CN216153622U - Track type inspection robot - Google Patents

Abstract

The utility model provides a rail type inspection robot, which comprises a traveling mechanism, an anti-falling mechanism and a rail replacing mechanism, wherein the traveling mechanism is arranged on the rail; the rail replacing mechanism comprises a first driving assembly, a second driving assembly, a first rail replacing platform and a second rail replacing platform; the first rail replacing platform is connected with the second rail replacing platform in a sliding mode in the rail replacing direction, the first rail replacing platform is connected with the second rail replacing platform through a first driving assembly, and the first driving assembly drives the first rail replacing platform and the second rail replacing platform to slide relatively; the second rail replacing platform is connected with the traveling mechanism in a sliding mode in the rail replacing direction, the second rail replacing platform is connected with the traveling mechanism through a second driving assembly, and the second driving assembly drives the second rail replacing platform and the traveling mechanism to slide relatively; the falling-preventing mechanism is fixedly arranged on the first rail replacing platform. Small volume, stable operation and convenient manual transportation.

Description

Track type inspection robot

Technical Field

The utility model relates to the technical field of inspection robots, in particular to a rail type inspection robot.

Background

The overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. In a rigid suspended contact net system, a busbar is used to clamp the stationary contact wire and carry the current, as shown in fig. 1. Because the working environment is bad, and long-term work is under the vibration operating mode, the device such as support, location, suspension of rigid contact net appears becoming flexible easily, drops, damages scheduling problem, if discovery and handling in time, will cause serious trouble.

The rail type inspection robot can autonomously run on the rigid contact net to inspect and check the rigid contact net. Because the arrangement of the rigid contact net has parallel and branched lines, in order to finish autonomous inspection, the inspection robot is provided with a rail changing mechanism so as to realize the rail changing function of crossing from one running track to the other running track. However, the rail replacing mechanism of the inspection robot is large in size (mainly, the rail replacing direction is large in size), interference with surrounding components is easy to occur in the rail replacing process, and workers cannot easily carry the inspection robot to store the inspection robot from equipment to an inspection ground through the safety door.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

In view of the problems in the art described above, the present invention is at least partially addressed. Therefore, the utility model provides the rail type inspection robot which is small in size, stable in work and convenient to carry manually.

(II) technical scheme

In order to achieve the purpose, the utility model adopts the main technical scheme that:

the utility model provides a rail type inspection robot, which comprises a traveling mechanism, an anti-falling mechanism and a rail replacing mechanism, wherein the traveling mechanism is arranged on the rail; the rail replacing mechanism comprises a first driving assembly, a second driving assembly, a first rail replacing platform and a second rail replacing platform; the first rail replacing platform is connected with the second rail replacing platform in a sliding mode in the rail replacing direction through the first driving assembly, the second rail replacing platform is connected with the traveling mechanism in a sliding mode in the rail replacing direction through the second driving assembly, and the first rail replacing platform and the second rail replacing platform move in the rail replacing direction to complete the rail replacing stroke; the falling-preventing mechanism is fixedly arranged on the first rail replacing platform.

Optionally, the length of the first track changing platform in the track changing direction is equal to the length of the second track changing platform in the track changing direction.

Optionally, a fixed end of the first driving assembly is connected with the first rail replacing platform, and a linear motion output end of the first driving assembly is connected with the second rail replacing platform; the fixed end of the second driving component is connected with the second rail replacing platform, and the linear motion output end of the second driving component is connected with the traveling mechanism.

Optionally, the fixed end of the first drive component and the fixed end of the second drive component are located on the same side.

Optionally, the first driving assembly includes a first driving motor, a first reducer, a first driving pulley set, a first driven pulley set, and a first conveyor belt set; the first driving pulley set and the first driven pulley set are both rotatably installed at the top of the first rail replacing platform, the first driving pulley set is located at the left end of the first rail replacing platform, the first driven pulley set is located at the right end of the first rail replacing platform, and the first driving pulley set is in transmission connection with the first driven pulley set through the first conveying belt set; the first driving motor and the first speed reducer are both fixedly arranged at the left end of the first rail replacing platform, and the first driving motor is in transmission connection with the first driving belt pulley set through the first speed reducer; the first conveyor belt group is fixedly connected with the second rail replacing platform; and/or the presence of a gas in the gas,

the second driving assembly comprises a second driving motor, a second speed reducer, a second driving belt pulley set, a second driven belt pulley set and a second conveying belt set; the second driving pulley set and the second driven pulley set are both rotatably installed at the top of the second rail replacing platform, the second driving pulley set is located at the left end of the second rail replacing platform, the second driven pulley set is located at the right end of the second rail replacing platform, and the second driving pulley set is in transmission connection with the second driven pulley set through the second conveying belt set; the second driving motor and the second speed reducer are both fixedly arranged at the left end of the second rail replacing platform, and the second driving motor is in transmission connection with the second driving belt pulley set through the second speed reducer; the second conveyor belt group is fixedly connected with the travelling mechanism.

Optionally, the first driving pulley set includes a first driving pulley, and the first driving pulley is located at the rear end of the first rail replacing platform; the first driven pulley set comprises a first driven pulley, and the first driven pulley is positioned at the rear end of the first rail replacing platform; the first conveyor belt group comprises a first conveyor belt, a first driving belt wheel is in transmission connection with a first driven belt wheel through the first conveyor belt, and the top of the first conveyor belt is fixedly connected with the bottom of the second rail replacing platform; and/or the presence of a gas in the gas,

the second driving pulley group comprises a third driving pulley, and the third driving pulley is positioned at the rear end of the second rail replacing platform; the second driven pulley set comprises a third driven pulley, and the third driven pulley is positioned at the rear end of the second rail replacing platform; the second conveying belt group comprises a third conveying belt, a third driving belt wheel is in transmission connection with a third driven belt wheel through the third conveying belt, and the top of the third conveying belt is fixedly connected with the bottom of the travelling mechanism.

