Track inspection robot of multi-stage telescopic mechanism

Abstract

The utility model discloses a track inspection robot of a multi-stage telescopic mechanism, which comprises a hanging track device and a multi-stage telescopic device assembled and connected at the bottom of the hanging track device, and a camera device is assembled and connected at the bottom of the multi-stage telescopic device; the rail hanging device comprises a shell, and a driving rail hanging mechanism hung on a rail and a driven rail hanging mechanism hinged to the driving rail hanging mechanism are assembled and connected in the shell. The driving rail hanging mechanism provides driving force, and the driven rail hanging mechanism keeps moving balance. The driving rail hanging mechanism comprises a driving end connecting plate, a friction wheel assembly is assembled and connected to the driving end connecting plate, and rail hanging wheel assemblies are assembled and connected to the two ends of the driving end connecting plate correspondingly. The driven rail hanging mechanism comprises a driven end connecting plate hinged to the driving end connecting plate, and a rail hanging wheel assembly is fixedly assembled and connected to the top of the driven end connecting plate. According to the device, the robot for routing inspection can walk on a suspended track in a suspended posture with very high stability.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robots, and in particular relates to a track inspection robot with a multi-stage telescopic mechanism. Background Art

[0002] With the continuous development of intelligent manufacturing and robotics technology, more and more traditional manufacturing fields have begun to introduce robotics technology to improve production efficiency, reduce costs, improve product quality, and ensure the safety of workers.

[0003] The substation track inspection robot is mainly used for the detection and maintenance of the status of transmission lines. The key technologies it relies on mainly include: multi-sensor fusion technology, which includes the integration and fusion of multiple sensors such as ultrasound, infrared, lidar, and visual recognition to achieve accurate detection of the status of transmission lines.

[0004] Among them, machine vision recognition technology can identify defects in the state of power transmission lines through image processing, object recognition and other technologies. Autonomous navigation technology allows robots to autonomously complete inspection tasks on the track through laser, tag, inertial navigation and other technologies.

[0005] In the implementation of the substation track inspection robot, it is also necessary to consider the robot structure, power system, drive control and other aspects. Through the comprehensive application of the above technologies, it is possible to achieve automated, efficient and intelligent substation equipment status monitoring.

[0006] Based on this, robotics technology has been widely developed and applied according to production needs.

[0007] For example, the Chinese patent publication number is: CN117508394A, which discloses an unmanned coal mine railway track inspection robot. Its specific robot structure includes a robot frame, a visual inspection system installed on the top of the robot frame, and a walking mechanism installed on both sides of the robot frame; the walking mechanism includes a number of walking wheels arranged in a row, a walking wheel bracket supporting the walking wheels, and a driving assembly that drives the walking wheels to work; a number of airbag structures are arranged on the outer peripheral surface of the walking wheel, and the robot frame is provided with a pneumatic driving structure that switches the airbag structure between an expanded and deflated state during driving. By this, the utility model can assist it to cross the convex area of ​​the rail during driving through the airbag structure arranged on the outer periphery of the walking wheel. At the same time, the airbag structure can be retracted and released. During the normal driving of the walking wheel, the airbag structure shrinks to avoid the derailment of the walking wheel due to elastic force.

[0008] However, in certain working environments, such as walking on a suspended track, since the robot is in a suspended state, its stability is not high during walking, and the robots disclosed in the prior art, such as the robot disclosed in the above patent, mostly walk on the ground. The stability of the robot walking on the ground is very high, but it is not suitable for walking in the air on a suspended track. Utility Model Content

[0009] Based on the above background, the purpose of the utility model is to provide a track inspection robot with a multi-stage telescopic mechanism.

