Track inspection robot and inspection system

Abstract

The utility model discloses a track inspection robot and inspection system, track inspection robot includes robot main body, elevating gear, holder and sets up monitor device on holder, elevating gear includes drive assembly, first pole group, transmission assembly, second pole group and connecting component, and drive assembly is connected with robot main body, and connecting component is connected with holder, drive assembly first box body, first pole group and transmission assembly second box body are connected gradually and constitute first parallelogram structure, and second box body, second pole group and connecting component third box body are connected gradually and constitute second parallelogram structure, in the utility model embodiment, through elevating gear can adjust the height of holder, thereby adjust the height of monitor device setting on holder, make the monitoring range of monitor device on holder can cover the equipment at different height point position, thereby realize the inspection of equipment at different height point position.

Description

Technical Field

[0001] This utility model relates to the field of inspection technology, and in particular to a track inspection robot and inspection system. Background Technology

[0002] Track inspection robots are robots that walk along tracks and perform inspection operations during their walk. They are widely used in fields such as environmental monitoring, equipment condition detection, and safety monitoring.

[0003] In related technologies, track inspection robots typically consist of a robot body and a fixed gimbal mounted on it, with various monitoring devices, such as cameras, mounted on the fixed gimbal.

[0004] However, since the fixed position of the fixed pan-tilt unit makes it difficult for the monitoring devices on the fixed pan-tilt unit to cover equipment at different heights in complex environmental conditions. Utility Model Content

[0005] This utility model provides a track inspection robot and inspection system, aiming to at least solve the technical problem in the prior art that the monitoring range of the monitoring devices on the track inspection robot is difficult to cover equipment at different heights.

[0006] In a first aspect, this utility model provides a track inspection robot, including a robot body, a lifting device, a gimbal, and a monitoring device mounted on the gimbal;

[0007] The lifting device includes a drive assembly, a first linkage, a transmission assembly, a second linkage, and a connecting assembly. The drive assembly is connected to the robot body, and the connecting assembly is connected to the gimbal.

[0008] The first housing, the first rod group, and the second housing in the transmission assembly are sequentially connected to form a first parallelogram structure; the second housing, the second rod group, and the third housing in the connection assembly are sequentially connected to form a second parallelogram structure.

[0009] The lifting device has an unfolded lowering state and a folded raising state. In the folded raising state, along the thickness direction of the first rod group, the orthographic projection of the first rod group overlaps with the orthographic projection of the second rod group.

[0010] Optionally, the driving component includes a position sensor, and the connection component includes a position sensing plate;

[0011] When the lifting device is in the unfolded and lowered state, the position sensor is in a first state where it does not sense the position sensing plate; when the lifting device is in the folded and raised state, the position sensor is in a second state where it senses the position sensing plate.

[0012] Optionally, the drive assembly includes a drive element, a worm, a worm wheel, and a worm wheel shaft, wherein the worm wheel shaft is rotatably connected to the first housing.

[0013] The driving component is connected to the worm and is used to drive the worm to rotate. The worm wheel meshes with the worm and is connected to the worm wheel shaft. The worm wheel shaft rotates as the worm wheel rotates.

[0014] Optionally, the first linkage group includes a driving linkage and a first auxiliary linkage, the second linkage group includes a driven linkage and a second auxiliary linkage, and the transmission assembly includes a first transmission shaft, a first gear disposed on the first transmission shaft, a second transmission shaft, and a second gear disposed on the second transmission shaft. The first transmission shaft and the second transmission shaft are rotatably connected to the second housing, and the first gear meshes with the second gear.

[0015] One end of the driving rod is fixedly connected to the worm gear shaft, and the other end is fixedly connected to the first transmission shaft. One end of the first auxiliary rod is hinged to the first housing, and the other end is hinged to the second housing. One end of the driven rod is fixedly connected to the second transmission shaft, and the other end is hinged to the third housing. One end of the second auxiliary rod is hinged to the second housing, and the other end is hinged to the third housing.

[0016] Optionally, both the first gear and the second gear are helical gears.

