CN112498374A

CN112498374A - Intelligent inspection robot walking mechanism

Info

Publication number: CN112498374A
Application number: CN202011629242.9A
Authority: CN
Inventors: 黄伊凡; 郭启军; 杨广安
Original assignee: Hangzhou Jingshang Information Technology Co ltd
Current assignee: Hangzhou Jingshang Information Technology Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-03-16

Abstract

The invention provides an intelligent inspection robot walking mechanism which comprises a guide rail and a main body mechanism, wherein the guide rail comprises an upper auxiliary mounting rail, a lower suspension rail and a connecting piece for connecting the upper auxiliary mounting rail and the lower suspension rail, the upper suspension rail is provided with two mounting grooves, guide wheel rails are arranged on two sides of the lower suspension rail, guide grooves are arranged on the lower side of the lower suspension rail, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism respectively drives the guide mechanism and the telescopic driving mechanism to move, the guide mechanism comprises an upper plate, guide wheel sets and guide balls, the guide wheel sets comprise driving wheels, and the driving wheels are tightly attached to the guide wheel rails. The walking mechanism of the intelligent inspection robot has the advantages of good guidance, capability of driving to stretch and retract, very compact integral structure, small volume, relatively low cost and wide application range.

Description

Intelligent inspection robot walking mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a walking mechanism of an intelligent inspection robot.

Background

With the rapid development of infrastructure of various large, medium and small cities, the network information intelligentization rate is continuously improved, the running conditions, information statistics, intelligent storage and the like of various indoor devices need to be checked, counted and updated in time, the running conditions, the information statistics, the intelligent storage and the like are realized mainly by manpower at present, the inspection tour through the subjective consciousness of people has high cost, and the data accuracy and the information timeliness cannot be completely guaranteed.

The electric power system is a basic resource related to the national civilization and is a main switch for social and economic operation; therefore, once the power system fails, the fault point and the fault problem cannot be found in time, which inevitably increases a large amount of power failure time and brings great influence to normal life of people and factory units.

Therefore, it is necessary to design a robot capable of automatic detection to automatically check indoor equipment, especially equipment of a power system, and ensure normal and stable operation of the power system.

The existing intelligent inspection robot is also continuously developed, and is suitable for a tunnel, but due to the limitation of the detection range, the existing intelligent inspection robot is not suitable for the inspection of various indoor devices; simultaneously, the tunnel inspection robot is very high in required stability, a plurality of guide mechanisms need to be arranged, and the cost required by the whole tunnel inspection robot is high.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the intelligent inspection robot walking mechanism which is convenient to install, good in guidance, capable of driving to stretch and retract, very compact in overall structure, small in size, relatively low in cost and wide in application range.

In order to achieve the purpose, the invention provides an intelligent inspection robot walking mechanism, which comprises a guide rail and a main body mechanism, wherein the guide rail comprises an upper auxiliary mounting rail, a lower suspension rail and a connecting piece for connecting the upper auxiliary mounting rail and the lower suspension rail, the upper suspension rail is provided with two mounting grooves, guide wheel rails are arranged on two sides of the lower suspension rail, guide grooves are arranged on the lower side of the lower suspension rail, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism respectively drives the guide mechanism and the telescopic driving mechanism to move, the guide mechanism comprises an upper plate, guide wheel sets and guide balls, the guide wheel sets comprise driving wheels, the driving wheels are tightly attached to the guide wheel rails, the guide balls are vertically arranged with the driving wheels, the upper ends of the guide balls are clamped in the guide grooves and can rotate relative to the guide grooves, the telescopic driving mechanism is connected with the telescopic sleeve, and telescopic extension of the telescopic sleeve is achieved.