[0010] In order to achieve the above objectives, the utility model adopts the following technical solutions:

[0011] A rail inspection robot with a multi-stage telescopic mechanism, comprising a rail hanging device and a multi-stage telescopic device assembled and connected to the bottom of the rail hanging device, wherein a camera device is assembled and connected to the bottom of the multi-stage telescopic device;

[0012] The rail hanging device comprises a housing, in which an active rail hanging mechanism suspended on a rail and a driven rail hanging mechanism hinged to the active rail hanging mechanism are assembled; the active rail hanging mechanism provides driving force, and the driven rail hanging mechanism maintains movement balance;

[0013] The active rail hanging mechanism comprises an active end connecting plate, and a friction wheel assembly is mounted and connected to the active end connecting plate. During the movement, the friction wheel assembly frictionally rolls on the track;

[0014] Both ends of the active end connecting plate are respectively equipped with rail hanging wheel assemblies;

[0015] The driven rail hanging mechanism comprises a driven end connecting plate hinged on the driving end connecting plate, and the top of the driven end connecting plate is fixedly assembled and connected with a rail hanging wheel assembly;

[0016] The rail hanging wheel assembly comprises rail hanging brackets symmetrically arranged on both sides, the side walls of the rail hanging brackets facing each other are respectively rotatably connected with moving wheels, and the tops of the rail hanging brackets are respectively rotatably connected with clamping wheels;

[0017] The rail hanging wheel assembly also includes guide wheels respectively assembled and connected to the rail hanging brackets;

[0018] During the working process, the moving wheel, the clamping wheel and the guide wheel roll on the track respectively.

[0019] Preferably, the friction wheel assembly comprises a mobile motor fixing frame slidably mounted on the top of the active end connecting plate, a first reducer is assembled and connected inside the mobile motor fixing frame, a mobile motor is assembled and connected at the power input end of the first reducer, and a mobile driving friction wheel is assembled and connected at the power output end of the first reducer;

[0020] During operation, the mobile driving friction wheel rolls on the track and moves by friction.

[0021] Preferably, the position of the friction wheel assembly on the active end connecting plate is adjusted by a spring adjustment assembly;

[0022] The position of the mobile driving friction wheel is adjusted by a spring adjustment assembly.

[0023] Preferably, the spring adjustment assembly includes a slide rail adjustment component and a spring adjustment component;

[0024] The slide rail adjustment component includes a plurality of slide rails fixedly mounted on the top of the active end connecting plate;

[0025] The mobile motor fixing frame is slidably connected to the slide rail;

[0026] The spring adjustment component includes a pressure adjustment spring hung on both sides of the mobile motor fixing frame, the pressure adjustment spring is hung with a fixed end adjustment screw, and the fixed end adjustment screw is threadedly connected to the hanging rail bracket;

[0027] During the working process, the position of the mobile motor fixing bracket is adjusted by adjusting the fixed end adjusting screw to pull the pressure adjusting spring.

[0028] Preferably, the camera device comprises a camera;

[0029] The camera is fixedly mounted on the multi-stage telescopic device. During operation, the height of the camera is adjusted by the multi-stage telescopic device.

[0030] Preferably, the multi-stage telescopic device comprises a fixed end plate fixedly mounted at the bottom position of the active end connecting plate;

[0031] The bottom of the fixed end plate is fixedly assembled and connected with a driving frame;

[0032] The bottom of the driving frame is fixedly assembled and connected with a plurality of fixed angle plates;

[0033] The movable plate is assembled and connected with a first telescopic guide structure;

[0034] The multi-stage telescopic device also includes a lifting drive motor assembled and connected to the top of the fixed end plate, and the lifting drive motor is assembled and connected to a driving screw;

[0035] The driving screw is threadedly connected with a moving plate;

[0036] The movable plate is slidably assembled on the first telescopic guide structure.

[0037] Preferably, the first telescopic guide structure comprises a first telescopic section frame, the first telescopic section frame comprises a first fixed ring body spaced apart from top to bottom, and the movable plate is fixedly assembled on the first fixed ring body at the upper end;

[0038] A first telescopic joint linkage structure is assembled and connected between the first fixed ring bodies;

[0039] The first telescopic joint linkage structure comprises a plurality of first pulleys respectively assembled and connected to the mutually facing side walls of the first fixed ring body;

[0040] A first traction rope is assembled and connected between the first pulleys;

[0041] The fixed angle plate is fixedly assembled with a first upper fixed card, and the upper end of the first traction rope is fixed on the first upper fixed card.