[0017] Optionally, when the lifting device is in the folded and raised state, along the thickness direction of the first rod group, the orthographic projection of the active rod overlaps with the orthographic projection of the second auxiliary rod, and the overlapping area is greater than or equal to 50% of the orthographic projection area of ​​the second auxiliary rod.

[0018] Optionally, the second box includes a box body and a box lid, wherein the box lid is detachably connected to the box body;

[0019] The main body of the box has a cavity, and both the first gear and the second gear are located inside the cavity.

[0020] Optionally, the first housing includes a first flange portion, which is detachably connected to the robot body.

[0021] Optionally, the third housing includes a second flange portion, which is detachably connected to the gimbal.

[0022] Secondly, this utility model embodiment provides an inspection system, including a track and a track inspection robot as described above, wherein the track inspection robot is disposed on the track, and the track is used to define the walking path of the track inspection robot.

[0023] In this embodiment of the invention, the gimbal is connected to the robot body via a lifting device. The height of the gimbal can be adjusted via the lifting device, thereby adjusting the height of the monitoring devices mounted on it. This allows the monitoring range of the devices on the gimbal to cover equipment at different height points, enabling inspection of equipment at various heights. Furthermore, when the lifting device is in its folded-up state, the orthographic projections of the first and second rod groups overlap along the thickness direction of the first rod group. The lifting device in its folded-up state occupies less space, which helps ensure the passability of the track inspection robot. Additionally, the lifting device adopts a double parallelogram structure, resulting in a large lifting stroke.

[0024] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this utility model more obvious and easy to understand, the following are specific embodiments of this utility model. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the track inspection robot provided in an embodiment of the present utility model;

[0026] Figure 2 A schematic diagram of the lifting device in the unfolded and lowered state provided in an embodiment of this utility model;

[0027] Figure 3 A schematic diagram of the lifting device in a folded and raised state provided in an embodiment of this utility model;

[0028] Figure 4 Schematic diagram of the drive assembly in the track inspection robot provided in this embodiment of the utility model Figure 1 ;

[0029] Figure 5 Schematic diagram of the drive assembly in the track inspection robot provided in this embodiment of the utility model Figure 2 ;

[0030] Figure 6 Schematic diagram of the drive assembly in the track inspection robot provided in this embodiment of the utility model Figure 3 ;

[0031] Figure 7 An exploded structural diagram of the drive component in the track inspection robot provided for an embodiment of this utility model;

[0032] Figure 8 This is a schematic diagram of the transmission assembly in the track inspection robot provided in an embodiment of the present utility model;

[0033] Figure 9 An exploded structural diagram of the transmission component in the track inspection robot provided for an embodiment of this utility model;

[0034] Figure 10 This is a schematic diagram of the connecting components in the track inspection robot provided in an embodiment of the present utility model;

[0035] Figure 11 This is a schematic diagram of the inspection system provided in an embodiment of the present utility model.

[0036] Figure label:

[0037] 1-Robot body, 2-Lifting device, 3-Gimbal, 4-Track;

[0038] 10-Drive assembly, 101-Position sensor, 102-Sensor support, 103-First housing, 104-Drive component, 105-Worm, 106-Worm wheel, 107-Worm wheel shaft, 108-Mounting base, 109-First cantilever pin, 110-End cover, 111-First bearing, 112-Retaining ring;

[0039] 20 - First club group, 201 - Active club, 202 - First secondary club;

[0040] 30-Transmission assembly, 301-First drive shaft, 302-Second drive shaft, 303-First gear, 304-Second gear, 305-Box body, 306-Box cover, 307-Second cantilever pin, 308-Fourth cantilever pin, 309-Second bearing, 310-Third bearing;

[0041] 40 - Second linkage, 401 - Driven linkage, 402 - Second auxiliary linkage;

[0042] 50-Connecting component, 501-Position sensing element, 502-Third housing, 503-Third cantilever pin, 504-Fifth cantilever pin. Detailed Implementation

