Integrated unmanned inspection device

Abstract

The invention provides an integrated unmanned inspection device. The integrated unmanned inspection device comprises a track; the inspection assembly comprises a first walking trolley and a second walking trolley, the first walking trolley and the second walking trolley are movably arranged in the track, the first walking trolley is connected with the second walking trolley, and sensor assemblies are arranged on the first walking trolley and the second walking trolley; through the arrangement of the first walking trolley and the second walking trolley, the sensor assembly can be driven to automatically move in a nuclear island for polling, the sensor assembly is more close to polled equipment, traditional manual polling can be replaced, sudden faults can be found, analyzed and processed in time, and safe and reliable operation of a reactor is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of nuclear island inspection, and particularly relates to an integrated unmanned inspection device. BACKGROUND

[0002] At present, the inspection and state checking mode of the internal equipment of the reactor nuclear island is that an engineer checks the equipment state on site, collects the equipment related information, and records it through the manual mode. The daily inspection and state checking requirements include checking the running state of each equipment (such as a pump, a fan, an air conditioner, a valve, a container, a pipeline and the like), so as to ensure that the equipment is in the normal working state. In addition, it is also necessary to check various parameters of the system equipment, such as bearing temperature, equipment vibration, running sound, valve opening and closing state, valve opening and closing running state, pipeline vibration, pipeline damage and the like, and the above work is completed manually. When the DCS remote data is abnormal, the on-site instrument needs to be read by the inspection personnel to assist in confirming whether the abnormality of the DCS original data is caused by the DCS system itself or the equipment or system, assisting the operation personnel to confirm the state of the equipment and system, and ensuring the safe operation of the reactor.

[0003] The traditional manual inspection and state checking mode cannot perform real-time inspection on the running state of the equipment, and has defects such as slow discovery of characteristic faults caused by sudden failure of the equipment, slow analysis of fault causes, slow response of fault treatment, and the like, which greatly affects the safe operation of the reactor and the emergency accident treatment response capability. The existing monitoring method can only show characteristic signals after the fault occurs, cannot process and analyze the existing monitoring data, cannot analyze and judge the reliability of the equipment, and the existing monitoring method is a single monitoring channel, the monitoring process is complex, the functions such as sound, vibration, temperature and visualization cannot be integrated, and the comprehensive judgment of the fault cannot be quickly made. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art or related art.

[0005] In order to solve the above problems, the application provides an integrated unmanned inspection device, which comprises:

[0006] A track;

[0007] An inspection assembly, the inspection assembly comprises a first walking trolley and a second walking trolley, the first walking trolley and the second walking trolley are movably arranged in the track, the first walking trolley is connected with the second walking trolley, and a sensor assembly is arranged on the first walking trolley and the second walking trolley.

[0008] Optionally, a rack is arranged at the bottom of the track, a first walking assembly is arranged at the bottom of the first walking trolley, and the first walking assembly comprises:

[0009] A first driving motor is arranged at the bottom of the first walking trolley;

[0010] A first gear is engaged with the rack, a first connecting hole is arranged in the middle of the first gear, a first ratchet slot is arranged in the first connecting hole, and a first ratchet card is arranged between the output end of the first driving motor and the first ratchet slot.

[0011] Optionally, a second walking assembly is arranged at the bottom of the second walking trolley, and the second walking assembly comprises:

[0012] A second driving motor is arranged at the bottom of the second walking trolley;

[0013] A second gear is engaged with the rack, a second connecting hole is arranged in the middle of the second gear, a second ratchet slot is arranged in the second connecting hole, and a second ratchet card is arranged between the output end of the second driving motor and the second ratchet slot.

[0014] Optionally, a first swing assembly is arranged inside the first walking trolley, and the first swing assembly comprises:

[0015] A first swing driving part is arranged in the first walking trolley;

[0016] A first swing transmission part is arranged in the first walking trolley and connected with the first swing driving part;

[0017] A first swing arm is arranged on the first swing transmission part.

[0018] Optionally, the first swing driving part comprises:

[0019] A first telescopic motor is arranged in the first walking trolley;

[0020] A third driving motor is slidingly arranged in the first walking trolley.