[0042] Preferably, the multi-stage telescopic device further comprises a second telescopic guide structure, a third telescopic guide structure and a fourth telescopic guide structure;

[0043] The camera is mounted on the fourth telescopic guide structure.

[0044] Preferably, the second telescopic guide structure comprises a second telescopic section frame, and the second telescopic section frame comprises a second fixed ring body spaced apart from top to bottom;

[0045] A plurality of second optical axes are fixedly connected between the second fixing ring bodies;

[0046] The second fixed ring body is connected with a plurality of second pulleys facing each other toward the side wall; the second pulleys are connected with a second traction rope;

[0047] A plurality of second upper fixing clips are fixedly assembled and connected to the top of the second fixing ring body at the upper end, and the second upper fixing clips are fixed to the lower end of the first traction rope;

[0048] A first lower fixing clip is fixedly connected to the bottom of the first fixing ring body at the lower end, and the first lower fixing clip is fixed to the upper end of the second traction rope;

[0049] The third telescopic guide structure includes a third telescopic section frame, and the third telescopic section frame includes a third fixed ring body arranged at intervals in the upper and lower parts;

[0050] A plurality of third optical axes are fixedly connected between the third fixing ring bodies;

[0051] The third fixed ring body is connected with a plurality of third pulleys facing each other toward the side wall; a third traction rope is connected between the third pulleys;

[0052] The top of the third fixing ring body at the upper end is fixedly assembled and connected with a plurality of third upper fixing clips, and the third upper fixing clips are fixed at the lower end of the second traction rope;

[0053] A second lower fixing clip is fixedly connected to the top of the second fixing ring body at the lower end, and the second lower fixing clip is fixed to the upper end of the third traction rope;

[0054] The fourth telescopic guide structure comprises a fourth fixed ring body, the bottom of which is fixedly assembled and connected with a plurality of fourth fixed clips, and the fourth fixed clips are fixed at the lower end of the third traction rope.

[0055] Preferably, the top of the camera is fixedly assembled and connected with a mounting rod, and the mounting rod is fixedly assembled at the bottom position of the fourth fixed ring body.

[0056] The utility model has the following beneficial effects:

[0057] 1. The rail hanging device includes an active rail hanging mechanism and a driven rail hanging mechanism hinged to the active rail hanging mechanism; the active rail hanging mechanism provides driving force, and the driven rail hanging mechanism maintains movement balance.

[0058] 2. The rail-hanging wheel assembly includes rail-hanging brackets symmetrically arranged on both sides, and the side walls of the rail-hanging brackets facing each other are rotatably connected with moving wheels, and the tops of the rail-hanging brackets are rotatably connected with clamping wheels, and the rail-hanging wheel assembly also includes guide wheels respectively assembled and connected to the rail-hanging brackets. During the robot inspection process, the guide wheels first roll against the side edges on both sides of the track, and at the same time, the clamping wheels roll against the two sides of the track to maintain the balance of movement. The multiple wheel structures are used to achieve the rolling against multiple sides of the track, which is used to greatly improve the stability of the entire device moving on the track during the inspection process.

[0059] 3. Through the multi-stage telescopic device, the four-stage lifting method can realize the smooth lifting of the patrol monitoring camera.

[0060] Specifically, the lifting structure is designed to adopt pulling structures such as pulling ropes and pulleys to achieve lifting and lowering adjustment in a highly stable lifting manner.

[0061] 4. The device disclosed in the utility model enables the inspection robot to walk on the suspended track in a suspended posture with very high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0063] Figure 1 This is a schematic diagram of the structure of the track inspection robot walking on the track in the embodiment of the utility model;

[0064] Figure 2 This is a schematic diagram of the structure of the track inspection robot in the embodiment of the utility model;

[0065] Figure 3 This is a schematic diagram of the structure of the rail hanging device in the embodiment of the utility model;

[0066] Figure 4 This is a schematic diagram of the structure of the rail hanging device in the embodiment of the utility model being hung on the rail;

[0067] Figure 5 This is a schematic diagram of the structure of the driving screw threadedly connected to the moving plate in the embodiment of the utility model;