Optionally, the first driving pulley set includes a first driving pulley and a second driving pulley, the first driving pulley is coaxially connected to the second driving pulley, the first driving pulley is located at the front end of the first rail replacing platform, and the second driving pulley is located at the rear end of the first rail replacing platform; the first driven pulley set comprises a first driven pulley and a second driven pulley, the first driven pulley is coaxially connected with the second driven pulley, the first driven pulley is positioned at the front end of the first rail replacing platform, and the second driven pulley is positioned at the rear end of the first rail replacing platform; the first conveying belt set comprises a first conveying belt and a second conveying belt, a first driving belt wheel is in transmission connection with a first driven belt wheel through the first conveying belt, a second driving belt wheel is in transmission connection with a second driven belt wheel through the second conveying belt, and the top of the first conveying belt and the top of the second conveying belt are fixedly connected with the bottom of the second rail replacing platform.

Optionally, the anti-drop mechanism comprises a first jaw rod, a second jaw rod, a first link group, a second link group, a third driving assembly and an anti-drop bracket fixedly connected to the first rail replacing platform; the first jaw rod is hinged with the anti-falling support at a position close to the first end of the first jaw rod, the second jaw rod is hinged with the anti-falling support at a position close to the first end of the second jaw rod, and the hinged position of the first jaw rod and the anti-falling support is on the left side of the hinged position of the second jaw rod and the anti-falling support;

the first end of the first jaw rod is hinged with the first end of the first connecting rod group, the first end of the second jaw rod is hinged with the first end of the second connecting rod group, and the second end of the first connecting rod group and the second end of the second connecting rod group are both hinged with the vertical linear motion output end of the third driving assembly; the fixed end of the third driving component is connected with the anti-falling bracket.

Optionally, the traveling mechanism includes a third jaw rod, a fourth jaw rod, a third connecting rod group, a fourth connecting rod group, a fifth driving assembly, and a traveling bracket slidably connected to the second rail replacing platform; the traveling support is rotatably provided with a driving wheel for driving the traveling mechanism to travel, a third jaw rod and a fourth jaw rod are positioned on the front side of the driving wheel, the third jaw rod is hinged with the traveling support at a position close to the first end of the third jaw rod, the fourth jaw rod is hinged with the traveling support at a position close to the first end of the fourth jaw rod, and the hinged position of the third jaw rod and the traveling support is positioned on the left side of the hinged position of the fourth jaw rod and the traveling support;

the first end of the third jaw rod is hinged with the first end of the third connecting rod group, the first end of the fourth jaw rod is hinged with the first end of the fourth connecting rod group, and the second end of the third connecting rod group and the second end of the fourth connecting rod group are both hinged with the vertical linear motion output end of the fifth driving assembly; the fixed end of the fifth driving component is connected with the walking bracket.

(III) advantageous effects

The utility model has the beneficial effects that:

1. the rail replacing mechanism provided by the utility model can realize rail replacement of the traveling mechanism and the anti-falling mechanism through double-stroke superposition, reduces the volume of the rail replacing mechanism in the rail replacing direction, ensures that the inspection robot is not easy to rub and collide in the working process, works stably and is convenient to carry manually.

2. Compared with other driving assemblies, the driving assembly of the inspection robot has light weight, can easily meet the overall weight requirement of the inspection robot, enables the driving motor to be arranged along the extension direction of the bus bar, saves more space in arrangement and has small volume.

Drawings

The utility model is described with the aid of the following figures:

FIG. 1 is a schematic view of a bus bar according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an inspection robot in embodiment 1 of the present invention;

FIG. 3 is a schematic view of the travel mechanism of FIG. 2 shown disengaged from the first bus bar;

FIG. 4 is a schematic view of the traveling mechanism of FIG. 3 moving away from the first bus bar to the second bus bar;

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a schematic view of the travel mechanism of FIG. 4 clasped to a second bus bar;

FIG. 7 is a schematic view of the drop prevention mechanism of FIG. 6 shown disengaged from the first busbar;

FIG. 8 is a schematic view of the drop prevention mechanism of FIG. 7 removed from the first busbar and moved to the second busbar;

fig. 9 is a schematic structural view of a rail replacing mechanism and a drop preventing mechanism of the inspection robot in embodiment 1 of the utility model;

fig. 10 is a schematic structural view of a traveling mechanism of the inspection robot in embodiment 1 of the present invention.

[ description of reference ]

11: a support platform; 12: a first clamp arm; 13: a second clamp arm; 14: a first walking platform; 15: a second walking platform; 16: a first V-shaped groove; 17: a second V-shaped groove;

2: a rail replacing mechanism;

21: a first rail replacing platform;

211: a first side plate; 212: a second side plate; 213: a first slide rail; 214: a second slide rail;

22: a second rail replacing platform;

221: a first slider;

231: a first drive motor; 232: a first driving pulley; 233: a first driven pulley; 234:

a first conveyor belt;

241: a second drive motor; 242: a third driving pulley; 243: a third driven pulley; 244:

a third conveyor belt;

3: an anti-drop mechanism;

31: the anti-falling bracket;

311: a first mounting bracket; 312: a second mounting bracket;

321: a first link; 322: a first jaw lever; 323: a first connection portion; 324: a first clamping portion; 325: a second link; 326: a second jaw lever; 327: a second connecting portion; 328: a second clamping portion; 329: a first right-angle bayonet; 330: a second right-angle bayonet;

331: a third drive motor; 332: a fourth driving pulley; 333: a fourth driven pulley; 334: a fourth conveyor belt; 335: a first screw; 336: a first nut;

4: a traveling mechanism;

41: a drive wheel;

