor 212 can drive the driving shaft 209 to rotate and then drive the first rotating shaft 202 to which it is transmission-connected to rotate.

[0032] Two fixed shafts 207 are fixedly installed on the support frame 201 , and a limiting wheel 208 is rotatably provided at the lower end of the fixed shaft 207 . The limiting wheels 208 on the two support frames 201 are respectively located on both sides of the inspection track 1 .

[0033] By adopting the above technical solution, the limiting wheel 208 can limit the movement process of the inspection device 5.

[0034] A cylinder 301 is fixedly installed at the lower end of the swing arm 302, and the cylinder 301 is rotatably set on the support frame 201. A transmission shaft 305 is rotatably installed inside the two cylinders 301. A third sprocket 306 is fixedly installed on the transmission shaft 305 and the second rotating shaft 303. The outer rings of the two third sprockets 306 are provided with a third chain 307.

[0035] By adopting the above technical solution, the swing arm 302 can be deflected around the cylinder 301, and the rotation of the transmission shaft 305 can drive the second rotating shaft 303 to rotate.

[0036] The transmission shaft 305 is fixedly mounted with a second gear 308 , and the second gear 308 is meshed with the first gear 203 on the first rotating shaft 202 above the second gear 308 .

[0037] By adopting the above technical solution, the rotation of the first rotating shaft 202 can drive the transmission shaft 305 to rotate.

[0038] Two deflection seats 402 are fixedly installed at the bottom end of the cylinder body 401, and a rotatable connecting shaft 403 is provided inside the two deflection seats 402, and the connecting shaft 403 is fixedly installed inside the connecting bracket 214. A ring 405 is fixedly installed on the top of the hydraulic rod 404, and a hinge seat 406 is rotatably provided on the ring 405, and the base of the hinge seat 406 is fixedly installed on the two swing arms 302 of the auxiliary mechanism 3 on one side thereof.

[0039] By adopting the above technical solution, the cylinder body 401 and the hydraulic rod 404 can deflect around the connecting shaft 403, and when the hydraulic rod 404 is extended and retracted inside the cylinder body 401, it can drive the swing arm 302 to deflect.

[0040] A piston 407 is fixedly installed at the lower end of the hydraulic rod 404, and the piston 407 is slidably arranged inside the cylinder body 401. A sleeve 409 is fixedly installed at the bottom end of the cylinder body 401, and the lower end of the hydraulic rod 404 is slidably inserted into the sleeve 409. A first spring 408 is fixedly installed at the bottom end of the piston 407 and the cylinder body 401, and the first spring 408 is sleeved on the outer ring of the sleeve 409 and the hydraulic rod 404.

[0041] By adopting the above technical solution, when the piston 407 moves inside the cylinder body 401 , it can drive the hydraulic rod 404 to move and stretch or compress the first spring 408 .

[0042] A box body 411 is fixedly installed on the outside of the cylinder body 401, a column 412 is fixedly installed inside the box body 411, a slider 413 is slidably provided inside the column 412, second springs 414 are fixedly installed on both upper and lower ends of the slider 413, the other ends of the two second springs 414 are respectively fixedly connected to the top and bottom ends inside the column 412, a scale 415 is provided on the outside of the column 412, a moving rod 410 is fixedly installed on the outside of the piston 407, and the moving rod 410 is slidably set on the cylinder body 401, a pointer 416 is fixedly installed on the end of the moving rod 410 away from the piston 407, an arc plate 417 for sealing is fixedly installed on the moving rod 410, and the arc plate 417 is slidably set inside the outer wall of the cylinder body 401.

[0043] By adopting the above technical solution, the movement of the piston 407 can drive the moving rod 410 to move, and respectively stretch and compress the two second springs 414, and the arc plate 417 can seal the inside of the cylinder body 401.

[0044] The connecting bracket 214 is fixedly mounted with a hydraulic pump 213 , and the liquid outlet joint of the hydraulic pump 213 is connected to the connecting pipes at the upper and lower ends of the cylinder body 401 through hoses.

[0045] By adopting the above technical solution, the hydraulic pump 213 can inject liquid into the cylinder 401 to provide power, thereby pushing the piston 407 to move.