[0021] Optionally, the first swing transmission part comprises:

[0022] A first moving tab is arranged on the driving end of the first telescopic motor, a first clamping groove is arranged at the matching position of the output end of the fourth driving motor and the first moving tab;

[0023] A first limiting rod is arranged in the first walking trolley;

[0024] A first fixed rod is rotationally arranged on the first limiting rod, and the first swing arm is arranged on the first fixed rod;

[0025] A first swing seat is connected with the first fixed rod, and a first mounting groove is arranged on the first swing seat;

[0026] A first swing disc is arranged in the first mounting groove;

[0027] A first connecting rod is arranged at a first end of the third drive motor output end, and a second end of the first connecting rod is eccentrically connected with the first swing disc.

[0028] Optionally, the second walking trolley is internally provided with a second swing assembly, and the second swing assembly comprises:

[0029] A second swing driving part is arranged in the second walking trolley;

[0030] A second swing transmission part is arranged in the second walking trolley and connected with the second swing driving part;

[0031] A second swing arm is arranged on the second swing transmission part and connected with the first swing arm.

[0032] Optionally, the second swing driving part comprises:

[0033] A second telescopic motor is arranged in the second walking trolley;

[0034] A fourth drive motor is slidingly arranged in the second walking trolley.

[0035] Optionally, the second swing transmission part comprises:

[0036] A second moving tab is arranged on the second telescopic motor driving end, and a second clamping groove is arranged at a position matched with the second moving tab on the second telescopic motor output end;

[0037] A second limiting rod is arranged in the second walking trolley;

[0038] A second fixed rod is rotationally arranged on the second limiting rod, and the second swing arm is arranged on the second fixed rod;

[0039] A second swing seat is connected with the second fixed rod, and a second mounting groove is arranged on the second swing seat;

[0040] A second swing plate is arranged in the second mounting groove;

[0041] A second connecting rod is arranged on the fourth driving motor output end, and the second end of the second connecting rod is eccentrically connected with the second swing plate.

[0042] Optionally, the slide is a T-shaped slide, and a base matched with the slide rail is arranged between the first walking trolley and the first walking assembly and between the second walking trolley and the second walking assembly.

[0043] Advantages

[0044] The integrated unmanned inspection device provided in the embodiment of the application can drive the sensor assembly to automatically move in the nuclear island for inspection, and the sensor assembly can be closer to the equipment to be inspected, so that the traditional manual inspection can be replaced, and sudden faults can be found, analyzed and handled in time, thereby ensuring safe and reliable operation of the reactor. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a front view structure diagram of the application;

[0046] Figure 2 It is a structure diagram of the first walking trolley and the second walking trolley of the application;

[0047] Figure 3 It is a connection structure diagram of the second walking trolley and the base of the application;

[0048] Figure 4 It is a sectional view structure diagram of the first walking trolley of the application;

[0049] Figure 5 It is a structure diagram of the first swing assembly of the application;

[0050] Figure 6 It is a connection structure diagram of the first swing driving part and the first swing transmission part of the application;

[0051] Figure 7 It is a connection structure diagram of the first swing driving part and the first swing transmission part of the application;

[0052] Figure 8 It is a bottom structure diagram of the first walking trolley and the second walking trolley of the application;

[0053] Figure 9 It is a structure diagram of the first walking assembly of the application;

[0054] Figure 10 It is a connection structure diagram of the first driving motor and the first ratchet card of the application.

[0055] Reference signs are indicated as:

[0056] 1, track; 2, first walking trolley; 3, second walking trolley; 4, sensor assembly; 5, rack; 6, first walking assembly; 61, first driving motor; 62, first gear; 63, first ratchet card; 7, first swing driving part; 71, first telescopic motor; 72, third driving motor; 8, first swing transmission part; 81, first moving tab; 82, first limiting rod; 83, first fixed rod; 84, first swing seat; 85, first swing disc; 86, first connecting rod; 9, first swing arm; 10, base. DETAILED DESCRIPTION

[0057] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0058] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0059] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0060] The preferred embodiments of the present application are described below in conjunction with the drawings, and it should be understood that the preferred embodiments described here are only for illustrating and explaining the present application, and are not intended to limit the present application.