[0068] Figure 6 This is a structural schematic diagram of the first telescopic guide structure in the embodiment of the utility model;

[0069] Figure 7 This is a schematic diagram of the structure in which the first upper fixing card fixes the first traction rope in an embodiment of the utility model;

[0070] Figure 8 This is a schematic diagram of the structure in which the first lower fixing card fixes the first traction rope in the embodiment of the utility model;

[0071] Fig. 9 This is a structural schematic diagram of a third telescopic guide structure in an embodiment of the utility model;

[0072] Fig.10 This is a structural schematic diagram of a fourth telescopic guide structure in an embodiment of the utility model;

[0073] Fig.11 Schematic diagram of the structure of the camera device in the embodiment of the utility model.

[0074] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0076] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0077] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0078] Example 1

[0079] like Figure 1-11 As shown, a track inspection robot with a multi-stage telescopic mechanism includes a rail hanging device and a multi-stage telescopic device assembled and connected to the bottom of the rail hanging device, and a camera device is assembled and connected to the bottom of the multi-stage telescopic device.

[0080] During the working process, the whole device is first hung on the track 1 by the rail hanging device, and the whole device moves on the track 1. During the movement, it is lifted and lowered by the multi-stage telescopic device. During the lifting and lowering process, the height of the camera device changes, thereby realizing the adjustment and monitoring of the working equipment during the inspection process. Specifically, the camera device includes a camera B; the camera B is fixedly installed on the multi-stage telescopic device, and during the working process, the height of the camera B is adjusted by the multi-stage telescopic device.

[0081] Example 2

[0082] like Figure 1-11 As shown, the present embodiment discloses a specific structure of the hanging rail device.

[0083] The rail hanging device includes a housing 2, in which an active rail hanging mechanism suspended on the rail 1 and a driven rail hanging mechanism articulated to the active rail hanging mechanism are assembled; the active rail hanging mechanism provides driving force, and the driven rail hanging mechanism maintains moving balance. When the entire device moves on the rail 1, the active rail hanging mechanism provides power in the form of friction, and the driven rail hanging mechanism with a certain degree of freedom flexibly adjusts its posture, thereby maintaining the entire device being able to move in a balanced manner on the rail 1.

[0084] The specific structure of the active rail hanging mechanism is as follows:

[0085] The active rail hanging mechanism comprises an active end connecting plate 15 , on which a friction wheel assembly is assembled and connected. During the movement, the friction wheel assembly frictionally rolls on the track 1 .

[0086] Specifically, the friction wheel assembly includes a mobile motor fixing frame 8 which is slidably assembled at the top position of the active end connecting plate 15. At the same time, a first reducer 7 is assembled and connected in the mobile motor fixing frame 8 (the first reducer 7 is a worm gear reducer), and a mobile motor 3 is assembled and connected at the power input end of the first reducer 7. A mobile drive friction wheel 4 is assembled and connected at the power output end of the first reducer 7 (the mobile drive friction wheel 4 is connected to the power output shaft 10 of the first reducer 7 through a coupling 9).

[0087] During operation, the mobile driving friction wheel 4 contacts the track 1 . When the mobile motor is working, friction power is generated between the rotating mobile driving friction wheel 4 and the track 1 , thereby promoting the entire device to move on the track 1 .

[0088] The driven rail hanging mechanism includes a driven end connecting plate 19 hinged on the driving end connecting plate 15 (specifically, the driving end connecting plate 15 and the driven end connecting plate 19 are hingedly connected through a fixed pin shaft 20).

[0089] At the same time, both ends of the active end connecting plate 15 are respectively equipped with rail-hanging wheel assemblies for maintaining walking stability (the rail-hanging wheel assemblies at both ends are arranged in a symmetrical manner); similarly, the top of the driven end connecting plate 19 is fixedly equipped with a rail-hanging wheel assembly.

[0090] During the walking process, the rail-hanging wheel assembly rolls against each surface of the rail 1, thereby maintaining the stability of the movement.

