CN114654505A

CN114654505A - Track type inspection robot walking device

Info

Publication number: CN114654505A
Application number: CN202210500802.3A
Authority: CN
Inventors: 刘懿; 成运; 周桃云; 李石林
Original assignee: Hunan University of Humanities Science and Technology
Current assignee: Hunan University of Humanities Science and Technology
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-06-24

Abstract

The invention relates to the field of inspection robots, in particular to a track type inspection robot walking device which comprises a driving box capable of moving on a track, wherein an equipment mounting plate is fixed on one side of the driving box, which is far away from the track; further comprising: the travelling mechanism is used for driving the driving box to advance or retreat on the track; the traveling mechanism drives the driving box to move forwards or backwards on the track and simultaneously drives the dust blowing lubricating mechanism to blow dust and spray lubricating oil mist on the track; and the dust blowing lubricating mechanism blows dust to the rail and sprays lubricating oil mist, and meanwhile, the dust blowing lubricating mechanism drives the cleaning assembly to clean the rail. This kind of robot running gear is patrolled and examined to rail mounted improves the flexibility of marcing of patrolling and examining the working equipment, ensures the stationarity that the drive box moved on the track, reduces wearing and tearing moreover, improves life, need not the manpower and participates in, and greatly reduced maintains the maintenance degree of difficulty, ensures the whole reliable stability of walking of patrolling and examining the robot in the operation process of patrolling and examining.

Description

Track type inspection robot walking device

Technical Field

The invention relates to the field of inspection robots, in particular to a track type inspection robot walking device.

Background

In some high-risk industries, robots replacing ginseng and working have gradually become a trend. The inspection robot is used for executing inspection work in high-temperature, high-humidity, toxic and dangerous environments, so that the labor intensity and the personnel safety danger are greatly reduced. When the existing track type inspection robot inspects along the track direction, due to the fact that sundries are adhered to and bonded on the track, the inspection robot is unstable in walking, the phenomena of jolting and wheel clamping are prone to occurring, and therefore inspection work is inconvenient.

Disclosure of Invention

The invention aims to provide a track type inspection robot walking device to solve the problems in the background technology. In order to achieve the purpose, the invention provides the following technical scheme: a rail type inspection robot walking device comprises a driving box capable of moving on a rail, wherein an equipment mounting plate is fixed on one side of the driving box, which is far away from the rail;

further comprising:

the advancing mechanism is arranged on the inner side of the driving box and is used for driving the driving box to advance or retreat on the track;

the driving box is provided with a dust blowing and lubricating mechanism, and the advancing mechanism drives the driving box to advance or retreat on the track and simultaneously drives the dust blowing and lubricating mechanism to blow dust and spray lubricating oil mist on the track;

the cleaning assembly is arranged on the driving box, and the dust blowing lubricating mechanism drives the cleaning assembly to clean the track while blowing dust and spraying lubricating oil mist to the track.

Preferably, the advancing mechanism comprises an ear box fixed and communicated on the driving box, a second shaft rod penetrates through the side wall of the ear box and is connected with the ear box in a fixed-shaft rotating mode, one end, located on the outer side of the ear box, of the second shaft rod is coaxially and fixedly connected with a first gear, a rack arranged along the length direction of the track is fixed on the track, and the first gear is connected with the rack in a meshed mode.

Preferably, the advancing mechanism further comprises a multi-edge rod, a first end part of the multi-edge rod is coaxially and fixedly connected with a first shaft rod, a fixed shaft of the shaft rod is rotatably connected onto a shaft bracket, the shaft bracket is fixed on the inner wall of the driving box, the first shaft rod is in transmission connection with a second shaft rod through a belt pulley group, the multi-edge rod is sleeved with a sliding connection shaft sleeve, two ends of the shaft sleeve are respectively coaxially and fixedly connected with a second gear and a third gear, a motor is fixed on the inner wall of the driving box, an output shaft end of the motor is in transmission connection with a rotary table, and a gear ring is coaxially and fixedly connected onto the rotary table and can be respectively engaged with the second gear and the third gear, the second gear and the third gear are respectively located on two sides of the central axis of the gear ring, and the second gear and the third gear are completely identical in structure.

Preferably, the surface of the outer side wall of the driving box attached to the rail is embedded with balls, and the balls can roll on the rail.