[0061] For reference Figures 1-10As shown, the embodiment of the present application provides an integrated unmanned inspection device, comprising:

[0062] a track 1;

[0063] an inspection assembly, the inspection assembly comprising a first trolley 2 and a second trolley 3, the first trolley 2 and the second trolley 3 being movably arranged in the track 1, and the first trolley 2 being connected to the second trolley 3, and a sensor assembly 4 being arranged on the first trolley 2 and the second trolley 3.

[0064] Specifically, the track 1 is welded inside the nuclear island, and plays a guiding and supporting role for the movement of the first trolley 2 and the second trolley 3, ensuring the reliable movement of the first trolley 2 and the second trolley 3 in the complex environment inside the nuclear island, and enabling the sensor assembly 4 to move automatically inside the nuclear island for inspection, so that the sensor assembly 4 can be closer to the equipment to be inspected, and the traditional manual inspection can be replaced, and the sudden failure can be discovered, analyzed and handled in time, thereby ensuring the safe and reliable operation of the reactor.

[0065] The integrated unmanned inspection device provided by the embodiment of the present application has at least the following effects:

[0066] When the unmanned inspection device is deployed inside the nuclear island, the track 1 can be installed according to the specific position of the equipment to be inspected, and the first trolley 2 and the second trolley 3 can move in the track 1, and can reach the position that is difficult to reach by manual inspection, such as a higher position or a more narrow and high-temperature and high-pressure position, and the first trolley 2 and the second trolley 3 can drive the sensor assembly 4 to reach the position, so as to realize the detection of the equipment, and the sensor assembly 4 can flexibly carry various types of sensors and camera devices according to actual needs, such as temperature, vibration, dose and aerosol detection. The first trolley 2 and the second trolley 3 are welded and closed by a bottom cover and an outer protective shell to form a sealed box body, and the internal parts are well protected, the invasion of impurities such as dust and water vapor inside the nuclear island is avoided, and the performance of the internal parts is not affected, and the risk of introducing foreign matter into the reactor system is also avoided. It is worth noting that, inside the nuclear island, whether it is regular inspection of key equipment such as the reactor pressure vessel and the steam generator, or real-time monitoring of auxiliary facilities such as pipelines and valves, the sensor assembly 4 can be used for detection.

[0067] For reference, Figure 1 , Figure 8 , Figure 9 and Figure 10 As shown, the track 1 is provided with a rack 5 at the bottom, the first trolley 2 is provided with a first walking assembly 6 at the bottom, and the first walking assembly 6 comprises:

[0068] A first driving motor 61 is arranged at the bottom of the first walking trolley 2.

[0069] A first gear 62 is engaged with the rack 5, a first connecting hole is arranged in the middle of the first gear 62, a first ratchet slot is arranged in the first connecting hole, and a first ratchet card 63 is arranged between the output end of the first driving motor 61 and the first ratchet slot.

[0070] Specifically, the first driving motor 61 is installed at the bottom of the first walking trolley 2 as a power source, and the output power is transmitted to the first gear 62. The first gear 62 is engaged with the rack 5, so that when the first driving motor 61 drives the first gear 62 to rotate, the first walking trolley 2 can move in the track 1, and then the sensor assembly 4 can be driven to move to different positions to detect different parts to be detected.

[0071] The first connecting hole in the middle of the first gear 62 and the first ratchet slot in the first connecting hole are matched with the first ratchet card 63 at the output end of the first driving motor 61. When the first driving motor 61 starts, the first ratchet card 63 is embedded in the first ratchet slot, the motor torque is transmitted to the first gear 62, and the first gear 62 is driven to roll along the rack 5, so that the first walking trolley 2 can move smoothly. When the first driving motor 61 stops or reverses, the first ratchet card 63 is separated from the first ratchet slot under the action of centrifugal force or mechanical structure, the first gear 62 is decoupled from the output end of the motor, and the first walking trolley 2 can be stopped or controlled to slide flexibly.

[0072] Since the first driving motor 61, the first gear 62, the first ratchet card 63 and other components in the first walking assembly 6 can be independently disassembled and replaced, the entire walking system does not need to be disassembled on a large scale during equipment maintenance, and the maintenance difficulty and cost are significantly reduced.