Compared with the prior art, the invention has the innovation points that: on one hand, the linear walking and free turning device is realized by the mutual matching arrangement of the guide wheel set and the guide ball, the driving wheel of the guide wheel set is attached to the guide wheel rail of the guide rail, and the guide ball is positioned in the guide groove on the lower side of the guide rail and is rotationally connected with the guide groove; on the other hand, by arranging the guide mechanism and the telescopic driving mechanism, the telescopic driving mechanism is connected with the telescopic sleeve through the pull wire to realize the telescopic of the telescopic sleeve, and by arranging the detection device at the lower end of the telescopic sleeve, the double functions of the horizontal direction and the vertical direction are realized, the detection visual field of the invention is expanded, and the detection data is more accurate; simultaneously, the guide rail is jointed with the main body mechanism, the mounting groove is arranged at the upper end of the guide rail, the whole installation and disassembly are convenient, and the stability of the whole connection is ensured.

Preferably, the motor driving mechanism comprises two motors and bevel gears which are arranged side by side, the two motors respectively drive the guide mechanism and the telescopic driving mechanism to move through the cooperation of the bevel gears, the guide wheel set further comprises a transmission shaft, the transmission shaft is positioned below the lower plate, the two motors are arranged close to the transmission shaft, the telescopic driving mechanism is sleeved on the transmission shaft through a bearing and is driven to rotate through one of the motors, the telescopic driving mechanism comprises a winding wheel and a movable pulley assembly, the winding wheel is sleeved on the transmission shaft through a bearing, the movable pulley assembly is fixed on the lower plate at the upper end of the telescopic sleeve, the telescopic sleeve penetrates through the movable pulley assembly through a pull wire to be connected with the winding wheel to achieve length expansion, and the other motor is rotatably connected with the transmission shaft through the cooperation of the bevel gears to achieve rotation of the guide wheel set; such setting, not only realized the straight line and gone, freely turn, the walking of horizontal direction and vertical direction, enlarge detection range, the motor through guiding mechanism and flexible actuating mechanism arranges side by side simultaneously, the reel, the bevel gear all sets up on the transmission shaft, utilize limited space the biggest rotation that has realized the direction to connect with flexible driven connection, the structure is very compact, small, the cooperation between each part is very stable simultaneously, required space is not big, be applicable to the environmental detection of each indoor unit.

Preferably, the guide wheel set further comprises a belt wheel set, a driving shaft bearing seat is arranged on the upper plate, a driving roller shaft penetrates through one end of the driving shaft bearing seat to be connected with the driving wheel, and the other end of the driving roller shaft is connected with the belt wheel set, so that simultaneous rotation and guide are realized; the motor drives the bevel gear, the transmission shaft and the belt pulley group to further drive the driving wheel to rotate, and the driving wheel is matched with the guide ball body to realize linear walking and free turning, and the performance is stable and reliable.

Preferably, the guide mechanism further comprises a pressing device, the pressing device is positioned on the upper plate, and is positioned at the outer side of the guide ball body, the pressing device comprises two pressing seats which are symmetrically arranged, the driven shaft is provided with a driven wheel, the pressing seat comprises a fixed block and pressing blocks, the fixed block and the pressing blocks are connected through a spring, the two pressing blocks are connected through the driven shaft to drive the driven wheel to stretch, the two sides of the lower end of the lower suspension rail are also provided with pressing grooves which are positioned on the two sides of the guide groove, the driven wheel is clamped in the pressing grooves to realize pressing and fixing, in the process of routing inspection, the invention has good stability of connection with the guide rail, does not need bearing, reduces the whole weight, through the mutual matching of the pressing device, the main shaft wheel set and the guide ball body, the shock resistance is good, the moving resistance is small, and the installation and the disassembly are convenient.

Preferably, the power taking device is fixed on the upper plate and comprises a power taking part and an insulating shell, the insulating shell is fixed on the upper plate, the connecting piece is provided with a power taking groove, a sliding contact line is arranged in the power taking groove, the sliding contact line is a double sliding contact line, and the power taking part is in contact with the double sliding contact line to take power; the power taking device is arranged on the upper plate, so that the structure is compact, the size is small, meanwhile, the power taking part of the power taking device is in contact with the sliding contact line, the power taking is realized while moving, the power supply is provided for each part of the power supply device, the situation of insufficient power supply cannot occur due to the arrangement, and the stable operation of the power supply device is ensured.