[0091] Specifically, the rail hanging wheel assembly includes rail hanging brackets 13 symmetrically arranged on both sides, and the side walls of the rail hanging brackets facing each other are respectively rotatably connected to moving wheels 16, and the tops of the rail hanging brackets 13 are respectively rotatably connected to clamping wheels 17; at the same time, the rail hanging wheel assembly also includes guide wheels 18 respectively assembled and connected to the rail hanging brackets 13.

[0092] Specifically, a guide wheel bracket 14 is fixedly installed on the top of the rail bracket 13, and the guide wheel 18 is rotatably connected to the guide wheel bracket 14. (At the same time, a guide wheel 18 is also rotatably connected to the bottom of the rail bracket 13, and the guide wheel 18 at this position is directly rotatably connected to the rail bracket 13).

[0093] During operation, the guide wheels 18 first roll against the side edges of the track 1 (the upper and lower parts of the track 1), and at the same time, the pressure wheels 17 roll against the two sides of the track 1 to press the track 1 and maintain the balance of movement. The mobile driving friction wheel 4 rolls against the vertical side of the track 1 (the longitudinal cross-section of the track 1 is H-shaped) to provide friction power.

[0094] Example 3

[0095] like Figure 1-11 As shown, in this embodiment, based on the structure of embodiment 2, the position of the friction wheel assembly on the active end connecting plate 15 is adjusted by a spring adjustment assembly; the position of the mobile driving friction wheel 4 is adjusted by the spring adjustment assembly.

[0096] Specifically, the spring adjustment assembly includes a slide rail adjustment component and a spring adjustment component; the slide rail adjustment component includes a plurality of slide rails 5 fixedly assembled at the top of the active end connecting plate 15, and the mobile motor fixing frame 8 is slidably connected to the slide rails 5. Similar to the existing method, a slide seat body sliding in the slide groove of the slide rail 5 is installed at the bottom of the mobile motor fixing frame 8.

[0097] Meanwhile, the spring adjustment component includes a pressure adjustment spring 6 hung on both sides of the mobile motor fixing frame 8. Specifically, a movable end adjustment screw 12 is fixed to the outer end of the pressure adjustment spring 6, and the movable end adjustment screw 12 is threadedly connected to the rail bracket 13. Meanwhile, a fixed end adjustment screw 11 is threadedly connected to the inner end of the pressure adjustment spring 6, and the fixed end adjustment screw 11 is threadedly connected to the pull plate on the mobile motor fixing frame 8.

[0098] Specifically, the above-mentioned method 1 is used to promote the mobile motor fixing frame 8 to always be in an elastic pulling state. Therefore, the first reducer 7-mobile driving friction wheel 4 installed in the mobile motor fixing frame 8 can always maintain elastic resistance on the track 1 (specifically, the mobile driving friction wheel 4 always maintains elastic resistance on the track 1). The advantage of this method is that there is an elastic buffer between the mobile driving friction wheel 4 and the track 1, which can prevent the mobile driving friction wheel 4 from being stuck on the track 1.

[0099] Example 4

[0100] like Figure 1-11As shown, based on the structure of Example 3, the multi-stage telescopic device of this embodiment includes a fixed end plate 24 fixedly assembled at the bottom of the active end connecting plate 15 (in the manner of: a plurality of U-shaped connecting plates 27 are fixed on the bottom of the active end connecting plate 15, and the U-shaped connecting plates 27 are fixedly assembled with the fixed end plate 24); the bottom of the fixed end plate 24 is fixedly assembled and connected with a driving frame 22. The driving frame 22 is in the shape of a rectangular cage. A plurality of fixed angle plates 26 are fixedly assembled and connected at the bottom of the driving frame 22; specifically, a fixed angle plate 26 is fastened to each of the four corners at the bottom of the driving frame 22.

[0101] Meanwhile, the multi-stage telescopic device further comprises a lifting drive motor 21 assembled and connected to the top of the fixed end plate 24 , and the lifting drive motor 21 is assembled and connected to a driving screw 23 ; the driving screw 23 is threadedly connected to the moving plate 25 .

[0102] The specific method is: a second reducer is installed at the top center of the fixed end plate 24, and a driving screw 23 is installed at the power output end of the second reducer. A lifting drive motor 21 is installed at the power input end of the second reducer.

