Traveling mechanism for track type inspection robot and inspection robot

Abstract

The invention belongs to the technical field of track robots, particularly relates to a walking mechanism for a track type inspection robot and the inspection robot, and provides the following scheme aiming at the problem that a track inspection robot in the prior art cannot carry out approaching observation on a special position. Comprising an F-shaped main mounting frame clamped between a main sliding rail and a parallel bottom rod which are parallel to each other, the F-shaped main mounting frame comprises a top plate and a bottom supporting plate which are parallel to each other, the upper surface of the bottom supporting plate is slidably connected with a wheel abutting seat capable of vertically sliding up and down, the top end of the wheel abutting seat is provided with a lower abutting wheel, and the lower abutting wheel is clamped to the surface of the parallel bottom rod in a rolling mode. And main clamping wheels which are mutually symmetrical about the wheel abutting seats are arranged below the positions, close to the two ends, of the top plate of the F-shaped main mounting frame correspondingly. According to the invention, when a special node needs to approach for observation, only the anti-channeling worm needs to be switched to drive, and at the moment, the visual module fixed at the bottom end of the extension suspender can be pushed towards a preset direction, so that the observation can be performed more clearly.

Description

Technical Field

[0001] This invention relates to the field of track robot technology, and in particular to a walking mechanism for track-type inspection robots and an inspection robot. Background Technology

[0002] With the advancement of industrialization, traditional manual inspection methods are not only inefficient but also prone to accidents due to human negligence and hazardous environments. Industrial inspection robots can autonomously perform inspections, monitor equipment status in real time, and significantly improve inspection efficiency. Many industrial environments present harsh and dangerous working conditions, such as high temperatures, high pressures, high radiation, and toxic gases. Manual inspections often carry inherent risks and are unsuitable for prolonged, high-frequency operations. Robots, on the other hand, can work continuously in these harsh environments without rest, ensuring the stability of the production line and reducing worker stress and safety risks.

[0003] Research indicates that existing track-based industrial inspection robots mostly rely on the direction of the track to inspect equipment and key nodes. However, in actual operation, the track is mostly straight. In key areas, the focus is adjusted for observation, but this method still has blind spots and cannot inspect details at close range. Moreover, the track cannot be made too curved. To address this contradiction, we propose a new type of track-based inspection robot with a walking mechanism and an inspection robot. Summary of the Invention

[0004] To overcome the aforementioned shortcomings in the prior art, the present invention aims to provide a novel track-type inspection robot walking mechanism and inspection robot capable of close-in observation according to specific node requirements: This invention provides a walking mechanism for a track-type inspection robot and the inspection robot itself. The mechanism includes an F-shaped main mounting frame that is engaged between parallel main slide rails and parallel base rods. The F-shaped main mounting frame includes a parallel top plate and a bottom support plate. A vertically sliding abutment seat is slidably connected to the upper surface of the bottom support plate. A lower abutment wheel is located at the top of the abutment seat and is rolled and engaged with the surface of the parallel base rods. Symmetrical main locking wheels are respectively arranged on the lower ends of the top plate of the F-shaped main mounting frame, with the axis of the two main locking wheels parallel to the axis of the lower abutment wheel. A rack is embedded in the outer wall of the main slide rail near its lower angle, and a driving mechanism is provided on the front of the F-shaped main mounting frame. The driving mechanism includes components rotatably connected to the F-shaped main mounting frame. The vertical plate of the mounting bracket has a dual-axis motor on its front side, with a drive pulley and a drive gear fixed to the upper and lower output shafts of the dual-axis motor, respectively. The front side of the F-shaped main mounting bracket has a second shaft bracket and a vertical positioning rod fixed near the bottom. The upper and lower ends of the positioning rod are rotatably connected to mutually parallel movable rotating rods, and the ends of the two movable rotating rods away from the positioning rod are hinged to the same extension rod. The extension rod is parallel to the positioning rod, and a vision module is provided at the bottom of the extension rod. The middle of the second shaft bracket is rotatably connected to an anti-ejection worm gear, and the top of the anti-ejection worm gear is provided with a driven gear that can mesh with the drive gear. The end of the movable rotating rod near the top of the anti-ejection worm gear is provided with a sector-shaped worm wheel that meshes with it.

[0005] Preferably, the front of the vertical plate of the F-shaped main mounting bracket is provided with a dust cover with an opening facing the rear and forming a semi-enclosed structure, and the bottom end of the dust cover is provided with a strip-shaped notch, with a gap between the strip-shaped notch and the outer wall of the two movable rotating rods.