Preferably, the winding device further comprises a ratchet wheel and a pawl, the ratchet wheel, the large bevel gear and the winding wheel are coaxially arranged, the pawl and the ratchet wheel are arranged in a matched mode, the pawl is fixed to the lower side of the upper plate through a pawl fixing support, an electromagnet is arranged above one end of the pawl, and the electromagnet and the pawl attract each other; through the matching arrangement of the ratchet wheel pawl and the electromagnet, the rotation condition of the reel can be controlled, and the free extension of the telescopic sleeve is realized.

As the preferred, still include the electromagnetic lock, the electromagnetic lock is located the below of pawl, the electromagnetic lock can stretch out and draw back, through the mutually supporting effect of electromagnetic lock and electro-magnet, avoids the not enough condition that the pawl can't block the ratchet of appearing of the suction of electro-magnet, increases the ascending thrust of pawl, improves brake stability, realizes telescopic tube's stable shrink, improves the accuracy and the stability that detect.

Preferably, the wire drawing mechanism further comprises a wire pressing shaft assembly and a wire guiding wheel, a front plate is arranged on one side of the lower plate, the wire pressing shaft assembly and the wire guiding wheel are arranged on the front plate, and the wire drawing wire sequentially penetrates through the wire pressing shaft assembly, the wire guiding wheel and the movable pulley assembly after coming off from the wire winding wheel and then is connected with the telescopic sleeve; through setting up spool and wire guide wheel, carry out line ball, direction to the acting as go-between, the degree of compactness of acting as go-between is good, and telescopic tube is flexible control performance good.

Preferably, the bottom of the telescopic sleeve is provided with a fixed support, and the bottom end of the pull wire is connected with the fixed support.

Preferably, the device also comprises a limit switch and an encoder, wherein side plates are arranged on two sides of the upper plate, a driver is connected to the outer sides of the side plates, the limit switch is connected to the upper end of the driver, a groove is formed in the middle of the upper plate, and the encoder is fixed in the groove through a bolt and is electrically connected with a motor for driving the guide shaft to rotate; the arrangement structure is compact, and the installation and the disassembly are convenient; meanwhile, the limit switch and the encoder are matched with each other, so that the robot can be accurately positioned, and the data can be comprehensively measured.

The invention has the beneficial effects that: the main body mechanism and the guide rail are tightly attached, clamped and pressed, so that the main body mechanism and the guide rail are stably connected and are convenient to install and disassemble, and the upper suspension rail arranged on the guide rail is convenient for the integral installation of the invention; through the mutual matching action of the guide mechanism, the telescopic driving mechanism and the motor driving mechanism, the horizontal and vertical walking of the robot is realized, the detection visual field of the robot is enlarged, the data detection is more accurate, the efficiency is high, and the installation is convenient; the motor of guiding mechanism and flexible actuating mechanism arranges side by side, and reel, bevel gear all set up on the transmission shaft, utilize limited space furthest's realization the rotation of direction to connect with flexible driven connection, and the structure is very compact, and is small, and the cooperation between each part is very stable simultaneously, and required space is little, is applicable to the environmental detection of each indoor set.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the structure at a in fig. 1.

Fig. 3 is a schematic structural view of the main body mechanism.

Fig. 4 is an exploded view of the body mechanism.

Fig. 5 is a schematic structural view of the upper plate assembly.

Fig. 6 is a schematic structural view of the rotating mechanism.

Fig. 7 is a schematic structural diagram of a circuit board six.

Fig. 8 is a schematic diagram of an explosive structure of the detection apparatus.