411: a first scroll wheel 411; 412: a second scroll wheel; 413: a connecting member;

42: a walking bracket;

421: a third mounting bracket; 422: a fourth mounting bracket; 423: a fifth mounting bracket;

431: a third link; 432: a third jaw lever; 433: a third connecting portion; 434: a third clamping portion; 435: a fourth link; 436: a fourth jaw lever; 437: a fourth connecting portion; 438: a fourth clamping portion; 439: a first walking driven wheel; 440: a second walking driven wheel;

441: a fifth drive motor; 442: a fifth driving pulley; 443: a fifth driven pulley; 444: a fifth conveyor belt; 445: a second screw; 446: a second nut;

451: a sixth drive motor; 452: a sixth driving pulley; 453: a sixth driven pulley; 454: a sixth conveyor belt; 455: a third screw;

461: a first mounting platform; 462: a second mounting platform;

47: and an eighth drive assembly.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. In this document, the terms "up", "down", "front", "back", "left", "right", and the like are used with reference to the orientations of fig. 2 and 6, and the track changing direction (i.e., the horizontal direction perpendicular to the extending direction of the bus bars) of the inspection robot is also the direction from left to right.

A conventional bus bar is shown in fig. 1, and has a supporting platform 11, and a first latch arm 12 and a second latch arm 13 fixed on the supporting platform 11 and extending downward, wherein a gap between a bottom end of the first latch arm 12 and a bottom end of the second latch arm 13 forms a bayonet for clamping a contact line. A first walking platform 14 for the patrol robot to walk and hold is extended leftwards out of the outer side of the first clamping arm 12 (i.e. the side of the first clamping arm 12 far away from the second clamping arm 13), and a second walking platform 15 for the patrol robot to walk and hold is extended rightwards out of the outer side of the second clamping arm 13 (i.e. the side of the second clamping arm 13 far away from the first clamping arm 12).

Example 1

As shown in fig. 2 to 10, the present embodiment provides an inspection robot, which includes a traveling mechanism 4, a drop-preventing mechanism 3, and a rail replacing mechanism 2, wherein the traveling mechanism 4 is connected to the rail replacing mechanism 2, and the drop-preventing mechanism 3 is connected to the rail replacing mechanism 2.

Generally, the inspection robot works as follows: in the process that the inspection robot travels along the first busbar, the traveling mechanism 4 holds the first busbar tightly, the falling prevention mechanism 3 is separated from the first busbar, and the traveling mechanism 4 works to drive the inspection robot to travel on the first busbar when the inspection robot is hung on the first busbar. In the process that the inspection robot changes the rail from the first bus bar to the second bus bar (namely the rail changing process), firstly, the traveling mechanism 4 stops driving the inspection robot to continue traveling on the first bus bar; then the anti-falling mechanism 3 tightly holds the first bus bar, and the travelling mechanism 4 is separated from the first bus bar so as to ensure that the inspection robot is continuously hung on the bus bar and prevent the inspection robot from falling off from the bus bar; then the rail replacing mechanism 2 works to drive the traveling mechanism 4 to move to the lower part of the second busbar, and the traveling mechanism 4 tightly holds the second busbar so as to ensure that the inspection robot is continuously hung on the busbar in the rail replacing process of the anti-falling mechanism 3 and prevent the inspection robot from falling off the busbar; and finally, the anti-drop mechanism 3 is separated from the first bus bar, the rail replacing mechanism continues to work to drive the anti-drop mechanism 3 to move to the position below the second bus bar, and the traveling mechanism 4 works to drive the inspection robot to travel on the second bus bar.

Rail changing mechanism

In the present embodiment, the rail replacing mechanism 2 comprises a first driving assembly, a second driving assembly, a first rail replacing platform 21 and a second rail replacing platform 22; the first rail replacing platform 21 is connected with the second rail replacing platform 22 in a sliding mode in the rail replacing direction, the first rail replacing platform 21 is connected with the second rail replacing platform 22 through a first driving assembly, and the first driving assembly drives the first rail replacing platform 21 and the second rail replacing platform 22 to slide relatively; the second rail replacing platform 22 is connected with the traveling mechanism 4 in a sliding manner in the rail replacing direction, the second rail replacing platform 22 is connected with the traveling mechanism 4 through a second driving assembly, and the second driving assembly drives the second rail replacing platform 22 and the traveling mechanism 4 to slide relatively; the falling prevention mechanism 3 is fixedly arranged on the first rail replacing platform 21.

In the track changing process, the routing mechanism 4 is separated from the first bus bar, and when the anti-falling mechanism 3 tightly holds the first bus bar (namely, the anti-falling mechanism 3 is fixed), the routing of the first driving component driving the second track changing platform 22 to slide rightwards can be superposed with the routing of the second driving component driving the routing mechanism 4 to slide rightwards, and the routing mechanism 4 is jointly sent to the lower part of the second bus bar; and when the anti-drop mechanism 3 is separated from the first bus bar and the traveling mechanism 4 holds the first bus bar tightly (i.e. the traveling mechanism is fixed), the second driving assembly can drive the second rail replacing platform 22 to slide leftward, and the first driving assembly can drive the first rail replacing platform 21 to slide leftward, so that the anti-drop mechanism 2 is jointly sent to the lower part of the second bus bar (as shown in fig. 2 to 8). From this, rail replacing mechanism 2 that this embodiment provided can realize running gear 4 and prevent falling the rail of trading of mechanism 3 through the double-stroke stack, has reduced rail replacing mechanism 2 and has traded the ascending volume of rail side, makes to patrol and examine the robot and is difficult for being wiped and bump in the course of the work, job stabilization to make things convenient for artifical transport.