[0043] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0044] Firstly, referring to Figures 1 to 3The track inspection robot provided in this embodiment of the utility model includes a robot body 1, a lifting device 2, a gimbal 3, and monitoring devices mounted on the gimbal 3. The lifting device 2 includes a drive assembly 10, a first rod group 20, a transmission assembly 30, a second rod group 40, and a connecting assembly 50. The drive assembly 10 is connected to the robot body 1, and the connecting assembly 50 is connected to the gimbal 3. The first housing 103 in the drive assembly 10, the first rod group 20, and the second housing in the transmission assembly 30 are sequentially connected to form a first parallelogram structure. The second housing, the second rod group 40, and the third housing 502 in the connecting assembly 50 are sequentially connected to form a second parallelogram structure. The lifting device 2 has an unfolded lowering state and a folded rising state. In the folded rising state, along the thickness direction of the first rod group 20, the orthographic projection of the first rod group 20 overlaps with the orthographic projection of the second rod group 40.

[0045] This track-based inspection robot can be applied to mines, ports, power plants, factories, and other locations. The robot body 1 includes a walking component for moving along the track 4. The monitoring device can be a camera. The gimbal 3 can include a first rotating mechanism and a second rotating mechanism. The first rotating mechanism drives the monitoring device to rotate horizontally around a vertical axis, and the second rotating mechanism drives the monitoring device to rotate pitch around a horizontal axis.

[0046] In the lifting device 2, the drive component 10 is connected to the robot body 1, and the connecting component 50 is connected to the gimbal 3. That is, the gimbal 3 is connected to the robot body 1 via the lifting device 2. In the drive component 10, the first housing 103 is connected to the robot body 1; the connection method can be detachable, welding, etc. In the connecting component 50, the third housing 502 is connected to the gimbal 3; the connection method can be detachable, welding, etc.

[0047] The first linkage 20 is connected at one end to the drive assembly 10 and at the other end to the transmission assembly 30. The second linkage 40 is connected at one end to the transmission assembly 30 and at the other end to the connecting assembly 50. The first linkage 20 may include two linkages, each of which has one end rotatable relative to the first housing 103 and the other end rotatable relative to the second housing. The second linkage 40 may include two linkages, each of which has one end rotatable relative to the second housing and the other end rotatable relative to the third housing 502.

[0048] As an example, the first linkage 20 includes a driving linkage 201 and a first auxiliary linkage 202, the second linkage 40 includes a driven linkage 401 and a second auxiliary linkage 402, and the transmission assembly 30 includes a first transmission shaft 301 and a second transmission shaft 302. One end of the driving linkage 201 is fixedly connected to the worm gear shaft 107 in the drive assembly 10, and the worm gear shaft 107 is rotatably connected to the first housing 103, so that one end of the driving linkage 201 can rotate relative to the first housing 103. The other end of the driving linkage 201 is fixedly connected to the first transmission shaft 301, and the first transmission shaft 301 is rotatably connected to the second housing, so that the other end of the driving linkage 201 can rotate relative to the second housing. One end of the first auxiliary linkage 202 is hinged to the first housing 103, and the other end is hinged to the second housing. One end of the driven rod 401 is fixedly connected to the second drive shaft 302, which is rotatably connected to the second housing, allowing one end of the driven rod 401 to rotate relative to the second housing. The other end of the driven rod 401 is hinged to the third housing 502. One end of the second auxiliary rod 402 is hinged to the second housing, and the other end is hinged to the third housing 502.

[0049] The transmission assembly 30 is used to transmit the motion of the first linkage 20 to the second linkage 40. Specifically, the transmission assembly 30 is used to transmit the rotation of the first linkage 20 in the opposite direction to the second linkage 40. The transmission assembly 30 can be a gear transmission assembly, in which case the transmission assembly 30 includes a first gear 303 disposed on the first transmission shaft 301 and a second gear 304 disposed on the second transmission shaft 302.