In the figure: the device comprises an upper plate 1, a transmission shaft bearing seat 21, a transmission shaft 2, a small belt pulley 3, a driving shaft bearing seat 41, a driving roller shaft 4, a driving wheel 5, a large belt pulley 6, a belt 7, a motor fixing seat 8, a small bevel gear 9, a first motor 10, a second motor 11, a first large bevel gear 12, a guide rail 13, a guide wheel rail 131, a guide ball 14, a pressing device 15, a guide groove 132, a driven shaft 151, a driven wheel 152, a fixing block 153, a pressing block 154, a spring 155, a pressing groove 133, a power taking device 16, a power taking part 161, an insulating shell 162, a sliding contact wire 134, a driver 17, a limit switch 171, a first encoder 18, a first groove 111, an upper auxiliary mounting rail 135, a connecting piece 136, a lower suspension rail 137,

The device comprises a telescopic sleeve 19, a winding wheel 20, a wire pressing shaft assembly 21, a wire guide wheel 22, a large umbrella tooth II 23, a front plate 24, a rear plate 25, a lower plate 26, a movable pulley 27, a movable pulley seat 271, a fixed support 28, a rotating device 29, a partial discharge sensor 45, a camera 46, a thermal imager 47, a ratchet 48, a pawl 49, an electromagnet 50, an electromagnetic lock 51, a pawl fixed support 491, a movable support 25, a movable support 27, a movable support 28,

The circuit board comprises a card slot 281, a rotating motor 291, an upper bracket 292, a lower bracket 293, a bearing seat 2931, a limiting seat 2932, a limiting strip 2921, a gear 2933, a second encoder 2934, a fifth circuit board 2935, a fluted disc 2922, a second electromagnetic 2923, a card column 2924, a sixth circuit board 2936, a first electromagnetic 2937, a pressing plate 30, a fixing plate 31, a pressing card slot 301, a first connecting bracket 32, a main bracket 321, a side bracket 322, a second connecting bracket 33, a position sensor 34, a first cooling fin 35, a second cooling fin 36, a small bracket 37, a switch mounting seat 371, a network switch 38, a first power supply 39, a first circuit board 40, a fourth circuit board 41, a third circuit board 42, a second power supply 43 and a second circuit board.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1 to 8, the present embodiment proposes a walking mechanism of a smart inspection robot, which includes a guide rail 13 and a main body mechanism,

the guide rail 13 comprises an upper auxiliary mounting rail 135, a connecting piece 136 and a lower suspension rail 137, the upper auxiliary mounting rail 135, the connecting piece 136 and the lower suspension rail 137 are integrally formed and are manufactured by aluminum alloy, the cross section of the upper auxiliary mounting rail 135 is in a Chinese character 'shan' shape, two mounting grooves 138 are arranged in the upper auxiliary mounting rail, the upper auxiliary mounting rail is integrally mounted and fixed through the two mounting grooves 138, a power taking groove is arranged on the connecting piece 136, double sliding contact lines 134 are arranged in the power taking groove, guide wheel rails 131 are arranged on two sides of the lower suspension rail 137, a guide groove 132 is arranged in the middle of the lower side of the lower auxiliary mounting rail, pressing grooves 133,

the main body mechanism comprises an upper plate assembly, the upper plate assembly comprises an upper plate 1, transmission shaft bearing seats 21 are arranged on two sides below the upper plate 1, two ends of a transmission shaft 2 respectively penetrate through the transmission shaft bearing seats 21 to be connected with a small belt pulley 3, driving shaft bearing seats 41 are arranged on two sides above the upper plate 1, a driving roller shaft 4 penetrates through one end of each driving shaft bearing seat 41 to be connected with a driving wheel 5, the other end of each driving roller shaft is connected with a large belt pulley 6, the small belt pulley 3 is connected with the large belt pulley 6,

two motors are arranged on one side of the transmission shaft 2 and below the upper plate 1 side by side, each motor is fixed on a motor fixing seat 8 and is connected with a small bevel gear 9, each motor is divided into a motor I10 and a motor II 11, one end of the transmission shaft 2 is fixedly sleeved with a large bevel gear I12, the motor I10 drives the small bevel gear 9 and the large bevel gear I12 at one end to rotate so as to drive the transmission shaft 2 and the driving wheel 5 to rotate, and the driving wheel 5 is tightly pressed on a guide wheel rail 131 of the guide rail 13 to realize linear walking;