Preferably, the first driving assembly includes a fixed end and a linear motion output end, the fixed end of the first driving assembly is connected with the first rail replacing platform 21 (i.e. the first driving assembly is fixedly arranged on the first rail replacing platform 21), and the linear motion output end of the first driving assembly is connected with the second rail replacing platform 22; similarly, the second driving assembly also comprises a fixed end and a linear motion output end, the fixed end of the second driving assembly is connected with the second rail replacing platform 22 (namely, the second driving assembly is fixedly arranged on the second rail replacing platform 22), and the linear motion output end of the second driving assembly is connected with the traveling mechanism 4. Relative to the traveling mechanism 4 and the anti-drop mechanism 3, the rail replacing mechanism 2 has more space, so that the fixed end of the first driving component is connected with the first rail replacing platform 21, and the fixed end of the second driving component is connected with the second rail replacing platform 22. Thus, the structure is compact and the volume is small.

Further preferably, the fixed end of the first drive component and the fixed end of the second drive component are located on the same side. Therefore, wiring is convenient.

Conceivably, the fixed end of the first driving component is connected with the first rail changing platform 21, and the linear motion output end of the first driving component is connected with the second rail changing platform 22; the fixed end of the second driving component is connected with the traveling mechanism 4, and the linear motion output end of the second driving component is connected with the second rail changing platform 22. Or the fixed end of the first driving component is connected with the second rail changing platform 22, and the linear motion output end of the first driving component is connected with the first rail changing platform 21; the fixed end of the second driving component is connected with the traveling mechanism 4, and the linear motion output end of the second driving component is connected with the second rail changing platform 22. Or the fixed end of the first driving component is connected with the second rail changing platform 22, and the linear motion output end of the first driving component is connected with the first rail changing platform 21; the fixed end of the second driving component is connected with the second rail-changing platform 22, and the linear motion output end of the second driving component is connected with the traveling mechanism 4. In this way, the double-stroke rail change of the travelling mechanism 4 and the anti-falling mechanism 3 can also be realized.

Preferably, the second rail changing platform 22 is stacked above the first rail changing platform 21. Thus, the structure is compact.

Preferably, the length of the first track changing platform 21 in the track changing direction is equal to the length of the second track changing platform 22 in the track changing direction.

Preferably, the first driving assembly includes a first driving motor 231, a first decelerator, a first driving pulley set, a first driven pulley set, and a first conveyor belt set; the first driving pulley set and the first driven pulley set are both rotatably installed at the top of the first rail replacing platform 21, the first driving pulley set is located at a first end of the top of the first rail replacing platform 21 along the rail replacing direction, the first driven pulley set is located at a second end of the top of the first rail replacing platform 21 along the rail replacing direction, and the first driving pulley set is in transmission connection with the first driven pulley set through the first conveying belt set; the first driving motor 231 and the first speed reducer are both fixedly arranged at the first end of the first rail replacing platform 21 along the rail replacing direction, and the first driving motor 231 is in transmission connection with the first driving belt pulley set through the first speed reducer; the first conveyor set is fixedly connected to the second track-changing platform 22. Thus, the first driving motor 231 operates to drive the first track-changing platform 21 and the second track-changing platform 22 to slide relatively via the first conveyor belt set.

Optionally, a screw nut transmission assembly is used as the first driving assembly, and the first rail replacing platform 21 and the second rail replacing platform 22 can also be driven to slide relatively.

Further preferably, in this embodiment, the first driving pulley set includes a first driving pulley 232, and the first driving pulley 232 is located at a first end of the extending direction of the top bus bar of the first rail replacing platform 21; the first driven pulley set comprises a first driven pulley 233, and the first driven pulley 233 is located at a first end of the first rail replacing platform 21 in the extending direction of the top bus bar; the first conveyor belt set comprises a first conveyor belt 234, the first driving belt pulley 232 is in transmission connection with a first driven belt pulley 233 through the first conveyor belt 234, and the top of the first conveyor belt 234 is fixedly connected with the bottom of the second rail replacing platform 22. In this way, on the premise of not enlarging the volume of the rail replacing mechanism 2, a space is left for the first driving motor 231 and the first speed reducer to be installed on the top of the first rail replacing platform 21.

It is further preferred that the first drive motor 231 and the first speed reducer are both located on top of the first rail changing platform 21.

Preferably, a first slide rail set is arranged on the first rail replacing platform 21, a first slide block set is arranged at the bottom of the second rail replacing platform 22, and the first rail replacing platform 21 is slidably connected with the second rail replacing platform 22 through the first slide rail set and the first slide block set. So, through first slide rail group and first slider group, when realizing sliding connection between first rail platform 21 and the second rail platform 22 of trading, can also play the supporting role between first rail platform 21 and the second rail platform 22 of trading.

Further preferably, in the present embodiment, a first side plate 211 is disposed at a first end of the first rail replacing platform 21 in the extending direction of the bus bars, and a second side plate 212 is disposed at a second end of the first rail replacing platform 21 in the extending direction of the bus bars; a first slide rail 213 extending along the rail changing direction is arranged on the outer wall of the first side plate 211 (i.e., the wall surface of the first side plate 211 far away from the second side plate 212), the first slide rail 213 is an elongated boss protruding out of the outer wall of the first side plate 211, a second slide rail 214 extending along the rail changing direction is arranged on the outer wall of the second side plate 212 (i.e., the wall surface of the second side plate 212 far away from the first side plate 211), the second slide rail 214 is an elongated boss protruding out of the outer wall of the second side plate 212, and the first slide rail 213 and the second slide rail 214 form a first slide rail group; the first sliding block set comprises a first sliding block 221 and a second sliding block (not shown in the figure), the first sliding block 221 is arranged at the first end part of the extension direction of the busbar at the bottom of the second rail replacing platform 22, the second sliding block 221 is arranged at the second end part of the extension direction of the busbar at the bottom of the second rail replacing platform 22, a first groove is formed in the inner side of the first sliding block 221 (namely, the side of the first sliding block 221 close to the second sliding block), and a second groove is formed in the inner side of the second sliding block (namely, the side of the second sliding block close to the first sliding block); the first slide rail 213 is accommodated in the first groove, the second slide rail 214 is accommodated in the second groove, the upper surface of the first slide rail 213 is attached to the upper surface of the first groove, the lower surface of the first slide rail 213 is attached to the lower surface of the first groove, the upper surface of the second slide rail 214 is attached to the upper surface of the second groove, and the lower surface of the second slide rail 214 is attached to the lower surface of the second groove.