[0050] In the lifting device 2 in its unfolded and lowered state, the angle between the first rod group 20 and the second rod group 40 is greater than the angle between the first rod group 20 and the second rod group 40 in the folded and raised state. The thickness direction of the first rod group 20 is perpendicular to both the height and length directions of the track inspection robot. The height direction of the track inspection robot can be referenced... Figure 1 The direction indicated by arrow A in the middle indicates the length direction of the track inspection robot. Figure 1 The direction indicated by arrow B. When the lifting device 2 is in the folded and raised state, along the thickness direction of the first rod group 20, the orthographic projection of the active rod 201 and the orthographic projection of the second auxiliary rod 402 may overlap. The lifting stroke of the lifting device 2 can be adjusted by adjusting the length of the rods in the first rod group 20 and the second rod group 40.

[0051] In this embodiment of the invention, the gimbal 3 is connected to the robot body 1 via a lifting device 2. The height of the gimbal 3 can be adjusted via the lifting device 2, thereby adjusting the height of the monitoring devices mounted on the gimbal 3. This allows the monitoring range of the monitoring devices on the gimbal 3 to cover equipment at different height points, thus enabling the inspection of equipment at various heights. Furthermore, when the lifting device 2 is in its folded-up state, the orthographic projection of the first rod group 20 overlaps with the orthographic projection of the second rod group 40 along the thickness direction. The lifting device 2 occupies less space in its folded-up state, which helps ensure the passability of the track inspection robot. Additionally, the lifting device 2 adopts a double parallelogram structure, resulting in a large lifting stroke.

[0052] In some embodiments, refer to Figures 2 to 7 , Figure 10 The drive assembly 10 includes a position sensor 101, and the connection assembly 50 includes a position sensing plate 501. When the lifting device 2 is in the unfolded and lowered state, the position sensor 101 is in the first state of not sensing the position sensing plate 501. When the lifting device 2 is in the folded and raised state, the position sensor 101 is in the second state of sensing the position sensing plate 501.

[0053] The drive assembly 10 includes a sensor support 102 connected to the first housing 103, and a position sensor 101 connected to the sensor support 102. A position sensing element 501 is connected to the third housing 502. When the lifting device 2 is in the unfolded and lowered state, the connecting assembly 50 is away from the drive assembly 10, and the position sensing element 501 is away from the position sensor 101, so the position sensor 101 cannot detect the position sensing element 501. When the lifting device 2 is in the folded and raised state, the connecting assembly 50 is close to the drive assembly 10, and the position sensing element 501 is close to the position sensor 101, so the position sensor 101 can detect the position sensing element 501.

[0054] The position sensor 101 can sense the position sensing element 501 based on the principle of magnetic induction. The position sensor 101 can be a Hall element, and the position sensing element 501 can be made of magnetic material, or the position sensing element 501 can be a structure with an embedded magnet. In this embodiment, when the lifting device 2 switches from the unfolded and lowered state to the folded and raised state, the position sensor 101 simultaneously switches from the first state to the second state. By monitoring the state change of the position sensor 101, it is possible to determine whether the lifting device 2 is in the folded and raised state, and thus determine whether the lifting device 2 has been retracted into place.

[0055] In some embodiments, refer to Figures 4 to 7The drive assembly 10 includes a drive member 104, a worm gear 105, a worm wheel 106, and a worm wheel shaft 107. The worm wheel shaft 107 is rotatably connected to the first housing 103. The drive member 104 is connected to the worm gear 105 and is used to drive the worm gear 105 to rotate. The worm wheel 106 meshes with the worm gear 105 and is connected to the worm wheel shaft 107. The worm wheel shaft 107 rotates as the worm wheel 106 rotates.

[0056] The drive component 104 can be a motor, and the worm gear 105 is connected to the output shaft of the motor. The rotation of the motor's output shaft drives the worm gear 105 to rotate. The drive assembly 10 also includes two first bearings 111. The worm wheel shaft 107 is rotatably connected to the first housing 103 through the two first bearings 111. One side of the first bearing 111 is limited and closed by an end cover 110, which can be connected to the first housing 103. The other side of the first bearing 111 is limited by a retaining ring 112. The drive assembly 10 also includes a mounting base 108. The drive component 104 is connected to the mounting base 108, and the mounting base 108 is connected to the first housing 103. In this embodiment, the drive assembly 10 is controlled by a single drive component 104. It reduces speed and increases torque through the worm gear 105 and worm wheel 106, and has self-locking properties, preventing it from falling when power is off.