[0006] Preferably, the top plate of the F-shaped main mounting frame is fixed with mutually symmetrical obstacle clearing modules at its left and right ends, and the obstacle clearing module includes a U-shaped fixing rod fixed at the end of the top plate with the opening facing downward. A buffer spring is fixed at the bottom of the groove of the U-shaped fixing rod, and an obstacle clearing shovel is fixed at the bottom of the buffer spring. The lower surface of the obstacle clearing shovel is provided with an arc-shaped groove that fits against the upper surface of the main slide rail.

[0007] Preferably, the lower surface of the abutment seat is fixed with parallel and vertical guide slide rods near the front and rear ends, and the base plate has two guide holes that are adapted to the diameter of the guide slide rods. The lower surface of the abutment seat and the upper surface of the base plate are fixed with the same clamping spring.

[0008] Preferably, a vertical groove is formed at the junction of the top front of the vertical plate and the top plate of the F-shaped main mounting bracket, and an inclined surface that penetrates the bottom of the groove is reserved near the top of the vertical plate. The inclination angle of the inclined surface is the same as the inclination angle of the rack, and an anti-detachment bearing hole is formed in the middle of the inclined surface. A transmission rod extending towards the surface of the rack is rotatably connected in the anti-detachment bearing hole, and an anti-detachment pulley and a meshing gear are respectively fixed at the upper and lower ends of the transmission rod. The meshing gear and the rack are always meshed with each other; two mutually symmetrical... A shaft frame 1 is provided, and two shaft frames 1 are rotatably connected to the same motor fixing frame. Coaxial rotating shafts 1 are fixed on the left and right sides of the motor fixing frame, respectively. Synchronous swing rods with the same extension direction as the shaft of the dual-axis motor are fixed to the opposite ends of the two rotating shafts 1. Permanent magnets are fixed to the ends of the two synchronous swing rods away from the rotating shafts 1. The same conveyor belt is sleeved between the outer circumference of the active pulley and the anti-detachment pulley 1. A spring groove is opened in the middle of the vertical plate near the top of the dual-axis motor. A return spring is fixed between the spring groove and the top side of the dual-axis motor.

[0009] Preferably, symmetrical electromagnets are fixed on both sides of the middle part of the vertical plate, and the positions of the electromagnets are adapted to the end positions of the corresponding permanent magnets.

[0010] Preferably, both the anti-slip pulley and the drive pulley have anti-slip rings pre-reserved on their outer circumferential walls near the bottom to prevent the entire conveyor belt from slipping off and becoming irrecoverable when slipping; the left and right sides of the vertical plate are respectively provided with roller holes that are adapted to the size of the main chuck wheel axle near the top, and the lower surface of the top plate is provided with roller fixing frames that are adapted to the wheel axle of the other end of the main chuck wheel near both ends.

[0011] Preferably, the bottom end of the vertical plate is fixed with a folded connecting plate near both the left and right sides.

[0012] Preferably, a vertical sliding hole is provided in the middle of the upper surface of the top plate, and a downwardly extending cleaning rod is inserted into the bottom end of the vertical sliding hole, with bristles reserved at the bottom end of the cleaning rod to contact the surface of the main slide rail.

[0013] Preferably, the bottom end of the extension rod is provided with a ball bearing, and the bottom end of the ball bearing is reserved with a rotating shaft. The top end of the vision module is fixed to the bottom end of the rotating shaft, and a counterweight is fixed on the vision module.

[0014] The beneficial effects of this invention are as follows: 1. By setting a rack embedded on the surface of the main slide rail, and cooperating with the main locking wheel and the lower abutment wheel that roll forward, the device's forward movement is not only more stable and its load-bearing capacity is improved, but also, when encountering special nodes that require close observation, it is only necessary to switch to drive the anti-slip worm gear. At this time, the vision module fixed at the bottom of the extension rod can be pushed in the preset direction for clearer observation.

[0015] 2. The clamping spring installed below the abutment seat not only allows the F-shaped main mounting bracket to wrap the main slide rail and parallel bottom rod more tightly, but also allows it to force its way through any unremovable pads, thus providing a certain degree of buffering and protection.