Preferably, the second driving assembly includes a second driving motor 241, a second decelerator, a second driving pulley set, a second driven pulley set, and a second conveyor belt set; the second driving pulley set and the second driven pulley set are both rotatably mounted at the top of the second rail replacing platform 22, the second driving pulley set is positioned at the first end of the top of the second rail replacing platform 22 along the rail replacing direction, the second driven pulley set is positioned at the second end of the top of the second rail replacing platform 22 along the rail replacing direction, and the second driving pulley set is in transmission connection with the second driven pulley set through the second conveying belt set; the second driving motor 241 and the second speed reducer are both fixedly arranged at the first end of the second rail replacing platform 22 along the rail replacing direction, and the second driving motor 241 is in transmission connection with the second driving pulley set through the second speed reducer; the second conveyor belt group is fixedly connected with the travelling mechanism 4. Thus, the second driving motor 241 operates to drive the second rail replacing platform 22 and the traveling mechanism 4 to slide relatively through the second conveyor belt set.

Optionally, a screw nut transmission assembly is used as the second driving assembly, and the second rail replacing platform 22 and the traveling mechanism 4 can also be driven to slide relatively.

Further preferably, in the present embodiment, the second driving pulley set includes a third driving pulley 242, and the third driving pulley 242 is located at a first end of the extending direction of the top bus bar of the second rail replacing platform 22; the second driven pulley set comprises a third driven pulley 243, and the third driven pulley 243 is located at the first end of the extending direction of the top bus bar of the second rail replacing platform 22; the second conveyor belt set comprises a third conveyor belt 244, the third driving pulley 242 is in transmission connection with a third driven pulley 243 through the third conveyor belt 244, and the top of the third conveyor belt 244 is fixedly connected with the bottom of the travelling mechanism 4. In this way, on the premise of not enlarging the volume of the rail replacing mechanism 2, a space is left for installing the second driving motor 241 and the second speed reducer on the top of the second rail replacing platform 22.

It is further preferred that the second drive motor 241 and the second speed reducer are both located on top of the second rail changing platform 22.

Specifically, regarding the sliding connection between the traveling mechanism 4 and the second track-changing mechanism 2, the sliding connection between the first track-changing mechanism 21 and the second track-changing mechanism 22 is similar to that described above, and the description thereof is omitted here.

This embodiment adopts the band pulley train as drive assembly, compares the drive assembly of other forms, and light in weight satisfies the whole weight requirement of patrolling and examining the robot more easily to make driving motor can follow busbar extending direction and set up, more economize space on arranging, small.

The inspection robot can work in the following working process besides the working process: in the rail changing process, firstly, the traveling mechanism 4 stops driving the inspection robot to continue traveling on the first bus bar; then the rail replacing mechanism 2 works to drive the anti-falling mechanism 3 to move to the lower part of the second busbar, and the anti-falling mechanism 3 tightly holds the second busbar so as to ensure that the inspection robot is continuously hung on the busbar in the rail replacing process of the travelling mechanism 4 and prevent the inspection robot from falling off the busbar; then the traveling mechanism 4 is separated from the first bus bar, the rail replacing mechanism 2 continues to work to drive the traveling mechanism 4 to move to the position below the second bus bar, and the traveling mechanism 4 tightly holds the second bus bar; and finally, the anti-falling mechanism 3 is separated from the second bus bar, and the traveling mechanism 4 works to drive the inspection robot to travel on the second bus bar. The rail changing mechanism 2 can realize rail changing of the traveling mechanism 4 and the anti-falling mechanism 3 through double-stroke superposition. The rest processes are the same as the working process of the inspection robot, and are not described again here.

Anti-falling mechanism

As shown in fig. 9, the drop-preventing mechanism 3 includes a drop-preventing bracket fixedly connected to the first rail-changing platform 21, a first jaw (the first jaw includes a first jaw rod 322 and a second jaw rod 326), a first link group, a second link group, and a third driving assembly. The drop-preventing bracket 31 has a first mounting bracket 311, and the first mounting bracket 311 is located on the front side of the second rail replacing platform 22 and on the front side of the running gear 4. The first jaw lever 322 is hinged to the first mounting bracket 311 at a position close to the first end of the first jaw lever 322, the second jaw lever 326 is hinged to the first mounting bracket 311 at a position close to the first end of the second jaw lever 326, and the hinged position of the first jaw lever 322 to the first mounting bracket 311 is on the left of the hinged position of the second jaw lever 326 to the first mounting bracket 311; a first end of the first jaw rod 322 is hinged with a first end of the first connecting rod group, a first end of the second jaw rod 326 is hinged with a first end of the second connecting rod group, and a second end of the first connecting rod group and a second end of the second connecting rod group are both hinged with an up-and-down linear motion output end of the third driving assembly; the fixed end of the third driving assembly is connected with the first mounting bracket 311.