the two sides of the upper plate 1 are respectively provided with a guide ball 14 and a pressing device 15, the guide ball 14 and the pressing device 15 are arranged perpendicular to the driving wheel 5, and the guide ball 14 is rotatably connected in a guide groove 132 on the lower side of the guide rail 13 to realize free turning and walking;

the pressing device 15 comprises two pressing seats which are symmetrically arranged, two driven wheels 152 are arranged on the driven shaft 151, each pressing seat comprises a fixed block 153 and a pressing block 154, the fixed blocks 153 and the pressing blocks 154 are connected through springs 155, the driven shaft 151 is fixedly connected with the pressing blocks 154, the pressing blocks 154 stretch out and draw back, the driven wheels 152 are driven to stretch out and draw back, the driven wheels 152 are clamped in the pressing grooves 133 on the lower sides of the guide rails 13, and the pressing grooves 133 are located on the two sides of the guide grooves 132 and are stably connected with the guide rails 13;

the upper plate 1 is also provided with a power taking device 16, the power taking device 16 is positioned on one side of one of the pressing devices 15, the power taking device 16 comprises a power taking part 161 and an insulating shell 162, the insulating shell 162 is connected with the upper plate 1 through a bolt, the power taking part 161 is in contact with the double-sliding contact line 134 on the connecting piece 136 of the guide rail 13 to take power, the power taking is realized while the operation is carried out, the power utilization occasion is not limited, and the operation is safe and stable;

the two sides of the upper plate 1 are provided with side plates, the outer sides of the two side plates are connected with drivers 17, the upper end of each driver 17 is connected with a limit switch 171, a first groove 111 is formed in the middle of the upper plate 1, a first encoder 18 is fixed in the first groove 111 through a bolt and is electrically connected with a first motor 10, the first encoder 18 records the revolution number of the first motor 10, when a certain revolution number is reached, the first encoder 18 transmits a signal to a controller, and the controller controls the limit switches 171 to move so as to realize linear walking and turning along a track;

the device comprises a telescopic sleeve 19 and a telescopic mechanism, wherein the telescopic mechanism comprises a winding wheel 20, a wire pressing shaft assembly 21 and a wire guide wheel 22, the other end of the transmission shaft 2 is also sleeved with a large bevel gear II 23, the large bevel gear II 23 is fixedly connected with the winding wheel 20 through a bearing and does not coaxially rotate with the transmission shaft 2, and the motor II 11 drives the small bevel gear 9 and the large bevel gear II 23 to rotatably connect so as to drive the winding wheel 20 to rotate; the side plates on two sides of the upper plate 1 comprise a front plate 24 and a rear plate 25, a thread pressing shaft assembly 21 and a thread guide wheel 22 are fixed on the rear plate 25 through bolts, a lower plate 26 is arranged at the upper end of a telescopic sleeve 19, a second groove is formed in the lower plate 26, a movable pulley 27 is fixed on two sides of the second groove through movable pulley seats 271 on two sides, a fixed support 28 is arranged at the lower end of the telescopic sleeve 19, one end of a stay wire is fixed on a winding wheel 20, the other end of the stay wire sequentially penetrates through the thread pressing shaft assembly 21, the thread guide wheel 22, the movable pulley 27 and the telescopic sleeve 19 to be connected with the fixed support 28, concretely, the telescopic sleeve 19 is a 6-section carbon fiber telescopic sleeve, the structure is simple, the weight is light and flexible, the operation is smooth, the two sections of telescopic sleeve 19 are arranged, the detection device and the main body mechanism are connected to realize stable connection, the detection visual field is enlarged, and the detection accuracy is improved;