Preferably, be fixed with the cylinder on the inside wall of drive case, the piston rod end fixed connection driving lever of cylinder, and the fixed connection lantern ring on the driving lever, the lantern ring cover is established and is fixed a rotation of axes and connect in the middle part of axle sleeve, and is fixed with two rings protruding on the lateral wall of axle sleeve, and the lantern ring is located two in the middle of the ring is protruding.

Preferably, the dust blowing and lubricating mechanism comprises a first pump wheel fixed on the inner wall of the driving box, a first air pipe is fixed on the side wall of the first pump wheel and is connected with the first air pipe in a parallel mode, a filter screen is fixed at an air inlet port of the first air pipe, and an impeller in the first pump wheel is coaxially and fixedly connected with the turntable.

Preferably, a venturi tube is fixed on the outer side wall of the driving box, the outlet end of the venturi tube is connected with two air tubes three through two air tubes, the air tubes three are respectively connected with the air inlet ports of the first connecting tube and the second connecting tube, the air outlet ports of the first connecting tube and the second connecting tube are respectively connected with nozzles through four air tubes, the nozzles are symmetrically located on two sides of the first gear, and the spraying direction of each nozzle points to the meshing position of the first gear and the rack.

Preferably, be fixed with the lubricating-oil tank on the lateral wall of drive case, and venturi's choke is connected with the lubricating-oil tank through the liquid pipe, and venturi's air inlet end is connected with trachea one.

Preferably, the first connecting pipe and the second connecting pipe are fixed on the inner side wall of the driving box through the first support respectively, the first connecting pipe and the second connecting pipe are located on two sides of the shifting rod respectively, the first connecting pipe and the second connecting pipe are close to the side wall of the shifting rod and are fixed and communicated with the valve cylinder, the valve rod is inserted into the valve cylinder and is in sliding connection with the valve rod, and the two valve rods are vertically and fixedly connected to the shifting rod.

Preferably, the sweeping assembly comprises two pump wheels which are symmetrically arranged on two sides of the first gear, the two pump wheels are fixedly connected to the lug box through two supports, the two pump wheels are arranged corresponding to the four air pipes, the impellers of the two pump wheels are fixedly connected with the brush rolls coaxially, and the four air pipes are fixed and communicated with the side walls of the corresponding two pump wheels.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the whole inspection robot is driven to advance or retreat on the rail through the advancing mechanism, the structure is simple, the operation is convenient, the advancing flexibility of inspection working equipment is improved, the advancing mechanism simultaneously drives the dust blowing lubricating mechanism to blow dust and spray lubricating oil mist on the rail, the moving stability of the driving box on the rail is ensured, the abrasion is reduced, the service life is prolonged, the manpower participation is not needed, the maintenance difficulty is greatly reduced, and the time and the labor are saved.

According to the invention, the dust blowing and lubricating mechanism blows dust and sprays lubricating oil mist to the track and simultaneously drives the cleaning assembly to clean the track, so that the walking reliability and stability of the whole inspection robot in the inspection operation process are ensured.

Drawings

FIG. 1 is a schematic cross-sectional view of the final assembly of the present invention;

FIG. 2 is a schematic view of the connecting structure of the polygonal rod and the shaft sleeve in the present invention;

FIG. 3 is a schematic view of a connection structure between the shift lever and the first and second connection pipes in FIG. 1;

fig. 4 is a side view of the ear box structure of the present invention.

In the figure: 1. a drive box; 2. a motor; 3. a first pump wheel; 4. an equipment mounting plate; 5. a first shaft lever; 6. a nozzle; 7. a turntable; 8. a ring gear; 9. a first connecting pipe; 10. a pedestal; 11. a cylinder; 12. a deflector rod; 13. a second connecting pipe; 14. a first bracket; 15. a filter screen; 16. a first trachea; 17. a lubricating oil tank; 18. a ball bearing; 19. a second pump impeller; 20. a rack; 21. a pulley set; 22. a second shaft lever; 23. a first gear; 24. a track; 25. a second bracket; 26. an ear box; 27. a second trachea; 28. a liquid pipe; 29. a venturi tube; 30. a shaft sleeve; 31. a second gear; 32. a third gear; 33. a collar; 34. the ring is convex; 35. a polygonal rod; 36. a valve barrel; 37. a valve stem; 38. a third trachea; 39. a fourth trachea; 40. and (4) a brush roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a technical solution:

example 1

A rail type inspection robot walking device comprises a driving box 1 capable of moving on a rail 24, wherein an equipment mounting plate 4 is fixed on one side, away from the rail 24, of the driving box 1, inspection working equipment is mounted on the equipment mounting plate 4, the inspection working equipment is driven to move along the rail 24 through the movement of the driving box 1 so as to carry out inspection operation according to a set route mode, a ball 18 is embedded on the outer side wall surface, attached to the rail 24, of the driving box 1, the ball 18 can roll on the rail 24, the ball 18 reduces the friction force between the driving box 1 and the rail 24, on one hand, abrasion is reduced, the service life is prolonged, the stability of the driving box 1 in advancing on the rail 24 is improved, on the other hand, noise and energy are reduced;

further comprising:

the travelling mechanism is arranged on the inner side of the driving box 1 and is used for driving the driving box 1 to advance or retreat on the rail 24, the structure is simple, the operation is convenient, the driving box 1 can conveniently drive the inspection working equipment to advance or retreat on the rail 24, and the travelling flexibility of the inspection working equipment is improved;

the dust blowing and lubricating mechanism is arranged on the driving box 1, and the traveling mechanism drives the driving box 1 to simultaneously blow dust and spray lubricating oil mist to the rail 24 in the process of advancing or retreating on the rail 24, so that when in inspection operation, the driving box 1 moves and simultaneously blows dust and sprays lubricating oil mist to one side of the moving part, the stability of the driving box 1 moving on the rail 24 is ensured, the abrasion is reduced, the service life is prolonged, the manpower participation is not needed, the maintenance difficulty is greatly reduced, and the time and the labor are saved;

the cleaning assembly is arranged on the driving box 1, and the dust blowing lubricating mechanism blows dust to the rail 24 and sprays lubricating oil mist, meanwhile, the cleaning assembly is driven to clean the rail 24, and the walking reliability and stability of the whole inspection robot in the inspection operation process are ensured.

Example 2

The embodiment is realized on the basis of embodiment 1, wherein the advancing mechanism comprises an ear box 26 which is fixed and communicated on the driving box 1, the side wall of the ear box 26 is penetrated and is connected with a second shaft rod 22 in a fixed-axis rotating manner, the first shaft rod 22 is positioned at one end outside the ear box 26 and is fixedly connected with a first gear 23 in a coaxial manner, a rack 20 which is arranged along the length direction of a track 24 is fixed on the track 24, the first gear 23 is meshed with the rack 20 and is connected with the ear box 26 in a symmetrical manner, and the corresponding rack 20 is arranged on the track 24, so that the traveling stability of the driving box 1 on the track 24 can be improved, and the moving stability and reliability of the routing inspection working equipment are improved.

In this embodiment, the traveling mechanism further includes a polygonal rod 35, the end of the polygonal rod 35 is coaxially and fixedly connected with a first shaft rod 5, the first shaft rod 5 is fixedly and rotatably connected to a shaft bracket 10, the shaft bracket 10 is fixed to the inner wall of the driving box 1, the first shaft rod 5 is in transmission connection with a second shaft rod 22 through a belt pulley set 21, the polygonal rod 35 is sleeved with and slidably connected with a shaft sleeve 30, two ends of the shaft sleeve 30 are respectively and coaxially and fixedly connected with a second gear 31 and a third gear 32, the inner wall of the driving box 1 is fixed with a motor 2, an output shaft end of the motor 2 is in transmission connection with a turntable 7, the turntable 7 is coaxially and fixedly connected with a gear ring 8, the gear ring 8 is respectively in meshing connection with the second gear 31 and the third gear 32, the second gear 31 and the third gear 32 are respectively located on two sides of the central axis of the gear ring 8, the second gear 31 and the third gear 32 are completely identical in structure, an air cylinder 11 is fixed on the inner side wall of the driving box 1, a piston rod end of the air cylinder 11 is fixedly connected with a shift lever 12, and a lantern ring 33 is fixedly connected to the shifting lever 12, the lantern ring 33 is sleeved on and fixed in a shaft rotating mode and connected to the middle of the shaft sleeve 30, two ring protrusions 34 are fixed to the outer side wall of the shaft sleeve 30, and the lantern ring 33 is located between the two ring protrusions 34.