Specifically, the first jaw lever 322 has a first bayonet at a second end thereof and the second jaw lever 326 has a second bayonet at a second end thereof. In the closing process of the second end of the first claw rod 322 and the second end of the second claw rod 326, the first bayonet can be connected to the first walking platform 14, the second bayonet can be connected to the second walking platform 15, and the second end of the first claw rod 322 and the second end of the second claw rod 326 are clamped (clasped) to form a busbar. In the opening process of the second end of the first claw rod 322 and the second end of the second claw rod 326, the first bayonet can be separated from the first traveling platform 14, and the second bayonet can be separated from the second traveling platform 15, so that the second end of the first claw rod 322 and the second end of the second claw rod 326 are separated from the busbar.

Preferably, the hinge position of the first jaw lever 322 and the first link group is located at the left side of the hinge position of the first link group and the up-and-down linear motion output end of the third driving assembly; the hinge position of the first jaw lever 322 and the first mounting bracket 311 is located on the left side of the hinge position of the first jaw lever 322 and the first link group; the hinged position of the second jaw rod 326 and the second connecting rod group is positioned on the right side of the hinged position of the up-and-down linear motion output end of the second connecting rod group and the third driving component; the hinge position of the second jaw lever 326 to the first mounting bracket 311 is located on the right side of the hinge position of the second jaw lever 326 to the second linkage. In this arrangement, the up-down linear motion output end of the third driving assembly drives the second end of the first link group and the second end of the second link group to move upward, and the first end of the first link group and the first end of the second link group drive the second end of the first jaw rod 322 and the second end of the second jaw rod 326 to open, so as to separate from the busbar; the up-and-down linear motion output end of the third driving component drives the second end of the first connecting rod group and the second end of the second connecting rod group to move downwards, the first end of the first connecting rod group and the first end of the second connecting rod group drive the second end of the first jaw rod 322 and the second end of the second jaw rod 326 to be closed, and the clamping busbar is tightly held, so that the clamping jaw is stably held by the clamping busbar. Make first jack catch pole 322 and second jack catch pole 326 open and shut more stably, can stably hold the busbar tightly. As shown in fig. 6 and 7.

Further preferably, in this embodiment, the first linkage is hinged to a left side portion of the up-and-down linear motion output end of the third driving assembly, and the second linkage is hinged to a right side portion of the up-and-down linear motion output end of the third driving assembly.

Further preferably, in the present embodiment, the first jaw lever 322 includes a first connecting portion 323 and a first clamping portion 324, a second end of the first connecting portion 323 is connected to a first end of the first clamping portion 324, the first connecting portion 323 is located at a first end side of the first clamping portion 324, the first connecting portion 323 is deflected relative to the first clamping portion 324, a first end of the first connecting portion 323 is hinged to a first end of the first lever group, the first connecting portion 323 is hinged to the drop prevention bracket, and a second end of the first clamping portion 324 is used for clamping and releasing the busbar. The second jaw lever 326 includes a second connection portion and a second fastening portion, a second end of the second connection portion 327 is connected to a first end of the second clamping portion 328, the second connection portion 327 is located at a first end side of the second clamping portion 328, the second connection portion 327 is deflected relative to the second clamping portion 328, a first end of the second connection portion 327 is hinged to a first end of the second linkage, the second connection portion 327 is hinged to the anti-drop bracket, and a second end of the second clamping portion 328 is used for clamping and releasing the busbar.

Preferably, the second end of the first clamping portion 324 has a first right-angle bayonet 329, the second end of the second clamping portion 328 has a second right-angle bayonet 330, and when the drop-preventing mechanism 3 clasps the busbar, two right-angle surfaces of the first right-angle bayonet 329 contact with the first walking platform 14, and two right-angle surfaces of the second right-angle bayonet 330 contact with the second walking platform 15. So, easily prevent falling mechanism 3 and hold the busbar tightly to make and patrol and examine the robot and be difficult for rocking in the course of the work.

It should be noted that the connecting rod assembly may be composed of one connecting rod, or may be composed of more than two connecting rods connected with each other.

Further preferably, in the present embodiment, the first linkage includes a first link 321, and the second linkage includes a second link 325; the first end of the first jaw rod 322 is hinged to the first end of the first connecting rod 321, the first end of the second jaw rod 326 is hinged to the first end of the second connecting rod 325, the second end of the first connecting rod 321 is hinged to the up-down linear motion output end of the third driving assembly, and the second end of the second connecting rod 325 is hinged to the up-down linear motion output end of the third driving assembly.

In this embodiment, the first mounting bracket 311 is also located on the front side of the first rail replacing platform 21.

Preferably, the third driving assembly includes a third driving motor 331, a fourth driving pulley 332, a fourth driven pulley 333, and a fourth transfer belt 334. The fourth driving pulley 332 is rotatably mounted on the first mounting frame 311, the fourth driven pulley 333 is rotatably mounted on the first mounting frame 311, the fourth driving pulley 332 is in transmission connection with the fourth driven pulley 333 through a fourth transmission belt 334, a main shaft of the fourth driven pulley 333 is a first screw rod 335 extending upwards, a first nut 336 (the up-and-down linear motion output end of the third driving component) is connected to the first screw rod 335 through a thread, the first nut 336 is connected with the second end of the first connecting rod 321, and the first nut 336 is connected with the second end of the second connecting rod 325. The third driving motor is fixedly installed on the first mounting frame 311, and the third driving motor 331 is in transmission connection with the fourth driving pulley 332. The third driving motor 331 operates to drive the first screw rod 335 to rotate through the fourth driving pulley 332 and the fourth driven pulley 333, so as to drive the first nut 336 to drive the second end of the first connecting rod 321 and the second end of the second connecting rod 325 to do vertical linear motion. Through adopting lead screw nut subassembly transmission first jack catch to do the motion that opens and shuts, utilized the auto-lock characteristic of trapezoidal thread on the first screw rod 325 for under the unusual shut down situation (for example outage suddenly), state (for example the state that the mechanism of preventing falling clasps the busbar) when mechanism 3 is in the shut down is difficult for being changed.