[0103] At the same time, the movable plate is assembled and connected with a first telescopic guide structure.

[0104] The first telescopic guide structure includes a first telescopic section frame, which includes a first fixed ring body 251 spaced apart from top to bottom, and the movable plate 25 is fixedly assembled on the upper end portion of the first fixed ring body 251 (the movable plate 25 is mounted on the inner side of the first fixed ring body 251, and its center portion is threadedly connected to the driving screw 23).

[0105] The first telescopic joint linkage structure is assembled and connected between the first fixed ring bodies 251; the first telescopic joint linkage structure includes a plurality of first pulleys 2512 respectively assembled and connected on the mutually facing side walls of the first fixed ring bodies 251 (correspondingly, a pulley seat for assembling the first pulleys 2512 is installed on the first fixed ring body 251). The first traction rope 2511 is assembled and connected between the first pulleys 2512.

[0106] The fixed angle plate 26 is fixedly connected with a first upper fixing card a, and the upper end of the first traction rope 2511 is fixed to the first upper fixing card a. The first telescopic joint linkage structure also includes a plurality of first optical axes fixedly assembled between the first fixing ring bodies 251 .

[0107] Similarly, a plurality of first optical axes 33 are fixedly connected between the fixed angle plate 26 and the upper fixed plate 24. Correspondingly, a linear bearing 35 slidably connected to the first optical axis 33 is installed on the outer wall of the first fixed ring body 251 to improve the stability of the lifting and lowering of the movable plate 25-first fixed ring body 251 structure during the lifting and lowering process.

[0108] The multi-stage telescopic device also includes a second telescopic guide structure, a third telescopic guide structure and a fourth telescopic guide structure; the camera B is installed on the fourth telescopic guide structure.

[0109] The above-mentioned second telescopic guide structure includes a second telescopic section frame, and the second telescopic section frame includes a second fixed ring body 252 arranged at an upper and lower interval; similarly, a plurality of second optical axes are fixedly connected between the above-mentioned second fixed ring bodies 252; the second fixed ring bodies 252 are assembled and connected with a plurality of second pulleys 2522 facing each other toward the side walls (similarly, a matching pulley seat is installed on the second fixed ring body 252); a second traction rope 2521 is assembled and connected between the second pulleys 2522.

[0110] The top of the second fixing ring body 252 at the upper end is fixedly assembled and connected with a plurality of second upper fixing clips c, and the second upper fixing clips c are fixed to the lower end of the first traction rope 2511 .

[0111] At the same time, a first lower fixing clip b is fixedly connected to the bottom of the first fixing ring body 251 at the lower end, and the first lower fixing clip b is fixed to the upper end of the second traction rope 2521 .

[0112] Similarly, the third telescopic guide structure includes a third telescopic section frame, and the third telescopic section frame includes third fixed ring bodies 253 spaced apart from each other; a plurality of third optical axes are fixedly connected between the third fixed ring bodies 253 .

[0113] The above-mentioned third fixed ring body 253 is assembled and connected with several third pulleys facing each other towards the side walls; a third traction rope 2531 is assembled and connected between the third pulleys; a plurality of third upper fixed clips d are fixedly assembled and connected at the top of the third fixed ring body 253 located at the upper end, and the third upper fixed clip d is fixed at the lower end position of the second traction rope 2521.

[0114] The top of the second fixing ring body 252 at the lower end is fixedly connected with a second lower fixing clip e, and the second lower fixing clip e is fixed to the upper end of the third traction rope 2531;

[0115] The fourth telescopic guide structure includes a fourth fixed ring body 254 , and a plurality of fourth fixed clips f are fixedly assembled and connected at the bottom of the fourth fixed ring body 254 . The fourth fixed clips f are fixed at the lower end of the third traction rope 2531 .

[0116] The pull rope mentioned above only has a pulling effect. When it is extended or retracted, the pull rope rolls on the roller, and its working principle is similar to that of a synchronous belt.

[0117] The outer side walls of the first telescopic section frame, the second telescopic section frame and the third telescopic section frame are respectively fixedly connected with cylindrical telescopic cylinders A (the telescopic cylinders A are sequentially sleeved from top to bottom, and the telescopic cylinder A at the upper end position is the outermost sleeve) during the adjustment of the telescopic process.