[0057] In some embodiments, refer to Figure 2 , Figure 3 , Figure 8 and Figure 9 The first linkage 20 includes a driving linkage 201 and a first auxiliary linkage 202. The second linkage 40 includes a driven linkage 401 and a second auxiliary linkage 402. The transmission assembly 30 includes a first transmission shaft 301, a first gear 303 mounted on the first transmission shaft 301, a second transmission shaft 302, and a second gear 304 mounted on the second transmission shaft 302. The first transmission shaft 301 and the second transmission shaft 302 are rotatably connected to the second housing. The first gear 303 meshes with the second gear 304. One end of the driving linkage 201 is fixedly connected to the worm gear shaft 107, and the other end is fixedly connected to the first transmission shaft 301. One end of the first auxiliary linkage 202 is hinged to the first housing 103, and the other end is hinged to the second housing. One end of the driven linkage 401 is fixedly connected to the second transmission shaft 302, and the other end is hinged to the third housing 502. One end of the second auxiliary linkage 402 is hinged to the second housing, and the other end is hinged to the third housing 502.

[0058] The driving rod 201 is arranged parallel to the first auxiliary rod 202, and the driven rod 401 is arranged parallel to the second auxiliary rod 402. The first gear 303 rotates synchronously with the first transmission shaft 301, and the second gear 304 rotates synchronously with the second transmission shaft 302. The rotation directions of the first gear 303 and the second gear 304 are opposite, and the rotation directions of the first transmission shaft 301 and the second transmission shaft 302 are opposite, realizing the reverse transmission of rotation.

[0059] The second housing includes a housing body 305 and a housing cover 306. The transmission assembly 30 also includes two second bearings 309 and two third bearings 310. The two ends of the first transmission shaft 301 are rotatably connected to the housing body 305 and the housing cover 306 respectively via the two second bearings 309. The two ends of the second transmission shaft 302 are rotatably connected to the housing body 305 and the housing cover 306 respectively via the two third bearings 310. The connection between the driving rod 201 and the worm gear shaft 107 and the first transmission shaft 301 can be a bolt connection, and the connection between the driven rod 401 and the second transmission shaft 302 can be a bolt connection.

[0060] Hinges can be achieved either by using a cantilever pin in the housing and a hole in the rod, or by using a hole in the housing and a cantilever pin in the rod. As an example, the first housing 103 is connected to a first cantilever pin 109, and the first auxiliary rod 202 has a first hinge hole. The first housing 103 and the first auxiliary rod 202 are hinged together through the engagement of the first hinge hole and the first cantilever pin 109. In the second housing, the housing body 305 is connected to a second cantilever pin 307, and the first auxiliary rod 202 has a second hinge hole. The first auxiliary rod 202 and the second housing are hinged together through the engagement of the second hinge hole and the second cantilever pin 307.

[0061] The third housing 502 is connected to a third cantilever pin 503. A third hinge hole is provided on the driven rod 401. The driven rod 401 is hinged to the third housing 502 through the engagement of the third hinge hole and the third cantilever pin 503. The second housing body 305 is connected to a fourth cantilever pin 308. A fourth hinge hole is provided on the second auxiliary rod 402. The second auxiliary rod 402 is hinged to the second housing through the engagement of the fourth hinge hole and the fourth cantilever pin 308. The third housing 502 is connected to a fifth cantilever pin 504. A fifth hinge hole is provided on the second auxiliary rod 402. The second auxiliary rod 402 is hinged to the second housing through the engagement of the fifth hinge hole and the fifth cantilever pin 504. In this embodiment, the transmission assembly 30 has a simple structure and low cost.

[0062] In some embodiments, refer to Figure 9 Both the first gear 303 and the second gear 304 are helical gears, which have higher transmission smoothness compared to spur gears.