Further preferably, in the present embodiment, the first jaw lever 322 is hinged to the outer side of the first mounting frame 311 (i.e., the side of the first mounting frame 311 away from the traveling mechanism 4), and the second jaw lever 326 is hinged to the outer side of the first mounting frame 311. Thus, the structure is compact.

Further, a fourth driven pulley 333 is rotatably installed at an outer side of the first mounting frame 311, a fourth driving pulley 332 is rotatably installed at an inner side of the first mounting frame 331 (i.e., a side of the first mounting frame 311 close to the traveling mechanism 4), a third driving motor 331 is fixedly installed at an inner side of the first mounting frame 311, and a fourth belt 334 passes through the first mounting frame 311. Therefore, the compact structure is ensured, excessive parts in the anti-falling mechanism 3 are prevented from being arranged on the inner side of the first mounting bracket 311, and the interference between the rail replacing mechanism 2 and the anti-falling mechanism 3 in the working process is prevented.

Wherein, the falling prevention mechanism 3 further comprises a second jaw and a fourth driving component, the falling prevention bracket further comprises a second mounting rack 312, and the second mounting rack 312 is located at the rear side of the second rail replacing platform 22 and at the rear side of the traveling mechanism 4. The structures and mutual matching of the second jaw, the fourth driving component and the second mounting frame 312 are similar to the structures and mutual matching of the first jaw, the third driving component and the first mounting frame 311, and are not repeated herein.

In this embodiment, the second mounting frame 312 is also located at the rear side of the first rail replacing platform 21.

Traveling mechanism

As shown in fig. 10, the traveling mechanism includes a third jaw (the third jaw includes a third jaw rod 432 and a fourth jaw rod 436), a third linkage, a fourth linkage, a fifth driving assembly, and a traveling bracket 42 slidably connected to the second rail replacing platform 22. The traveling bracket 42 is rotatably provided with a driving wheel 41 for driving the traveling mechanism to travel. The walking bracket 42 is provided with a third mounting rack 421, and the third mounting rack 421 is positioned at the front side of the driving wheel 41; the third jaw lever 432 is hinged to the third mounting bracket 421 at a position near the first end of the third jaw lever 432, the fourth jaw lever 436 is hinged to the third mounting bracket 421 at a position near the first end of the fourth jaw lever 436, and the hinge position of the third jaw lever 432 to the third mounting bracket 421 is left of the hinge position of the fourth jaw lever 436 to the third mounting bracket 421; a first end of the third jaw rod 432 is hinged with a first end of the third connecting rod group, a first end of the fourth jaw rod 436 is hinged with a first end of the fourth connecting rod group, and a second end of the third connecting rod group and a second end of the fourth connecting rod group are both hinged with an up-and-down linear motion output end of the fifth driving component; the fixed end of the fifth driving assembly is connected with the third mounting bracket 421. The fifth driving assembly works, the up-and-down linear motion output end of the fifth driving assembly drives the first end of the third connecting rod 431 and the first end of the fourth connecting rod 435 to do up-and-down linear motion, and the second end of the third connecting rod 431 and the second end of the fourth connecting rod 435 drive the second end of the third jaw rod 432 and the second end of the fourth jaw rod 436 to do opening and closing motion.

Specifically, a first traveling follower 439 is rotatably mounted to a second end of the third pawl lever 432, and a second traveling follower 440 is rotatably mounted to a second end of the fourth pawl lever 436. During the closing process of the second end of the third claw bar 432 and the second end of the fourth claw bar 436, the first walking driven wheel 439 can be connected to the first walking platform 14 in a clamping manner, the second walking driven wheel 440 can be connected to the second walking platform 15 in a clamping manner, at this time, the rolling surface of the first walking driven wheel 439 is in contact with the first walking platform 14, and the rolling surface of the second walking driven wheel 440 is in contact with the second walking platform 15, so that the second end of the third claw bar 432 and the second end of the fourth claw bar 436 clamp (hold) the bus bar tightly. During the opening of the second ends of the third and fourth claw bars 432 and 436, the first travel follower 439 can be disengaged from the first travel platform 14, and the second travel follower 440 can be disengaged from the second travel platform 15, thereby disengaging the second ends of the third and fourth claw bars 432 and 436 from the busbar.

Preferably, the hinge position of the third jaw rod 432 and the third linkage is located at the left side of the hinge position of the third linkage and the up-and-down linear motion output end of the fifth driving assembly; the hinge position of the third jaw lever 432 and the third mounting bracket 421 is located on the left side of the hinge position of the third jaw lever 432 and the third connecting rod group; the hinged position of the fourth jaw rod 436 and the fourth connecting rod group is located on the right side of the hinged position of the up-and-down linear motion output end of the fourth connecting rod group and the fifth driving assembly; the hinge position of the fourth jaw lever 436 to the third mounting bracket 421 is located at the right side of the hinge position of the fourth jaw lever 436 to the fourth linkage. In this arrangement, the up-down linear motion output end of the fifth driving assembly drives the second end of the third connecting rod group and the second end of the fourth connecting rod group to move upwards, and the first end of the third connecting rod group and the first end of the fourth connecting rod group drive the second end of the third jaw rod 432 and the second end of the fourth jaw rod 436 to open, so as to separate from the busbar; the up-and-down linear motion output end of the fifth driving assembly drives the second end of the third connecting rod group and the second end of the fourth connecting rod group to move downwards, the first end of the third connecting rod group and the first end of the fourth connecting rod group drive the second end of the third jaw rod 432 and the second end of the fourth jaw rod 436 to be closed, and the clamping jaw clasps the busbar, so that the clamping jaw clasps the busbar more stably. The third jaw lever 432 and the fourth jaw lever 436 are opened and closed more stably, and the bus bar can be held tightly stably.