[0016] 3. With this setup, during normal inspections, the return spring pushes the drive pulley at the top of the dual-axis motor and the anti-derailment pulley to mesh with each other, thus driving the device. This allows the entire mechanism to require only one dual-axis motor, greatly reducing the equipment failure rate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the walking mechanism for the track-type inspection robot and the overall structure of the inspection robot proposed in this invention. Figure 2 This is a schematic diagram of the walking mechanism for the track-type inspection robot and the overall rear structure of the inspection robot proposed in this invention. Figure 3 This is a schematic diagram of the walking mechanism for the track-type inspection robot proposed in this invention and the structure of the inspection robot after removing the dust cover; Figure 4 This is a half-sectional schematic diagram of the walking mechanism for the track-type inspection robot and the inspection robot proposed in this invention. Figure 5 This is a schematic diagram of the walking mechanism for the track-type inspection robot proposed in this invention and the structure of the inspection robot when it is performing close-in observation. Figure 6 This is a schematic diagram of the walking mechanism for the track-type inspection robot proposed in this invention, and the structure of the inspection robot during walking. Figure 7 This is a three-dimensional structural diagram of the walking mechanism for the track-type inspection robot and the F-shaped main mounting frame in the inspection robot proposed in this invention.

[0018] In the diagram: 1. F-shaped main mounting bracket; 101. Base plate; 102. Roller rotating hole; 103. Vertical sliding hole; 104. Anti-detachment bearing hole; 105. Spring groove; 106. Shaft bracket one; 107. Groove; 2. Clearing shovel plate; 201. U-shaped fixing rod; 3. Main slide rail; 301. Connecting rod; 302. Rack; 4. Parallel bottom rod; 5. Positioning rod; 6. Vision module; 7. Extension hanging rod; 8. Movable rotating rod; 9. 10. Dust cover; 11. Sweeping bar; 12. Roller fixing frame; 13. Main chuck wheel; 14. Electromagnet; 15. Guide slide bar; 16. Abutment seat; 17. Engaging gear; 18. Dual-shaft motor; 19. Synchronous swing arm; 20. Shaft frame two; 21. Anti-slip worm gear; 22. Permanent magnet; 23. Anti-detachment pulley one; 24. Conveyor belt; 25. Drive pulley; 26. Transmission rod; 27. Return spring; 28. Driven gear. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] In this embodiment, refer to Figures 1-7The track-type inspection robot uses a walking mechanism and an inspection robot, including an F-shaped main mounting frame 1 that is clamped between parallel main slide rails 3 and parallel base rods 4. The F-shaped main mounting frame 1 includes a parallel top plate and a bottom support plate 101. Connecting rods 301, evenly distributed, are fixed between the main slide rails 3 and the parallel base rods 4. The connecting rods 301 are fixed to the wall during actual installation. A vertically sliding abutment seat 15 is slidably connected to the upper surface of the bottom support plate 101. A lower abutment wheel is provided at the top of the abutment seat 15, and the lower abutment wheel is rolled and clamped onto the parallel base rods 4. On the surface of rod 4, near the lower ends of the top plate of the F-shaped main mounting bracket 1, there are main chucks 12 that are symmetrical about the abutment seat 15. The axis of the two main chucks 12 is parallel to the axis of the lower abutment wheel. A rack 302 is embedded in the outer wall of the main slide rail 3 near the lower side. The rack 302 faces the front, i.e., the side away from the wall. A drive mechanism is provided on the front of the F-shaped main mounting bracket 1. The drive mechanism includes a dual-axis motor 17 that is rotatably connected to the front of the vertical plate of the F-shaped main mounting bracket 1. The upper and lower output shafts of the dual-axis motor 17 are respectively fixed with active belts. The pulley 24 and drive gear are attached to the front of the F-shaped main mounting bracket 1, near the bottom. A second shaft bracket 19 and a vertical positioning rod 5 are fixed to the bracket. The upper and lower ends of the positioning rod 5 are rotatably connected to mutually parallel movable rotating rods 8. The ends of the two movable rotating rods 8 furthest from the positioning rod 5 are hinged to the same extension rod 7. The extension rod 7 is parallel to the positioning rod 5, and a vision module 6 is provided at the bottom of the extension rod 7. An anti-ejection worm gear 20 is rotatably connected to the middle of the second shaft bracket 19, and the top of the anti-ejection worm gear 20 is equipped with a mechanism that can mesh with the drive gear. Driven gear 27, and a sector worm wheel that meshes with the movable rotating rod 8 near the top end near the anti-slip worm 20; through the rack 302 embedded on the surface of the main slide rail 3, in conjunction with the main locking wheel 12 and the lower abutment wheel that are engaged and rolling forward, not only is the forward movement of the device more stable and the load-bearing capacity improved, but when encountering special nodes that require close observation, it is only necessary to switch to drive the anti-slip worm 20. At this time, the vision module 6 fixed at the bottom end of the extension rod 7 can be pushed in the preset direction for clearer observation.