As described above, the motor 2 is started to work, as shown in fig. 1 and fig. 2, the motor 2 drives the turntable 7 to rotate, so that the turntable 7 synchronously drives the gear ring 8 to rotate, the gear ring 8 is meshed with the second gear 31 when the forward movement is set, meanwhile, the gear ring 8 is not meshed with the third gear 32, at this time, the gear ring 8 drives the shaft sleeve 30 and the polygonal rod 35 to rotate through the second gear 31, so that the polygonal rod 35 drives the second shaft 22 to rotate through the first shaft 5 and the pulley group 21, so that the second shaft 22 drives the first gear 23 to rotate, so that the first gear 23 and the rack 20 interact to drive the driving box 1 to move on the rail 24, so that the driving box 1 drives the inspection work equipment to perform inspection work along the rail 24, when the driving box 1 is required to drive the inspection work equipment to retreat, the air cylinder 11 is started, so that the air cylinder 11 applies a pulling force to the shift lever 12 through the piston rod thereof, so that the shift lever 12 drives the shaft sleeve 30 to slide on the polygonal rod 35 through the collar 33 and the ring 34, and make ring gear 8 and gear three 32 meshing connection, ring gear 8 is not connected with gear two 31 meshing connection simultaneously, ring gear 8 drives axle sleeve 30 and polygon pole 35 antiport through gear three 32 this moment, thereby make polygon pole 35 drive axostylus axostyle two 22 antiport through axostylus axostyle one 5 and pulley group 21, and then make axostylus axostyle two 22 drive gear one 23 antiport, just so make the interaction of gear one 23 and rack 20 and drive case 1 and carry out antiport on track 24, namely, realize driving through drive case 1 and patrolling and examining the operating equipment and retreating on track 24, moreover, the steam generator is simple in structure, the simple operation, make things convenient for drive case 1 to drive and patrol and examine the operating equipment and go forward or retreat on track 24, so as to improve the flexibility of marcing of patrolling and examining the operating equipment.

In this embodiment, the dust blowing and lubricating mechanism includes a first pump wheel 3 fixed on the inner wall of the driving box 1, a first ventilation pipe 16 is fixed on the side wall of the first pump wheel 3 and connected with the first ventilation pipe 16, a filter screen 15 is fixed on the air inlet of the first ventilation pipe 16, an impeller in the first pump wheel 3 is coaxially and fixedly connected with the turntable 7, a venturi tube 29 is fixed on the outer side wall of the driving box 1, the outlet end of the venturi tube 29 is connected with two third ventilation pipes 38 through a second ventilation pipe 27, a lubricating oil tank 17 is fixed on the outer side wall of the driving box 1, the throat of the venturi tube 29 is connected with the lubricating oil tank 17 through a liquid pipe 28, the air inlet end of the venturi tube 29 is connected with the first ventilation pipe 16, two third ventilation pipes 38 are connected with the air inlet ports of a first connecting pipe 9 and a second connecting pipe 13, the air outlet ports of the first connecting pipe 9 and the second connecting pipe 13 are connected with nozzles 6 through a fourth ventilation pipe 39, and the two nozzles 6 are symmetrically located on two sides of a first gear 23, and the injection direction of the nozzle 6 points to the meshing position of the first gear 23 and the rack 20, the first connecting pipe 9 and the second connecting pipe 13 are respectively fixed on the inner side wall of the driving box 1 through the first support 14, the first connecting pipe 9 and the second connecting pipe 13 are respectively positioned at two sides of the shifting rod 12, the first connecting pipe 9 and the second connecting pipe 13 are fixed and communicated with the valve cylinder 36 on the side wall close to the shifting rod 12, the valve cylinder 36 is internally inserted and connected with a valve rod 37 in a sliding manner, and the two valve rods 37 are vertically and fixedly connected with the shifting rod 12.

As described above, the impeller inside the pump wheel one 3 is driven to rotate while the rotary disk 7 rotates, and external air is delivered to the air inlet end of the venturi tube 29 through the air tube one 16 and then delivered into the air tube two 27 from the air outlet end of the venturi tube 29, as shown in fig. 1, 3 and 4, when the drive box 1 is in the forward state, the lever 12 causes the valve rod 37 on the connecting tube one 9 to be drawn out of the connecting tube one 9 without being separated from the valve barrel 36 on the connecting tube one 9, so that the connecting tube one 9 is in the open state, and the valve rod 37 on the connecting tube two 13 is inserted into the connecting tube two 13, so that the connecting tube two 13 is in the open state, the setting gear one 23 is in the forward movement to the left in fig. 4, and the air tube four 39 on the left side of the ear box 26 is connected to the air outlet end of the connecting tube one 9, and the air tube four 39 on the right side of the ear box 26 is connected to the air outlet end of the connecting tube two 13, therefore, when the driving box 1 is in a forward state, the airflow in the venturi tube 29 is conveyed into the nozzle 6 at the forward side of the ear box 26 through the air pipe two 27, the connecting pipe one 9 and the air pipe four 39 connected with the connecting pipe one 9, and the airflow sprayed out from the nozzle 6 blows off dust and the like between the forward side of the gear one 23 and the rack 20, so that a stable state is kept when the gear one 23 moves forward.