the winding device further comprises a ratchet wheel 48, a pawl 49, an electromagnet 50 and an electromagnetic lock 51, wherein the ratchet wheel 48, the large umbrella teeth II 23 and the winding wheel 20 are coaxially arranged, the pawl 49 and the ratchet wheel 48 are arranged in a matched mode, the pawl 49 is fixed to the lower side of the upper plate 1 through a pawl fixing support 491, the electromagnet 50 is arranged above one end of the pawl 49, the electromagnet 50 and the pawl 49 attract each other, the electromagnetic lock 51 is arranged below one end of the pawl 49, the electromagnetic lock 51 is fixed to the lower plate 26, the electromagnetic lock 51 and the electromagnet 50 are located in the same vertical direction, the electromagnetic lock 51 can stretch and retract, the winding wheel 20 is controlled to rotate, and free extension and retraction of the telescopic;

the detection device comprises two rotating devices 29, a partial discharge sensor 45, a camera 46 and a thermal imager 47, wherein clamping grooves 281 are arranged on two sides of the fixed support 28,

the rotating device 29 comprises a rotating motor 291, an upper bracket 292 and a lower bracket 293, the motor is a stepping motor, one side of the lower bracket 293 is provided with an inner cavity, the middle of the inner cavity is provided with a bearing seat 2931, the upper bracket 292 is installed on the bearing seat 2931 through a bearing, one side of the inner cavity is also provided with a limiting seat 2932, the limiting seat 2932 is arranged in an L shape, the outer side of the upper bracket 292 is provided with a limiting strip 2921, when the upper bracket 292 rotates, the rotating range of the upper bracket 292 is limited through the limiting of the limiting seat 2932 on the limiting strip 2921, and the upper bracket 292 can rotate 360 degrees; two gears 2933 are arranged on the periphery of the inner cavity, a fluted disc 2922 is arranged on one side of the upper support 292 close to the lower support 293 in a periphery manner, the fluted disc 2922 and the gears 2933 can be matched with each other to rotate, and the rotating motor 291 is fixed on the other side of the lower support 293 and penetrates through the lower support 293 to be connected with one of the gears 2933, so that the gears 2933 and the fluted disc 2922 are driven to rotate, and the upper support 292 is driven to rotate;

in order to facilitate that the rotating motor 291 can timely and accurately receive a control instruction sent by the controller and timely respond, a second encoder 2934 and a fifth circuit board 2935 are fixedly arranged on the lower support 293 and one side of the rotating motor 291, a sixth circuit board 2936 is arranged in an inner cavity of the lower support 293, the fifth circuit board 2935 and the sixth circuit board 2936 are respectively and electrically connected with the second encoder 2934, first electromagnetic 2937 is arranged on two sides of the sixth circuit board 2936, and the first electromagnetic 2937 is a horizontally arranged cuboid and a vertically arranged cuboid respectively;

the upper bracket 292 is provided with a second electromagnetic 2923 at one side of the gear 2933, and the first electromagnetic 2937 and the second electromagnetic 2923 attract each other and are respectively used for positioning the initial positions of the forward rotation and the reverse rotation of the rotating motor 291;

the pressing plate 30 is positioned on the upper support 292 through mutual clamping of the pressing clamping grooves 301 and the clamping columns 2924 and fixedly connected through screws, a through hole is formed in the middle of the pressing plate 30, and the fixing plate 31 is clamped in the through hole and fixedly connected with the upper support 292 through screws;

the rotating motors 291 on both sides are respectively clamped in the clamping slots 281 on both sides, and the lower brackets 293 on both sides are respectively fixedly connected with both sides of the fixing bracket 28 by screws, so as to form a continuous stable connection.