[0021] The vertical plate of the F-shaped main mounting bracket 1 is provided with a dust cover 9 with an opening facing the rear and a semi-enclosed structure. The bottom of the dust cover 9 has a strip-shaped notch, and there is a gap between the strip-shaped notch and the outer wall of the two movable rotating rods 8. This can protect the internal equipment from splashes and dust during use.

[0022] Reference Figure 5The top plate of the F-shaped main mounting frame 1 is fixed with symmetrical obstacle clearing modules at its left and right ends. Each obstacle clearing module includes a U-shaped fixing rod 201 fixed at the bottom of the top plate with its opening facing downward. A buffer spring is fixed at the bottom of the groove of the U-shaped fixing rod 201, and an obstacle clearing shovel 2 is fixed at the bottom of the buffer spring. The lower surface of the obstacle clearing shovel 2 is provided with an arc-shaped groove that fits against the upper surface of the main slide rail 3. By setting the arc-shaped groove that fits tightly against the surface of the main slide rail 3, obstacles with large volume on the surface of the main slide rail 3 can be removed when moving forward, ensuring that the main roller 12 moves smoothly.

[0023] Reference Figure 4 The lower surface of the abutment seat 15 is fixed with parallel and vertical guide slide rods 14 near the front and rear ends, and the bottom support plate 101 has two guide holes that match the diameter of the guide slide rods 14. The lower surface of the abutment seat 15 and the upper surface of the bottom support plate 101 are fixed with the same clamping spring. With this arrangement, not only can the F-shaped main mounting bracket 1 wrap the main slide rail 3 and the parallel bottom rod 4 more tightly, but it can also force its way through any unremovable pad, thus providing a certain buffer protection.

[0024] Reference Figures 2-4 A vertical groove 107 is provided at the junction of the top front of the vertical plate and the top plate of the F-shaped main mounting bracket 1. An inclined surface, penetrating the bottom of the groove 107, is reserved near the top of the vertical plate. The inclination angle of the inclined surface is the same as that of the rack 302. An anti-detachment bearing hole 104 is provided in the middle of the inclined surface. A transmission rod 25 extending towards the surface of the rack 302 is rotatably connected to the anti-detachment bearing hole 104. Anti-detachment pulley 22 and meshing gear 16 are fixed at the upper and lower ends of the transmission rod 25, respectively. The meshing gear 16 and the rack 302 are always meshed. Two symmetrical shaft brackets 106 are fixed near the center of the front of the vertical plate of the F-shaped main mounting bracket 1. The two shaft brackets 106 are rotatably connected to the same motor mounting frame. Coaxial rotating shafts are fixed on the left and right sides of the fixed frame, and synchronous swing rods 18 with the same extension direction as the shaft of the dual-axis motor 17 are fixed to the opposite ends of the two rotating shafts 1. Permanent magnets 21 are fixed to the ends of the two synchronous swing rods 18 away from the rotating shafts 1. The same conveyor belt 23 is sleeved between the outer circumference of the drive pulley 24 and the anti-detachment pulley 22. A spring groove 105 is opened in the middle of the vertical plate near the top of the dual-axis motor 17. A return spring 26 is fixed between the spring groove 105 and the top side of the dual-axis motor 17. With this arrangement, during normal inspection, the drive pulley 24 and the anti-detachment pulley 22 at the top of the dual-axis motor 17 are pushed and meshed by the return spring 26 to form the drive of the device.

[0025] Reference Figure 4 and Figure 6On both sides of the middle of the vertical plate, there are symmetrical electromagnets 13, and the position of the electromagnets 13 is adapted to the end position of the corresponding permanent magnet 21. When the electromagnets 13 are energized, they form a repulsive force with the end of the nearest permanent magnet 21, which in turn drives the dual-axis motor 17 to rotate slightly around the axis. At this time, the drive pulley 24 and the conveyor belt 23 are no longer taut, slipping and unable to transmit, and the equipment stops moving. The drive gear and the driven gear 27 at the bottom of the dual-axis motor 17 mesh with each other, which in turn drives the extension rod 7 to extend for close inspection.