When the driving box 1 is in a retreating state, namely the deflector rod 12 enables the valve rod 37 on the connecting pipe two 13 to be drawn out from the connecting pipe two 13 without being separated from the valve cylinder 36 on the connecting pipe two 13, so that the connecting pipe two 13 is in a communicating state, meanwhile, the valve rod 37 on the connecting pipe one 9 is inserted in the connecting pipe one 9, so that the connecting pipe one 9 is in a circuit breaking state, the gear one 23 moves rightwards in the figure 4, so that the air flow in the Venturi tube 29 is conveyed to the nozzle 6 on the retreating side of the lug box 26 through the air pipe two 27, the connecting pipe two 13 and the air pipe four 39 connected with the connecting pipe two 13, and the air flow sprayed by the nozzle 6 blows dust and the like between the retreating side of the gear one 23 and the rack 20, the stable state is kept when the gear one 23 retreats, and the dust blowing is carried out to the moving side when the driving box 1 moves during the inspection operation, ensuring the smoothness of the movement of the drive cassette 1 on the rail 24.

The air flow in the venturi 29 in-process utilizes the venturi utility to make lubricating oil in the lubricating oil tank 17 carry to venturi 29 in through liquid pipe 28 to along with the output of air current atomizing, then spray between the gear 23 and the rack 20 that correspond through nozzle 6, realize lubricating when drive box 1 moves on track 24, reduce wearing and tearing like this, improve life, and need not the manpower and participate in, greatly reduced maintains the maintenance degree of difficulty, labour saving and time saving.

In this embodiment, the sweeping assembly comprises two pump wheels 19 symmetrically arranged on two sides of the first gear 23, the second pump wheels 19 are fixedly connected to the lug boxes 26 through the second brackets 25, the second pump wheels 19 are arranged corresponding to the fourth air pipes 39, impellers of the second pump wheels 19 are coaxially and fixedly connected with the brush rolls 40, the nozzles 6 are located between the corresponding brush rolls 40 and the first gear 23, and the fourth air pipes 39 are fixed to and communicated with side walls of the corresponding second pump wheels 19.

As described above, the air flow in the air pipe four 39 drives the impeller in the corresponding pump wheel two 19 to rotate in the flowing process, so that the impeller driving brush roller 40 cleans debris and the like on the rack 20 at one side of the moving direction of the gear one 23, and the stability and the reliability of the gear one 23 in the moving process on the rack 20 are ensured, and the walking reliability and the stability of the whole inspection robot in the inspection operation process are further ensured.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims

1. The utility model provides a robot running gear is patrolled and examined to rail mounted, includes drive box (1) that can move on track (24), and one side that drive box (1) deviates from track (24) is fixed with equipment fixing board (4), its characterized in that: further comprising:

the advancing mechanism is arranged on the inner side of the driving box (1) and is used for driving the driving box (1) to advance or retreat on the track (24);

the driving box (1) is provided with a dust blowing and lubricating mechanism, and the advancing mechanism drives the driving box (1) to advance or retreat on the track (24) and simultaneously drives the dust blowing and lubricating mechanism to blow dust and spray lubricating oil mist on the track (24);

the cleaning assembly is arranged on the driving box (1), and the dust blowing and lubricating mechanism blows dust to the track (24), sprays lubricating oil mist and simultaneously drives the cleaning assembly to clean the track (24).

2. The walking device of the track type inspection robot according to claim 1, wherein: the advancing mechanism comprises an ear box (26) fixed and communicated on the driving box (1), a second shaft rod (22) penetrates through the side wall of the ear box (26) and is connected with the ear box in a fixed-shaft rotating mode, the second shaft rod (22) is located at one end, located on the outer side of the ear box (26), of a first gear (23) in a coaxial and fixed mode, a rack (20) arranged along the length direction of the track (24) is fixed on the track (24), and the first gear (23) is connected with the rack (20) in a meshed mode.