[0073] A fixed outer ring is arranged on the output end of the first driving motor 61 to limit and fix the first gear 62.

[0074] The bottom of the second walking trolley 3 is provided with a second walking assembly, and the second walking assembly comprises:

[0075] A second driving motor is arranged at the bottom of the second walking trolley 3.

[0076] A second gear is engaged with the rack 5, a second connecting hole is arranged in the middle of the second gear, a second ratchet slot is arranged in the second connecting hole, and a second ratchet card is arranged between the output end of the second driving motor and the second ratchet slot.

[0077] Specifically, the second walking assembly is identical in structure to the first walking assembly 6, and the second walking assembly at the bottom of the second walking trolley 3 forms a mirror-symmetrical driving structure with the first walking assembly 6. The second driving motor is stably installed at the bottom of the second walking trolley 3, and the output end thereof is in separable driving connection with the second ratchet slot of the second gear through the second ratchet card, so that the movements of the two walking trolleys on the track 1 are independent of each other and also coordinated with each other, thereby providing the inspection device with flexible and reliable moving capability.

[0078] When the second driving motor rotates forward, the second ratchet card is clamped into the second ratchet slot, the second gear is driven to mesh with the rack 5 at the bottom of the track 1, and the second walking trolley 3 is driven to move forward. If the second driving motor reversely rotates, the second ratchet card is disengaged from the second ratchet slot, and the second gear enters a free rotating state, so that the second walking trolley 3 stops driving. The second walking assembly and the first walking assembly 6 form a complement, so that the inspection device can realize various movement modes such as forward movement and backward movement by controlling the driving states of the two walking trolleys. For example, when the first walking trolley 2 is driven and the second walking trolley 3 is in a free state, the device moves forward; conversely, the device moves backward, effectively preventing the device from slipping or falling in a complex posture, and ensuring that the inspection task will not be interrupted due to a single point failure, for example, the first walking trolley 2 and the second walking trolley 3 can move upward.

[0079] Among them, a fixed outer ring is installed on the output end of the second driving motor, for limiting and fixing the second gear.

[0080] For reference Figures 1-6 As shown in the figure, the first walking trolley 2 is internally provided with a first swing assembly, and the first swing assembly comprises:

[0081] A first swing driving part 7 is arranged in the first walking trolley 2;

[0082] A first swing transmission part 8 is arranged in the first walking trolley 2 and connected with the first swing driving part 7;

[0083] A first swing arm 9 is arranged on the first swing transmission part 8.

[0084] Specifically, the first walking trolley 2 is internally provided with a first swing driving part 7, a first swing transmission part 8 and a first swing arm 9. The first swing driving part 7 is stably installed in the first walking trolley 2, provides power output for the first swing transmission part 8, and is transmitted to the second walking trolley 3 through the first swing transmission part 8 and the first swing arm 9, so as to change the posture of the second walking trolley 3. When the second walking trolley 3 moves to the outside of the track 1, the first swing driving part 7 in the first walking trolley 2 can drive the second walking trolley 3 to swing outside the track 1 through the first swing transmission part 8 and the first swing arm 9, so as to realize multi-directional swinging of the sensor assembly 4 on the second walking trolley 3, and improve the detection range.

[0085] In combination with Figures 1-6 As shown in the drawings, the first swing driving part 7 comprises:

[0086] A first telescopic motor 71 is arranged in the first walking trolley 2.

[0087] A third driving motor 72 is slidingly arranged in the first walking trolley 2.

[0088] The first swing transmission part 8 comprises:

[0089] A first moving shift piece 81 is arranged on the driving end of the first telescopic motor 71 and the output end of the third driving motor 72, and a first clamping groove is arranged at a position matched with the first moving shift piece 81.

[0090] A first limiting rod 82 is arranged in the first walking trolley 2.

[0091] A first fixed rod 83 is rotationally arranged on the first limiting rod 82, and the first swing arm 9 is arranged on the first fixed rod 83.

[0092] A first swing seat 84 is connected with the first fixed rod 83, and a first mounting groove is arranged on the first swing seat 84.

[0093] A first swing disc 85 is arranged in the first mounting groove.

[0094] A first connecting rod 86 is arranged on the output end of the third driving motor 72 at a first end, and is eccentrically rotationally connected with the first swing disc 85 at a second end.