[0026] Reference Figure 2 and Figure 6 Anti-slip rings are reserved on the outer circumference of the anti-slip pulley 22 and the drive pulley 24 near the bottom to prevent the conveyor belt 23 from falling off completely and becoming irrecoverable when slipping. Roller holes 102 that are adapted to the axle size of the main chuck 12 are respectively opened on the left and right sides of the vertical plate near the top. Roller fixing brackets 11 that are adapted to the axle of the other end of the main chuck 12 are provided on the lower surface of the top plate near both ends.

[0027] Reference Figure 3 The bottom of the vertical plate is fixed with folded connecting plates near the left and right sides to fix the positioning rod 5. The angle of the positioning rod 5 can be adjusted according to the specific inspection position.

[0028] Reference Figure 2 and Figure 4 A vertical sliding hole 103 is provided in the middle of the upper surface of the top plate, and a downward-extending cleaning rod 10 is inserted into the bottom end of the vertical sliding hole 103. The bottom end of the cleaning rod 10 is reserved with bristles that contact the surface of the main slide rail 3; the surface of the main slide rail 3 can be cleaned in real time while walking.

[0029] Reference Figure 5 The bottom end of the extension rod 7 is equipped with a ball bearing, and a pivot rod is reserved at the bottom end of the ball bearing. The top end of the vision module 6 is fixed to the bottom end of the pivot rod, and a counterweight is fixed on the vision module 6 to ensure that the extension rod 7 can be used for observation in the original direction when it is extended.

[0030] Working principle: When the device is moving normally, the two electromagnets 13 are not energized. At this time, under the action of the return spring 26, the drive pulley 24 at the top of the dual-axis motor 17 and the anti-derailment pulley 22 are pushed to mesh with each other to form the drive of the device. When the inspection reaches a special node and close inspection is required, the two electromagnets 13 are energized. When the electromagnets 13 are energized, they form a repulsive force with the end of the nearest permanent magnet 21, which then pushes the dual-axis motor 17 to rotate slightly around the shaft. At this time, the drive pulley 24 and the conveyor belt 23 are no longer taut, slippage occurs and transmission is impossible, the equipment stops moving, and the drive gear and driven gear 27 at the bottom of the dual-axis motor 17 mesh with each other, which then drives the extension rod 7 to extend for close inspection.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A walking mechanism for a track-type inspection robot, comprising an F-shaped main mounting frame (1) clamped between mutually parallel main slide rails (3) and parallel bottom bars (4), the F-shaped main mounting frame (1) comprising mutually parallel top and bottom supporting plates (101), characterized in that, The upper surface of the bottom base plate (101) is slidably connected with a vertical up-down sliding resistance wheel seat (15), the top end of the resistance wheel seat (15) is provided with a lower resistance wheel, the lower resistance wheel is rollingly connected on the surface of the parallel bottom rod (4), the top plate of the F-shaped main mounting rack (1) is provided with two main clamping wheels (12) which are symmetrically arranged with respect to the resistance wheel seat (15) and are located below the two ends, and the axis lines of the two main clamping wheels (12) are parallel to the axis line of the lower resistance wheel; the outer wall of the main slide rail (3) is embedded with a rack (302) near the obliquely downward side, and the front surface of the F-shaped main mounting rack (1) is provided with a driving mechanism, the driving mechanism comprises a double-shaft motor (17) which is rotatably connected to the vertical plate of the F-shaped main mounting rack (1), and the upper and lower output shaft ends of the double-shaft motor (17) are respectively fixed with a driving pulley (24) and a driving gear, the front surface of the F-shaped main mounting rack (1) is respectively fixed with a shaft rod holder two (19) and a vertical positioning rod (5) near the bottom end, the upper and lower ends of the positioning rod (5) are respectively rotatably connected with two parallel movable rotating rods (8), and one end of the two movable rotating rods (8) away from the positioning rod (5) is hingedly connected with the same extension boom (7), the whole of the extension boom (7) is parallel to the positioning rod (5), and the bottom end of the extension boom (7) is provided with a visual module (6); the middle of the shaft rod holder two (19) is rotatably connected with an anti-wandering worm (20), and the top end of the anti-wandering worm (20) is provided with a driven gear (27) which can be meshed with the driving gear, and the end of the movable rotating rod (8) near the top end is provided with a sector-shaped worm wheel which is meshed with the anti-wandering worm (20).

2. The walking mechanism and inspection robot for track type inspection robot according to claim 1, characterized in that, The vertical plate of the F-shaped main mounting rack (1) is provided with a dust cover (9) which is half-enclosed and has an opening facing the rear side, and a strip-shaped gap is formed between the bottom end of the dust cover (9) and the outer wall of the two movable rotating rods (8).