3. The walking device of the track type inspection robot according to claim 2, wherein: the travelling mechanism further comprises a multi-edge rod (35), the end of the multi-edge rod (35) is coaxially and fixedly connected with a first shaft rod (5), the first shaft rod (5) is fixedly connected to a shaft bracket (10) in a rotating mode, the shaft bracket (10) is fixed to the inner wall of the driving box (1), the first shaft rod (5) is in transmission connection with a second shaft rod (22) through a belt pulley set (21), the multi-edge rod (35) is sleeved and slidably connected with a shaft sleeve (30), two ends of the shaft sleeve (30) are respectively and fixedly connected with a second gear (31) and a third gear (32) in a coaxial mode, a motor (2) is fixed to the inner wall of the driving box (1), the output shaft end of the motor (2) is in transmission connection with a rotary table (7), the rotary table (7) is fixedly connected with a gear ring (8) in a coaxial mode, the gear ring (8) can be respectively in meshing connection with the second gear (31) and the third gear (32), and the second gear (31) and the third gear (32) are respectively located on two sides of the central axis of the gear ring (8), the structure of the second gear (31) and the structure of the third gear (32) are completely the same.

4. The walking device of the track type inspection robot according to claim 1, wherein: the outer side wall surface of the driving box (1) attached to the track (24) is embedded with balls (18), and the balls (18) can roll on the track (24).

5. The walking device of the track type inspection robot according to claim 3, wherein: be fixed with cylinder (11) on the inside wall of drive box (1), the piston rod end fixed connection driving lever (12) of cylinder (11), and fixed connection lantern ring (33) on driving lever (12), the lantern ring (33) cover is established and is fixed a rotation and connect in the middle part of axle sleeve (30), and is fixed with two rings protruding (34) on the lateral wall of axle sleeve (30), and lantern ring (33) are located two the ring is protruding (34) centre.

6. The walking device of the track type inspection robot according to claim 5, wherein: blow lubricated mechanism of dirt including fixing pump impeller (3) on drive box (1) inner wall, and fixed on the lateral wall of pump impeller (3) and parallel connection breather pipe (16), and the inlet port of trachea (16) is fixed with filter screen (15), impeller and carousel (7) coaxial fixed connection in pump impeller (3).

7. The walking device of the track type inspection robot according to claim 6, wherein: be fixed with venturi (29) on the lateral wall of drive case (1), the exit end of venturi (29) is connected two trachea three (38) respectively through trachea two (27), and two trachea three (38) are connected with the inlet port of connecting pipe one (9), connecting pipe two (13) respectively, connecting nozzle (6) is connected through trachea four (39) respectively to the outlet port of connecting pipe one (9), connecting pipe two (13) two nozzle (6) symmetry lies in the both sides of gear one (23) to the meshing department of the directional gear one of injection direction (23) and rack (20) of nozzle (6).

8. The walking device of the track inspection robot according to claim 7, wherein: be fixed with lubricating-oil tank (17) on the lateral wall of drive case (1), and the choke of venturi (29) is connected with lubricating-oil tank (17) through liquid pipe (28), the air inlet end of venturi (29) is connected with trachea one (16).

9. The walking device of the track type inspection robot according to claim 7, wherein: the connecting pipe I (9) and the connecting pipe II (13) are fixed on the inner side wall of the driving box (1) through a support I (14) respectively, the connecting pipe I (9) and the connecting pipe II (13) are located on two sides of the driving lever (12) respectively, the connecting pipe I (9) and the connecting pipe II (13) are fixed on the side wall close to the driving lever (12) and communicated with the valve cylinder (36), the valve cylinder (36) is internally inserted and connected with the valve rod (37) in a sliding mode, and the valve rod (37) is vertically and fixedly connected to the driving lever (12).

10. The walking device of the track type inspection robot according to claim 7, wherein: the cleaning assembly comprises a second pump wheel (19) which is symmetrically arranged on two sides of a first gear (23), the second pump wheel (19) is fixedly connected to the lug box (26) through a second support (25), the second pump wheel (19) and a fourth air pipe (39) are correspondingly arranged, an impeller of the second pump wheel (19) is coaxially and fixedly connected with the brush roller (40), and the fourth air pipe (39) is fixed and communicated with the side wall of the corresponding second pump wheel (19).