[0095] Specifically, the first walking trolley 2 and the second walking trolley 3 move on the track 1, the second walking trolley 3 moves out of one end of the track 1, and the first walking trolley 2 is located inside the track 1, the first telescopic motor 71 is installed inside the first walking trolley 2, which can change its rotary motion into linear motion through a worm gear structure, realize the horizontal movement of the first moving paddle 81, since the first moving paddle 81 is clamped with the first clamping groove, the output end of the third driving motor 72 can be driven to move forward, the first connecting rod 86 can push the first swing plate 85 to tilt in the first mounting groove, at this time the first telescopic motor 71 stops, the third driving motor 72 outputs power, which can drive the first swing plate 85 to rotate through the first connecting rod 86, since the first swing plate 85 tilts, the first swing seat 84 is fixedly installed in the first walking trolley 2 through the first limiting rod 82 and the first fixed rod 83, at this time the first swing plate 85 will eccentrically swing in the first mounting groove, under the driving of the first swing plate 85, the first swing seat 84 will reciprocate, the second trolley is driven by the first swing arm 9 to reciprocate outside the track 1, which can improve the detection range of the sensor assembly 4 on the second walking trolley 3, make the sensor assembly 4 more comprehensively and accurately obtain the temperature, vibration, dose and other data of the equipment, and also improve the camera range of the camera device on the second walking trolley 3. Moreover, the first telescopic motor 71 and the third driving motor 72 can accurately adjust the angle of the first swing arm 9, drive the first walking trolley 2 and the second walking trolley 3 to turn, effectively improve the passing capacity of the inspection device in complex environment. After use, the third driving motor 72 stops rotating, the first moving paddle 81 moves back to the initial position, drives the second walking trolley 3 to return to the initial position, under the driving of the first walking trolley 2, the second walking trolley 3 enters the track 1.

[0096] The first swing seat 84 comprises two first seat plates, the first seat plate comprises a first connecting segment and a second U-shaped segment, the first connecting segment is connected with the first U-shaped segment, the first fixed rod 83 is installed between the first connecting segments between the two first seat plates, and the first fixed rod 83 is used for fixing the first connecting segment, the two second U-shaped segments are oppositely opened to form the first mounting groove, and the first mounting groove is used for placing the first swing plate 85. Moreover, the length of the first mounting groove is greater than the diameter of the first swing plate 85, so that the first swing plate 85 can swing in the first mounting groove.

[0097] The second walking trolley 3 is internally provided with a second swing assembly, and the second swing assembly comprises:

[0098] The second swing driving part is arranged in the second walking trolley 3.

[0099] The second swing transmission part is arranged in the second walking trolley 3 and connected with the second swing driving part.

[0100] The second swing arm is arranged on the second swing transmission part and connected with the first swing arm 9.

[0101] Specifically, the second swing assembly has the same structure as the first swing assembly. The second swing driving part, the second swing transmission part and the second swing arm are arranged in the second walking trolley 3. The second swing driving part is stably arranged in the second walking trolley 3, provides power output for the second swing transmission part, and is input to the first walking trolley 2 through the second swing transmission part and the second swing arm to change the posture of the first walking trolley 2. When the first walking trolley 2 moves to the outside of the track 1, the second swing driving part in the second walking trolley 3 can drive the first walking trolley 2 to swing outside the track 1 through the second swing transmission part and the second swing arm, thereby realizing multi-directional detection of the sensor assembly 4 on the first walking trolley 2 on the detected component and improving the detection range.

[0102] The second swing driving part comprises:

[0103] The second telescopic motor is arranged in the second walking trolley 3.

[0104] The fourth driving motor is slidingly arranged in the second walking trolley 3.

[0105] The second swing transmission part comprises:

[0106] The second moving tab is arranged on the driving end of the second telescopic motor and the output end of the second telescopic motor, and a second clamping groove is arranged at a position matched with the second moving tab.

[0107] The second limiting rod is arranged in the second walking trolley.

[0108] The second fixed rod is rotationally arranged on the second limiting rod, and the second swing arm is arranged on the second fixed rod.