[0046] Working principle: When the present invention is in use, four limiting wheels 208 distributed in a rectangular shape are used to limit the travel track of the inspection robot so that it will not fall off and remains stable during movement; The two drive shafts 209 are driven to rotate by a dual-axis motor 212. The drive shaft 209 is connected to a first rotating shaft 202 through a second sprocket 210 and a second chain 211, so that the drive shaft 209 can rotate to rotate the first rotating shaft 202 to which it is connected. The two first rotating shafts 202 are connected to each other through a first sprocket 204 and a first chain 205, so that both first rotating shafts 202 can rotate. The rotation of the first rotating shaft 202 drives the first roller 206 thereon to rotate, thereby driving the inspection robot to move. The first rotating shaft 202 rotates to drive the first gear 203 thereon to rotate, the first gear 203 rotates to drive the second gear 308 engaged therewith to rotate, the second gear 308 rotates to drive the transmission shaft 305 to rotate, and the transmission shaft 305 and the second rotating shaft 303 are connected through the third sprocket 306 and the third chain 307, so that the transmission shaft 305 rotates to drive the second rotating shaft 303 to rotate, and the second rotating shaft 303 rotates to drive the second roller 304 thereon to rotate, thereby assisting the movement of the inspection robot; During the linear movement, the hydraulic pump 213 provides the same hydraulic power to both ends of the piston 407 inside the cylinder 401, and cooperates with the elastic force of the first spring 408 to enable the second roller 304 of the auxiliary mechanism 3 connected to the telescopic mechanism 4 to always contact the inspection track 1, thereby assisting the inspection robot to move; When the inspection robot moves to a large-angle slope, the forces exerted on both ends of the piston 407 in the cylinder 401 change due to the action of the first spring 408. When the first spring 408 is in an extended state, the first spring 408 pushes the piston 407 to move, and the movement of the piston 407 drives the hydraulic rod 404 and the moving rod 410 to move, and the movement of the moving rod 410 drives the arc plate 417, the slider 413 and the pointer 416 thereon to move, and the arc plate 417 is used to seal the cylinder 401, and the movement of the slider 413 is used to compress and stretch the two second springs 414, and the pointer 416 is used to move on the scale 415 to determine the force required to be applied at both ends of the piston 407, and then the hydraulic pump 213 provides power to keep the hydraulic rod 404 stable, so that the second roller 304 keeps in contact with the inspection track 1 to assist it in climbing; When the first spring 408 is in a compressed state, the second roller 304 keeps in contact with the inspection track 1 due to the reaction force of the first spring 408. At this time, the hydraulic rod 404 and the moving rod 410 also move accordingly, and drive the pointer 416 to move on the scale 415. Then, the hydraulic pump 213 provides power to keep the hydraulic rod 404 stable, so that the second roller 304 keeps in contact with the inspection track 1, and assists it in climbing. By monitoring the posture and force of the first spring 408 and feeding back the signal to the control system of the inspection device 5, the control system of the inspection device 5 automatically adjusts the force conditions at both ends of the piston 407 inside the cylinder 401 according to the information, ensuring that the inspection device 5 always remains balanced and stable during large-angle climbing.

[0047] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A large-angle climbing assist device for a track-type inspection robot, comprising an inspection track (1), characterized in that: The inspection track (1) is provided with a traveling mechanism (2) for traveling thereon, the traveling mechanism (2) is provided with four auxiliary mechanisms (3), a telescopic mechanism (4) is provided below the auxiliary mechanism (3), and an inspection device (5) is provided below the traveling mechanism (2); The travel mechanism (2) comprises two support frames (201) arranged on both sides of the inspection track (1); two first rotating shafts (202) symmetrically distributed are rotatably arranged on the support frames (201); a plurality of first rollers (206) are fixedly mounted on the first rotating shafts (202); and the first rollers (206) are rollingly arranged at the bottom end of the inspection track (1); a connecting bracket (214) is fixedly mounted at the bottom ends of the two support frames (201); and the inspection equipment (5) is mounted at the lower ends of the connecting brackets (214); Two auxiliary mechanisms (3) are provided on each of the two support frames (201), and the two auxiliary mechanisms (3) are symmetrically distributed, and the auxiliary mechanisms (3) include two swing arms (302), and a second rotating shaft (303) is rotatably provided at one end of the two swing arms (302) away from the support frame (201), and a plurality of second rollers (304) are fixedly mounted on the second rotating shaft (303), and the second rollers (304) are rollingly arranged at the top end inside the inspection track (1); The telescopic mechanism (4) comprises a cylinder body (401), a hydraulic rod (404) is slidably inserted into the cylinder body (401), and the cylinder body (401) and the hydraulic rod (404) are located between the support frame (201) and the swing arm (302), and can swing.

2. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 1, characterized in that: A first gear (203) and a first sprocket (204) are fixedly mounted on the first rotating shaft (202), and a first chain (205) is sleeved on the outer rings of the two first sprockets (204) located on the same supporting frame (201).

3. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 2, characterized in that: Two drive shafts (209) are rotatably mounted on the connecting bracket (214); second sprockets (210) are fixedly mounted on the two drive shafts (209) and the two first rotating shafts (202) thereon; second chains (211) are sleeved on the outer rings of the second sprockets (210) on the drive shafts (209) and the first rotating shafts (202) on the same side; a dual-axis motor (212) is fixedly mounted inside the connecting bracket (214); and two output ends of the dual-axis motor (212) are respectively connected to one end of the two drive shafts (209).

4. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 1, characterized in that: Two fixed shafts (207) are fixedly mounted on the support frame (201), and a limiting wheel (208) is rotatably provided at the lower end of the fixed shaft (207), and the limiting wheels (208) on the two support frames (201) are respectively located on both sides of the inspection track (1).

5. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 2, characterized in that: A cylinder (301) is fixedly mounted on the lower end of the swing arm (302), and the cylinder (301) is rotatably mounted on the support frame (201). Transmission shafts (305) are rotatably mounted inside the two cylinders (301). A third sprocket (306) is fixedly mounted on both the transmission shaft (305) and the second rotating shaft (303), and a third chain (307) is sleeved on the outer rings of the two third sprockets (306).

6. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 5, characterized in that: A second gear (308) is fixedly mounted on the transmission shaft (305), and the second gear (308) is meshed with the first gear (203) on the first rotating shaft (202) above it.

7. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 1, characterized in that: Two deflection seats (402) are fixedly mounted at the bottom end of the cylinder body (401), a rotatable connecting shaft (403) is provided inside the two deflection seats (402), and the connecting shaft (403) is fixedly mounted inside the connecting bracket (214), a circular ring (405) is fixedly mounted on the top end of the hydraulic rod (404), a hinge seat (406) is rotatably provided on the circular ring (405), and the base of the hinge seat (406) is fixedly mounted on two swing arms (302) of the auxiliary mechanism (3) on one side thereof.

8. The large-angle climbing assist device for a track-type inspection robot according to claim 1, characterized in that: A piston (407) is fixedly mounted on the lower end of the hydraulic rod (404), and the piston (407) is slidably arranged inside the cylinder body (401); a sleeve (409) is fixedly mounted on the bottom end inside the cylinder body (401), and the lower end of the hydraulic rod (404) is slidably inserted into the sleeve (409); a first spring (408) is fixedly mounted on the bottom ends of the piston (407) and the cylinder body (401), and the first spring (408) is sleeved on the outer ring of the sleeve (409) and the hydraulic rod (404).

9. A large-angle climbing assist device for a track-type inspection robot as claimed in claim 1, characterized in that: A box body (411) is fixedly mounted on the outside of the cylinder body (401), a column body (412) is fixedly mounted inside the box body (411), a slider (413) is slidably mounted inside the column body (412), second springs (414) are fixedly mounted on both upper and lower ends of the slider (413), the other ends of the two second springs (414) are respectively fixedly connected to the top and bottom ends inside the column body (412), a scale (415) is provided on the outside of the column body (412), a moving rod (410) is fixedly mounted on the outside of the piston (407), and the moving rod (410) is slidably mounted on the cylinder body (401), a pointer (416) is fixedly mounted on one end of the moving rod (410) away from the piston (407), and an arc plate (417) for sealing is fixedly mounted on the moving rod (410), and the arc plate (417) is slidably mounted inside the outer wall of the cylinder body (401).

10. The large-angle climbing assist device for a track-type inspection robot according to claim 1, characterized in that: A hydraulic pump (213) is fixedly mounted on the connecting bracket (214), and a liquid outlet joint of the hydraulic pump (213) is connected to connecting pipes at the upper and lower ends of the cylinder body (401) through hoses.

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