3. The walking mechanism and inspection robot for track type inspection robot according to claim 1, characterized in that, The left and right ends of the top plate of the F-shaped main mounting rack (1) are respectively fixed with two symmetrical obstacle cleaning modules, and the obstacle cleaning module comprises a U-shaped fixed rod (201) which is fixed on the end of the top plate and has an opening facing downward, the groove bottom of the U-shaped fixed rod (201) is fixed with a buffer spring, and the bottom end of the buffer spring is fixed with an obstacle cleaning shovel plate (2), and the lower surface of the obstacle cleaning shovel plate (2) is provided with an arc-shaped notch which is fitted on the upper surface of the main slide rail (3).

4. The walking mechanism and inspection robot for track-type inspection robot according to claim 1, characterized in that, The lower surface of the resistance wheel seat (15) is respectively fixed with two vertical guide sliding rods (14) which are parallel to each other and are located near the front and rear ends, and two guide insertion holes which are matched with the diameters of the guide sliding rods (14) are formed on the bottom base plate (101), and the same resistance spring is fixed between the lower surface of the resistance wheel seat (15) and the upper surface of the bottom base plate (101).

5. The walking mechanism and inspection robot for track-type inspection robot according to claim 1, characterized in that, The vertical plate top end front of the F-shaped main mounting frame (1) is provided with a vertical groove (107) at the junction with the top plate, and an inclined surface is reserved at the top end of the vertical plate and penetrates the bottom end of the groove (107), the inclined angle of the inclined surface is consistent with the inclined angle of the rack (302), a anti-off bearing hole (104) is arranged in the middle of the inclined surface, a transmission rod (25) extending to the surface of the rack (302) is rotatably connected in the anti-off bearing hole (104), and the upper and lower ends of the transmission rod (25) are respectively fixed with an anti-off pulley (22) and a meshing gear (16), the meshing gear (16) is always engaged with the rack (302); two axis rod frames (106) are symmetrically fixed on the front of the vertical plate of the F-shaped main mounting frame (1) near the middle, and the same motor fixing frame is rotatably connected between the two axis rod frames (106), coaxial shafts (1) are fixed on the left and right sides of the motor fixing frame, the ends away from each other of the two shafts (1) are respectively fixed with synchronous swing rods (18) consistent with the shaft rod extension direction of the double-shaft motor (17), and the ends away from the shafts (1) of the two synchronous swing rods (18) are respectively fixed with permanent magnets (21); the same transmission belt (23) is sleeved between the circumferential outer walls of the driving pulley (24) and the anti-off pulley (22), and the spring groove (105) is arranged in the middle of the vertical plate near the top end of the double-shaft motor (17), and the reset spring (26) is fixed between the spring groove (105) and the top end side of the double-shaft motor (17).

6. The walking mechanism and inspection robot for track type according to claim 5, characterized in that, The electromagnets (13) are symmetrically fixed on the two sides of the middle of the vertical plate, and the positions of the electromagnets (13) are matched with the positions of the corresponding permanent magnets (21).

7. The walking mechanism and inspection robot according to claim 1, wherein The circumferential outer walls of the anti-off pulley (22) and the driving pulley (24) are respectively reserved with anti-off rings near the bottom end to prevent the transmission belt (23) from falling off as a whole and being unable to recover; the roller rotating holes (102) matched with the wheel shafts of the main clamping wheels (12) are respectively arranged in the left and right sides of the vertical plate near the top end, and the roller fixing frames (11) matched with the wheel shafts of the other ends of the main clamping wheels (12) are arranged on the lower surface of the top plate near the two ends.

8. The walking mechanism and inspection robot for track type according to claim 1, characterized in that, The bottom end of the vertical plate is fixed with the folded connecting plates near the left and right sides.

9. The walking mechanism and inspection robot for track type inspection robot according to claim 1, characterized in that, The vertical sliding hole (103) is arranged in the middle of the upper surface of the top plate, the cleaning rod (10) extending downward is inserted into the bottom end of the vertical sliding hole (103), and the brush is reserved at the bottom end of the cleaning rod (10) to contact the surface of the main sliding rail (3).

10. The walking mechanism and inspection robot for track-type inspection robot according to claim 1, characterized in that, The bottom end of the extension hanging rod (7) is provided with a ball bearing, the bottom end of the ball bearing is reserved with a rotating shaft rod, the top end of the visual module (6) is fixed on the bottom end of the rotating shaft rod, and the counterweight is fixed on the visual module (6).

Images