[0109] The second swing seat is connected with the second fixed rod, and a second mounting groove is arranged in the second swing seat.

[0110] The second swing disc is arranged in the second mounting groove.

[0111] The second connecting rod is arranged at the second end of the fourth driving motor output end, and the second end of the second connecting rod is eccentrically connected with the second swing disc.

[0112] Specifically, the first walking trolley 2 and the second walking trolley 3 move on the track 1, the first walking trolley 2 moves out of one end of the track 1, and the second walking trolley 3 is located inside the track 1, the second telescopic motor is installed inside the second walking trolley 3, which can change its rotary motion into linear motion through a worm gear structure, realize the horizontal movement of the second moving paddle, and drive the fourth drive motor output end to move forward, through the second connecting rod, the second swing disc can be pushed to tilt in the second installation slot, at this time, the fourth drive motor outputs power, and through the second connecting rod, the second swing disc can be driven to rotate, because the second swing disc tilts, and the second swing seat is fixedly installed in the second walking trolley 3 through the second limiting rod and the second fixed rod, at this time, the second swing disc will eccentrically swing in the second installation slot, under the driving of the second swing disc, the second swing seat will reciprocate, through the second swing arm, the first trolley can reciprocate outside the track 1, which can improve the detection range of the sensor assembly 4 on the first walking trolley 2, so that the sensor assembly 4 can more comprehensively and accurately obtain the temperature, vibration, dose and other data of the equipment. It can also improve the camera range of the camera device on the first walking trolley 2. Moreover, the second telescopic motor and the fourth drive motor can accurately adjust the angle of the second swing arm, drive the second walking trolley 3 and the first walking trolley 2 to turn, and effectively improve the passing capacity of the inspection device in complex environment. After use, the fourth drive motor stops rotating, the second moving paddle moves back to the initial position, and the first walking trolley 2 returns to the initial position, under the driving of the second walking trolley 3, the first walking trolley 2 enters the track 1.

[0113] The second swing seat includes two second seat plates, the second seat plate includes a second connecting segment and a second U-shaped segment, the second connecting segment is connected with the second U-shaped segment, the second fixed rod is installed between the second connecting segments between the two second seat plates, and the second fixed rod is used for fixing the second connecting segment. The openings of the two second U-shaped segments face each other to form a second installation slot for placing the second swing disc, and the length of the second installation slot is greater than the diameter of the second swing disc, so that the second swing disc can swing in the second installation slot.

[0114] Referring to Figures 1-3 As shown in the figure, the slide is a T-shaped slide, and the first walking trolley 2 and the first walking assembly 6 and the second walking trolley 3 and the second walking assembly are provided with a base 10 matched with the slide rail.

[0115] Specifically, the first walking trolley 2 and the second walking trolley 3 are installed with the base 10 at the bottom, the base 10 is matched with the T-shaped slide, the unique cross-sectional shape of the T-shaped slide is matched with the base 10, and the base 10 is matched with the slide to form a limiting structure, which guarantees the reliability of the movement of the first walking trolley 2 and the second walking trolley 3. It can effectively prevent the first walking trolley 2 and the second walking trolley 3 from moving sideways or derailing, and ensure that the first walking trolley 2 and the second walking trolley 3 can move smoothly along the track 1.

[0116] Among them, the first walking assembly 6 and the second walking assembly are both installed on the base 10 and can be connected with the rack 5.

[0117] The above is only a preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only a preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should be regarded as the protection scope of the present application.

Claims

1. An integrated unmanned inspection device, characterized in that: include: track (1); An inspection component comprises a first walking trolley (2) and a second walking trolley (3), wherein the first walking trolley (2) and the second walking trolley (3) are movably arranged in the track (1), and the first walking trolley (2) is connected to the second walking trolley (3), and a sensor component (4) is provided on both the first walking trolley (2) and the second walking trolley (3).

2. The integrated unmanned inspection device according to claim 1, characterized in that: A rack (5) is provided at the bottom of the track (1), and a first walking assembly (6) is provided at the bottom of the first walking trolley (2). The first walking assembly (6) includes: A first drive motor (61), the first drive motor (61) being arranged at the bottom of the first traveling trolley (2); A first gear (62) is meshed with the rack (5), a first connecting hole is provided in the middle of the first gear (62), a first ratchet slot is provided in the first connecting hole, and a first ratchet card (63) is provided between the output end of the first drive motor (61) and the first ratchet slot.