[0063] In some embodiments, refer to Figure 3 When the lifting device 2 is in the folded and raised state, along the thickness direction of the first rod group 20, the orthographic projection of the active rod 201 overlaps with the orthographic projection of the second auxiliary rod 402, and the overlapping area is greater than or equal to 50% of the orthographic projection area of ​​the second auxiliary rod 402.

[0064] In this embodiment, along the thickness direction of the first rod group 20, the overlapping area of ​​the orthographic projection of the active rod 201 and the orthographic projection of the second auxiliary rod 402 is smaller than the orthographic projection area of ​​the second auxiliary rod 402. The overlapping area can be 50%, 55%, 60%, 65%, 70%, etc., of the orthographic projection area of ​​the second auxiliary rod 402. In this embodiment, the lifting device 2 in its folded and raised state occupies less space, which is beneficial for ensuring the passability of the track inspection robot.

[0065] In some embodiments, refer to Figure 8 and Figure 9 The second housing includes a housing body 305 and a housing cover 306, with the housing cover 306 detachably connected to the housing body 305. The housing body 305 has a cavity, within which both the first gear 303 and the second gear 304 are located. The connection between the housing body 305 and the housing cover 306 can be detachable. In this embodiment, both the first gear 303 and the second gear 304 are located within the cavity of the housing body 305, and the housing body 305 is covered by the housing cover 306, which can prevent external dust, moisture, debris, etc., from affecting the operation of the first gear 303 and the second gear 304.

[0066] In some embodiments, refer to Figures 4 to 7 The first housing 103 includes a first flange portion, which is detachably connected to the robot body 1. The first flange portion is located at the top of the first housing 103, and has multiple first through holes. The first flange portion is connected to the robot body 1 by multiple first bolts passing through the multiple first through holes.

[0067] In some embodiments, refer to Figure 10 The third housing 502 includes a second flange portion, which is detachably connected to the gimbal 3. The second flange portion is located at the bottom of the third housing 502 and has multiple second through holes. The second flange portion is connected to the gimbal 3 by multiple second bolts passing through these through holes. In the above embodiment, the first housing 103 is detachably connected to the robot body 1, and the third housing 502 is detachably connected to the gimbal 3, facilitating the disassembly, maintenance, and replacement of the lifting device 2.

[0068] The working principle of the above-mentioned track inspection robot is as follows:

[0069] The driving component 104 drives the worm gear 105 to rotate. Through the meshing transmission between the worm gear 105 and the worm wheel 106, the worm wheel shaft 107 is driven to rotate. The rotation of the worm wheel shaft 107 causes the driving rod 201 to swing, thereby realizing the lifting and lowering of the transmission assembly 30 through the first parallelogram structure. When the driving rod 201 swings, it drives the first transmission shaft 301 to rotate. Through the meshing transmission between the first gear 303 and the second gear 304, the second transmission shaft 302 is driven to rotate in the opposite direction. The rotation of the second transmission shaft 302 causes the driven rod 401 to swing, thereby realizing the lifting and lowering of the connecting assembly 50 through the second parallelogram structure.

[0070] As an example, during the process of the lifting device 2 moving from the unfolded and lowered state to the folded and raised state, the worm gear shaft 107 rotates counterclockwise, the driving rod 201 and the first auxiliary rod 202 swing counterclockwise, the first transmission shaft 301 rotates counterclockwise, the second transmission shaft 302 rotates clockwise, and the driven rod 401 and the second auxiliary rod 402 swing clockwise.

[0071] In summary, the track inspection robot provided in this embodiment of the utility model adopts a modular design, which is convenient for maintenance; the drive component 10 is controlled by a single drive component 104, and the speed reduction and torque increase are achieved through the worm gear 105 and worm wheel 106, which has self-locking properties and can prevent falling when the power is off; the lifting device 2 adopts a double parallelogram structure, with a large lifting stroke, and the lifting device 2 occupies little space when in the folded upward state; moreover, the track inspection robot has low cost and high motion stability.