The fixing plate 31 on one side is connected with the first connecting support 32, and the position sensors 34 are arranged at two ends of the first connecting support 32, so that the position of the inspection robot can be conveniently monitored in real time, and other equipment can conveniently perform corresponding actions; the first connecting bracket 32 comprises a main bracket 321 and a side bracket 322, two position sensors 34 are respectively provided with a groove III, one end of the partial discharge sensor 45 penetrates through one groove III to be connected with the main bracket 321, the connection stability is ensured, and the partial discharge sensor 45 is fixedly connected with the side bracket 322 through a screw;

the fixing plate 31 on the other side is connected with the second connecting support 33, one end of the second connecting support 33 is connected with the camera 46, a first cooling fin 35 is arranged between the camera 46 and the second connecting support 33, the other side of the second connecting support 33 is connected with the thermal imager 47, a second cooling fin 36 is arranged between the thermal imager 47 and the second connecting support 33, and the heat dissipation performance of the camera 46 and the thermal imager 47 is good when the thermal imager 47 works;

the network switch device further comprises a small support 37, the small support 37 is connected with two sides of the fixed support 28, a switch mounting seat 371 is mounted on the small support 37, the network switch 38 is perpendicular to the bottom of the fixed support 28, and the side portion of the network switch 38 is fixedly connected with the small support 37 through the switch mounting seat 371; by arranging the connection between the small bracket 37 and the fixed bracket 28, the connection structure is simple, the network switch 38 is positioned between the small bracket 37 and the fixed bracket 28, the space utilization is reasonable, the size is small, the connection between the small bracket 37 and the fixed bracket 28 is convenient, the data exchange is stable, and the practicability is strong; the first power supply 39 is located on one side of the network exchanger 38, the first circuit board 40 and the fourth circuit board 41 are respectively installed on two sides of the small support 37, the third circuit board 42 and the second power supply 43 are installed on the right side of the fixed support 28, the second circuit board 44 is installed on the small support 37 and located on the opposite side of the first circuit board 40, the first power supply 39 and the second power supply 43 are respectively and electrically connected with the power taking device 16, the first power supply 39 is used for supplying power to the rotating device 29, the position sensor 34 and the partial discharge sensor 45 which are located on the left side, the second power supply 43 is used for supplying power to the rotating device 29, the camera 46 and the thermal imager 47 which are located on the right side, and the third circuit board 42.

During the working process, firstly, the driven wheels 152 of the pressing device 15 are clamped in the pressing grooves 133 on two sides below the guide rail 13, the guide ball 14 is positioned in the guide groove 132, the driving wheel 5 is attached to the guide wheel rail 131 of the guide rail 13, the electricity taking part 161 of the electricity taking device 16 is contacted with the sliding contact line 134 of the guide rail 13, integral linear walking and free turning are realized, and the encoder I18 and the limit switch 171 are matched with each other to accurately position the walking position; the rotation that the reel 20 was passed through to the acting as go-between drives the free flexible of telescopic tube 19, realizes detection device's vertical removal, and detection device's rotary device 29 carries out 360 degrees rotations, and dual expansion detection range improves detection accuracy.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides an intelligence inspection robot running gear which characterized in that: the guide rail comprises an upper auxiliary mounting rail, a lower suspension rail and a connecting piece for connecting the upper auxiliary mounting rail and the lower suspension rail, the upper suspension rail is provided with two mounting grooves, two sides of the lower suspension rail are provided with guide wheel rails, the lower side of the lower suspension rail is provided with a guide groove, the main body mechanism comprises a telescopic guide mechanism, the telescopic guide mechanism comprises a guide mechanism, a telescopic driving mechanism and a motor driving mechanism, the motor driving mechanism respectively drives the guide mechanism and the telescopic driving mechanism to move, the guide mechanism comprises an upper plate, guide wheel sets and guide balls, the guide wheel sets comprise driving wheels, the driving wheels are tightly attached to the guide wheel rails, the guide balls are perpendicular to the driving wheels, the upper ends of the guide balls are clamped in the guide grooves and can rotate relative to the guide grooves, the guide mechanism further comprises telescopic sleeves, and the telescopic driving mechanism is connected with the telescopic sleeves, the telescopic sleeve is telescopic.