3. The integrated unmanned inspection device according to claim 1, characterized in that: A second walking assembly is provided at the bottom of the second walking trolley (3), and the second walking assembly comprises: a second drive motor, the second drive motor being arranged at the bottom of the second traveling trolley (3); A second gear is meshed with the rack (5), a second connecting hole is provided in the middle of the second gear, a second ratchet slot is provided in the second connecting hole, and a second ratchet card is provided between the output end of the second drive motor and the second ratchet slot.

4. The integrated unmanned inspection device according to claim 1, characterized in that: A first swing assembly is provided inside the first walking trolley (2), and the first swing assembly comprises: A first swing driving unit (7), wherein the first swing driving unit (7) is arranged in the first traveling trolley (2); a first swing transmission unit (8), the first swing transmission unit (8) being arranged in the first traveling trolley (2) and connected to the first swing driving unit (7); A first swing arm (9), wherein the first swing arm (9) is arranged on the first swing transmission part (8).

5. The integrated unmanned inspection device according to claim 1, characterized in that: The first swing driving unit (7) comprises: a first telescopic motor (71), the first telescopic motor (71) being arranged in the first traveling trolley (2); A third drive motor (72), wherein the third drive motor (72) is slidably disposed in the first traveling trolley (2).

6. The integrated unmanned inspection device according to claim 5, characterized in that: The first swing transmission part (8) comprises: A first movable paddle (81), wherein the first movable paddle (81) is arranged on the driving end of the first telescopic motor (71); a first slot is provided on the output end of the third driving motor (72) and at a position matching the first movable paddle (81); a first limiting rod (82), the first limiting rod (82) being arranged in the first traveling trolley (2); a first fixing rod (83), the first fixing rod (83) being rotatably disposed on the first limiting rod (82), and the first swing arm (9) being disposed on the first fixing rod (83); a first swing seat (84), the first swing seat (84) being connected to the first fixing rod (83), and a first mounting groove being provided on the first swing seat (84); a first swing plate (85), the first swing plate (85) being disposed in the first mounting groove; A first connecting rod (86), wherein a first end of the first connecting rod (86) is arranged on the output end of the third drive motor (72), and a second end of the first connecting rod (86) is eccentrically rotatably connected to the first swing plate (85).

7. The integrated unmanned inspection device according to claim 1, characterized in that: A second swing assembly is provided inside the second walking trolley (3), and the second swing assembly comprises: a second swing driving unit, the second swing driving unit being arranged in the second traveling trolley (3); A second swing transmission part, the second swing transmission part is arranged in the second walking trolley (3) and is connected to the second swing driving part; A second swing arm is provided on the second swing transmission part and is connected to the first swing arm (9).

8. The integrated unmanned inspection device according to claim 1, characterized in that: The second swing driving unit includes: a second telescopic motor, the second telescopic motor being arranged in the second traveling trolley (3); A fourth drive motor is slidably arranged in the second walking trolley (3).

9. The integrated unmanned inspection device according to claim 5, characterized in that: The second swing transmission part includes: a second movable paddle, the second movable paddle being arranged on the driving end of the second telescopic motor, and a second slot being provided on the output end of the fourth driving motor and matching with the second movable paddle; a second limiting rod, the second limiting rod being arranged in the second walking trolley; a second fixing rod, the second fixing rod being rotatably mounted on the second limiting rod, and the second swing arm being mounted on the second fixing rod; a second swing seat, the second swing seat being connected to the second fixing rod, and the second swing seat being provided with a second mounting groove; a second swing plate, the second swing plate being disposed in the second mounting groove; A second connecting rod, wherein the second end of the second connecting rod is arranged on the output end of the fourth driving motor, and the second end of the second connecting rod is eccentrically connected to the second swing plate.

10. The integrated unmanned inspection device according to claim 1, characterized in that: The slideway is a T-shaped slideway, and a base (10) matching the slideway is provided between the first traveling trolley (2) and the first traveling assembly (6), and between the second traveling trolley (3) and the second traveling assembly.

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