[0118] The above-mentioned first telescopic section frame, second telescopic section frame and third telescopic section frame also include a plurality of skeleton rods welded in the frame (the base skeleton rods are welded between the corresponding fixed ring bodies, and are used to reinforce stability like the optical axis), which are used to maintain the telescopic section frame with greater strength.

[0119] The top of the camera B is fixedly assembled and connected with a mounting rod B1, and the mounting rod B1 is fixedly assembled at the bottom position of the fourth fixed ring body.

[0120] Among them, camera B uses a camera that can rotate 360 ​​degrees.

[0121] Example 5

[0122] like Figure 1-11 As shown, this embodiment discloses a control system for controlling a driving robot. Specifically, the control system adopts a main control board to drive the mobile driving motor and the lifting driving motor of the robot, adopts an IO input and output interface, collects photoelectric sensor signals, ultrasonic signals, limit switch signals, etc., to realize the perception of environmental information, and realizes the position navigation of the robot together with the mobile driving motor, receives commands issued by the main control board, and uploads various information at the same time to realize real-time communication with the main control board; mainly receives commands issued by the driving control board through two drivers, and the driving motor executes corresponding actions according to the commands, and at the same time feeds back the execution results to the driving control board; the end execution device receives the command of the driving control board, drives the end execution device to execute corresponding actions, and at the same time feeds back the execution results to the driving control board.

[0123] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A track inspection robot with a multi-stage telescopic mechanism, characterized in that: It comprises a rail hanging device and a multi-stage telescopic device assembled and connected to the bottom of the rail hanging device, wherein the bottom of the multi-stage telescopic device is assembled and connected to a camera device; The rail hanging device comprises a housing, in which an active rail hanging mechanism suspended on a rail and a driven rail hanging mechanism hinged to the active rail hanging mechanism are assembled; the active rail hanging mechanism is used to provide driving force, and the driven rail hanging mechanism maintains movement balance; The active rail hanging mechanism comprises an active end connecting plate, and a friction wheel assembly is mounted and connected to the active end connecting plate. During the movement, the friction wheel assembly frictionally rolls on the track; Both ends of the active end connecting plate are respectively equipped with rail hanging wheel assemblies; The driven rail hanging mechanism comprises a driven end connecting plate hinged on the driving end connecting plate, and the top of the driven end connecting plate is fixedly assembled and connected with a rail hanging wheel assembly; The rail-hanging wheel assembly comprises rail-hanging brackets symmetrically arranged on both sides, the side walls of the rail-hanging brackets facing each other are rotatably connected to moving wheels, and the tops of the rail-hanging brackets are rotatably connected to clamping wheels; The rail hanging wheel assembly also includes guide wheels respectively assembled and connected to the rail hanging brackets; During the working process, the moving wheel, the clamping wheel and the guide wheel respectively roll against each side of the track.

2. The track inspection robot with a multi-stage telescopic mechanism according to claim 1, characterized in that: The friction wheel assembly includes a mobile motor fixing frame slidably mounted on the top of the active end connecting plate, a first reducer is assembled and connected inside the mobile motor fixing frame, a mobile motor is assembled and connected at the power input end of the first reducer, and a mobile driving friction wheel is assembled and connected at the power output end of the first reducer; During operation, the mobile driving friction wheel rolls on the track and moves by friction.

3. The track inspection robot with a multi-stage telescopic mechanism according to claim 2, characterized in that: The position of the friction wheel assembly on the active end connecting plate is adjusted by a spring adjustment assembly.

4. The rail inspection robot with a multi-stage telescopic mechanism according to claim 3, characterized in that: The spring adjustment assembly includes a slide rail adjustment component and a spring adjustment component; The slide rail adjustment component includes a plurality of slide rails fixedly mounted on the top of the active end connecting plate; The mobile motor fixing frame is slidably connected to the slide rail; The spring adjustment component includes a pressure adjustment spring hung on both sides of the mobile motor fixing frame, the pressure adjustment spring is hung with a fixed end adjustment screw, and the fixed end adjustment screw is threadedly connected to the hanging rail bracket; During the working process, the position of the mobile motor fixing bracket is adjusted by adjusting the fixed end adjusting screw to pull the pressure adjusting spring.