2. The intelligent inspection robot walking mechanism according to claim 1, wherein: motor drive mechanism is including two motors and the bevel gear that set up side by side, two the motor passes through the cooperation of bevel gear and drives guide mechanism and telescopic drive mechanism's motion respectively, the direction wheelset still includes the transmission shaft, the transmission shaft is located the below of hypoplastron, two the motor is close to the transmission shaft setting, telescopic drive mechanism cup joints on the transmission shaft through the bearing, rotates through one of them motor drive, telescopic drive mechanism includes the reel and moves loose pulley assembly, the reel cup joints on the transmission shaft through the bearing, it is fixed in on the hypoplastron of telescopic tube upper end to move loose pulley assembly, telescopic tube passes through acting as go-between and moves loose pulley assembly and is connected the flexible of realization length with the reel, another the motor passes the cooperation and the transmission shaft rotation of bevel gear and is connected, realizes the rotation of direction wheelset.

3. The intelligent inspection robot walking mechanism according to claim 1, wherein: the guide wheel set further comprises a belt wheel set, a driving shaft bearing seat is arranged on the upper plate, a driving roller shaft penetrates through one end of the driving shaft bearing seat to be connected with the driving wheel, the other end of the driving roller shaft is connected with the belt wheel set, and therefore simultaneous rotation and guide are achieved.

4. The intelligent inspection robot walking mechanism according to claim 1, wherein: the guide mechanism further comprises a pressing device, the pressing device is located on the upper plate and located on the outer side of the guide ball body, the pressing device comprises two pressing seats which are symmetrically arranged, a driven wheel is arranged on the driven shaft, the pressing seats comprise fixing blocks and pressing blocks, the fixing blocks and the pressing blocks are connected through springs, the pressing blocks are connected through the driven shaft, pressing grooves are formed in two sides of the lower end of the lower suspension rail and located on two sides of the guide grooves, and the driven wheel is clamped in the pressing grooves.

5. The intelligent inspection robot walking mechanism according to claim 1, wherein: the power taking device is fixed on the upper plate and comprises a power taking portion and an insulating shell, the insulating shell is fixed on the upper plate, the connecting piece is provided with a power taking groove, a sliding contact line is arranged in the power taking groove, the sliding contact line is a double sliding contact line, and the power taking portion and the double sliding contact line are in contact to take power.

6. The intelligent inspection robot walking mechanism of claim 2, wherein: the winding device is characterized by further comprising a ratchet wheel and a pawl, wherein the ratchet wheel, the large bevel gear and the winding wheel are coaxially arranged, the pawl and the ratchet wheel are arranged in a matched mode, the pawl is fixed to the lower side of the upper plate through a pawl fixing support, an electromagnet is arranged above one end of the pawl, and the electromagnet and the pawl attract each other.

7. The intelligent inspection robot walking mechanism according to claim 6, wherein: still include the electromagnetic lock, the electromagnetic lock is located the below of pawl, the electromagnetic lock can stretch out and draw back.

8. The intelligent inspection robot walking mechanism according to claim 6, wherein: still include line ball axle subassembly and wire wheel, hypoplastron one side is equipped with the front bezel, be provided with on the front bezel and still include line ball axle subassembly and wire wheel, the subassembly that draws the line gets off the back from the take-up pulley and passes line ball axle subassembly, wire wheel in proper order, move behind the loose pulley assembly and be connected with telescopic tube.

9. The intelligent inspection robot walking mechanism of claim 2, wherein: the bottom of the telescopic sleeve is provided with a fixed support, and the bottom end of the pull wire is connected with the fixed support.

10. The intelligent inspection robot travel mechanism according to any one of claims 1-9, wherein: still include limit switch and encoder, the both sides of upper plate are equipped with the curb plate, the curb plate outside is connected with the driver, the driver upper end is connected with limit switch, be equipped with the recess in the middle of the upper plate, the encoder passes through the bolt fastening in the recess, and is connected with drive guiding axle pivoted motor electricity.