[0072] Secondly, referring to Figure 11 This utility model embodiment also discloses an inspection system, including a track 4 and a track inspection robot provided in the first aspect. The track inspection robot is set on the track 4, and the track 4 is used to define the walking path of the track inspection robot.

[0073] The track inspection robot includes a robot body 1, a lifting device 2, a gimbal 3, and monitoring devices mounted on the gimbal 3. The gimbal 3 is connected to the robot body 1 via the lifting device 2. The robot body 1 includes a walking component for moving on the track 4.

[0074] Since the inspection system includes the aforementioned track inspection robot, it also possesses the beneficial effects of the aforementioned track inspection robot, which will not be elaborated here.

[0075] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0076] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A track inspection robot, characterized in that, It includes a robot body, a lifting device, a gimbal, and monitoring devices mounted on the gimbal; The lifting device includes a drive assembly, a first linkage, a transmission assembly, a second linkage, and a connecting assembly. The drive assembly is connected to the robot body, and the connecting assembly is connected to the gimbal. The first housing, the first rod group, and the second housing in the transmission assembly are sequentially connected to form a first parallelogram structure; the second housing, the second rod group, and the third housing in the connection assembly are sequentially connected to form a second parallelogram structure. The lifting device has an unfolded lowering state and a folded raising state. In the folded raising state, along the thickness direction of the first rod group, the orthographic projection of the first rod group overlaps with the orthographic projection of the second rod group.

2. The track inspection robot according to claim 1, characterized in that, The driving component includes a position sensor, and the connection component includes a position sensing element; When the lifting device is in the unfolded and lowered state, the position sensor is in a first state where it does not sense the position sensing plate; when the lifting device is in the folded and raised state, the position sensor is in a second state where it senses the position sensing plate.

3. The track inspection robot according to claim 1, characterized in that, The drive assembly includes a drive component, a worm gear, a worm wheel, and a worm wheel shaft, wherein the worm wheel shaft is rotatably connected to the first housing. The driving component is connected to the worm and is used to drive the worm to rotate. The worm wheel meshes with the worm and is connected to the worm wheel shaft. The worm wheel shaft rotates as the worm wheel rotates.

4. The track inspection robot according to claim 3, characterized in that, The first linkage group includes a driving linkage and a first auxiliary linkage, the second linkage group includes a driven linkage and a second auxiliary linkage, and the transmission assembly includes a first transmission shaft, a first gear disposed on the first transmission shaft, a second transmission shaft, and a second gear disposed on the second transmission shaft. The first transmission shaft and the second transmission shaft are rotatably connected to the second housing, and the first gear meshes with the second gear. One end of the driving rod is fixedly connected to the worm gear shaft, and the other end is fixedly connected to the first transmission shaft. One end of the first auxiliary rod is hinged to the first housing, and the other end is hinged to the second housing. One end of the driven rod is fixedly connected to the second transmission shaft, and the other end is hinged to the third housing. One end of the second auxiliary rod is hinged to the second housing, and the other end is hinged to the third housing.

5. The track inspection robot according to claim 4, characterized in that, Both the first gear and the second gear are helical gears.

6. The track inspection robot according to claim 4, characterized in that, When the lifting device is in the folded and raised state, along the thickness direction of the first rod group, the orthographic projection of the active rod overlaps with the orthographic projection of the second auxiliary rod, and the overlapping area is greater than or equal to 50% of the orthographic projection area of ​​the second auxiliary rod.

7. The track inspection robot according to claim 4, characterized in that, The second box includes a box body and a box lid, wherein the box lid is detachably connected to the box body; The main body of the box has a cavity, and both the first gear and the second gear are located inside the cavity.

8. The track inspection robot according to any one of claims 1 to 7, characterized in that, The first housing includes a first flange portion, which is detachably connected to the robot body.

9. The track inspection robot according to any one of claims 1 to 7, characterized in that, The third housing includes a second flange, which is detachably connected to the gimbal.

10. An inspection system, characterized in that, Includes a track and a track inspection robot as described in any one of claims 1 to 9, the track inspection robot being disposed on the track, the track being used to define the travel path of the track inspection robot.

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