5. The rail inspection robot with a multi-stage telescopic mechanism according to claim 1, characterized in that: The camera device comprises a camera; The camera is fixedly mounted on the multi-stage telescopic device. During operation, the height of the camera is adjusted by the multi-stage telescopic device.

6. The rail inspection robot with a multi-stage telescopic mechanism according to claim 5, characterized in that: The multi-stage telescopic device includes a fixed end plate fixedly mounted at the bottom position of the active end connecting plate; The bottom of the fixed end plate is fixedly assembled and connected with a driving frame; The bottom of the driving frame is fixedly assembled and connected with a plurality of fixed angle plates; The multi-stage telescopic device also includes a lifting drive motor assembled and connected to the top of the fixed end plate, and the lifting drive motor is assembled and connected to a driving screw; The driving screw is threadedly connected with a moving plate; the moving plate is assembled and connected with a first telescopic guide structure; The movable plate is slidably assembled on the first telescopic guide structure.

7. The track inspection robot with a multi-stage telescopic mechanism according to claim 6, characterized in that: The first telescopic guide structure includes a first telescopic section frame, the first telescopic section frame includes a first fixed ring body spaced apart from top to bottom, and the movable plate is fixedly assembled on the first fixed ring body at the upper end; A first telescopic joint linkage structure is assembled and connected between the first fixed ring bodies; The first telescopic joint linkage structure comprises a plurality of first pulleys respectively assembled and connected to the mutually facing side walls of the first fixed ring body; A first traction rope is assembled and connected between the first pulleys; The fixed angle plate is fixedly assembled with a first upper fixed card, and the upper end of the first traction rope is fixed on the first upper fixed card.

8. The track inspection robot with a multi-stage telescopic mechanism according to claim 7, characterized in that: The multi-stage telescopic device also includes a second telescopic guide structure, a third telescopic guide structure and a fourth telescopic guide structure; The camera is mounted on the fourth telescopic guide structure.

9. The rail inspection robot with a multi-stage telescopic mechanism according to claim 8, characterized in that: The second telescopic guide structure includes a second telescopic section frame, and the second telescopic section frame includes a second fixed ring body spaced apart in an upper and lower manner; A plurality of second optical axes are fixedly connected between the second fixing ring bodies; The second fixed ring body is connected with a plurality of second pulleys facing each other toward the side wall; the second pulleys are connected with a second traction rope; A plurality of second upper fixing clips are fixedly assembled and connected to the top of the second fixing ring body at the upper end, and the second upper fixing clips are fixed to the lower end of the first traction rope; A first lower fixing clip is fixedly connected to the bottom of the first fixing ring body at the lower end, and the first lower fixing clip is fixed to the upper end of the second traction rope; The third telescopic guide structure includes a third telescopic section frame, and the third telescopic section frame includes a third fixed ring body arranged at intervals in the upper and lower parts; A plurality of third optical axes are fixedly connected between the third fixing ring bodies; The third fixed ring body is connected with a plurality of third pulleys facing each other toward the side wall; a third traction rope is connected between the third pulleys; The top of the third fixing ring body at the upper end is fixedly assembled and connected with a plurality of third upper fixing clips, and the third upper fixing clips are fixed at the lower end of the second traction rope; A second lower fixing clip is fixedly connected to the top of the second fixing ring body at the lower end, and the second lower fixing clip is fixed to the upper end of the third traction rope; The fourth telescopic guide structure comprises a fourth fixed ring body, the bottom of which is fixedly assembled and connected with a plurality of fourth fixed clips, and the fourth fixed clips are fixed at the lower end of the third traction rope.

10. The rail inspection robot with a multi-stage telescopic mechanism according to claim 9, characterized in that: The top of the camera is fixedly assembled and connected with a mounting rod, and the mounting rod is fixedly assembled at the bottom position of the fourth fixed ring body.

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