Further preferably, in this embodiment, the third linkage is hinged to a left side portion of the up-down linear motion output end of the fifth driving assembly, and the fourth linkage is hinged to a right side portion of the up-down linear motion output end of the fifth driving assembly.

Further preferably, in the present embodiment, the third jaw lever 432 includes a third connecting portion 433 and a third clamping portion 434, a second end of the third connecting portion 433 is connected to a first end of the third clamping portion 434, the third connecting portion 433 is located at a first end side of the third clamping portion 434, the third connecting portion 433 is offset with respect to the third clamping portion 434, a first end of the third connecting portion 433 is hinged to a first end of the third linkage, the third connecting portion 433 is hinged to the first mounting bracket 21, and a second end of the third clamping portion 434 is used for clamping and releasing the busbar. The fourth jaw lever 436 includes a fourth connecting portion 437 and a fourth clamping portion 438, a second end of the fourth connecting portion 437 is connected to a first end of the fourth clamping portion 438, the fourth connecting portion 437 is located at a first end side of the fourth clamping portion 438, the fourth connecting portion 437 is offset with respect to the fourth clamping portion 438, a first end of the fourth connecting portion 437 is hinged to a first end of the fourth linkage, the fourth connecting portion 437 is hinged to the first mounting bracket 21, and a second end of the fourth clamping portion 438 is used for clamping and releasing the busbar.

It should be noted that the connecting rod assembly may be composed of one connecting rod, or may be composed of more than two connecting rods connected with each other.

Further preferably, in the present embodiment, the third linkage includes a third link 431, and the fourth linkage includes a fourth link 435; a first end of the third jaw lever 432 is hinged to a first end of the third link 431, a first end of the fourth jaw lever 436 is hinged to a first end of the fourth link 435, a second end of the third link 431 is hinged to an up-and-down linear motion output end of the fifth driving assembly, and a second end of the fourth link 435 is hinged to an up-and-down linear motion output end of the fifth driving assembly.

Further, the traveling mechanism provided by the embodiment further comprises a driving wheel mounting platform and a sixth driving assembly; the driving wheel mounting platform is connected with the bottom plate of the walking bracket 42 in a vertical sliding manner, and the driving wheel 41 is rotatably mounted on the driving wheel mounting platform; the fixed end of the sixth driving component is connected with the walking bracket 2, and the up-and-down linear motion output end of the sixth driving component is connected with the driving wheel mounting platform. And the sixth driving assembly works to drive the driving wheel mounting platform to slide up and down. In this way, the up-and-down movement of the driving wheel 41 is achieved so that the driving wheel 41 grips the bus bar from below.

Further, the running gear that this embodiment provided still includes eighth drive assembly 47, and eighth drive assembly 47 is fixed on the drive wheel mounting platform, and the power take off end of eighth drive assembly 47 is connected with drive wheel 41 transmission, drives drive wheel 41 and rotates.

Preferably, the fifth driving assembly includes a fifth driving motor 441, a fifth driving pulley 442, a fifth driven pulley 443, and a fifth transfer belt 444. The fifth driving pulley 442 is rotatably mounted on the third mounting frame 421, the fifth driven pulley 443 is rotatably mounted on the third mounting frame 421, the fifth driving pulley 442 is in transmission connection with the fifth driven pulley 443 through a fifth transmission belt 444, a main shaft of the fifth driven pulley 443 is a second screw 445 extending upward, a second nut 446 (the "second nut 446" is an up-and-down linear motion output end of the third driving assembly) is connected to the second screw 445 through a thread, a left end of the second nut 446 is hinged to a second end of the third connecting rod, and a right end of the second nut 446 is hinged to a second end of the fourth connecting rod. The fifth driving motor 441 is fixedly mounted on the third mounting frame 421, and the fifth driving motor 441 is in transmission connection with the fifth driving pulley 442. The fifth driving motor 441 operates to drive the second screw 445 to rotate through the fifth driving pulley 442 and the fifth driven pulley 443, so as to drive the second nut 446 to drive the second end of the third link and the second end of the fourth link to move linearly up and down. Through adopting lead screw nut subassembly transmission third jaw to do the motion of opening and shutting, utilized the auto-lock characteristic of trapezoidal thread on the second screw 445 for under the unusual shut down situation (for example outage suddenly), state (for example the state that running gear held the busbar tightly) when running gear is in the shut down and be difficult for being changed.

Further preferably, in this embodiment, the third jaw rod is hinged on the outer side of the third mounting frame 421 (i.e. the side of the third mounting frame 421 away from the driving wheel), and the fourth jaw rod is hinged on the outer side of the third mounting frame 421. Thus, the structure is compact.

Further, a fifth driven pulley 443 is rotatably installed at an outer side of the third mounting bracket 421, a fifth driving pulley 442 is rotatably installed at an inner side of the third mounting bracket 421 (i.e., a side of the third mounting bracket 421 close to the driving wheel), a fifth driving motor 441 is fixedly installed at an inner side of the third mounting bracket 421, and a fifth conveyor 444 passes through the third mounting bracket 421. Therefore, when the structure is compact, excessive parts in the travelling mechanism are prevented from being arranged on the outer side of the third mounting bracket, and the travelling mechanism and the anti-falling mechanism are prevented from interfering in the working process.

The walking mechanism further comprises a fourth jaw and a seventh driving assembly, the walking support further comprises a fourth mounting frame 422, and the fourth mounting frame 422 is located on the rear side of the driving wheel. The structures and mutual matching among the fourth clamping jaw, the seventh driving component and the fourth mounting frame 422 are similar to the structures and mutual matching among the third clamping jaw, the fifth driving component and the third mounting frame 421, and are not described again here.

Preferably, in the embodiment, the walking bracket is provided with a fifth mounting rack 423, and the fifth mounting rack 423 is positioned at the right side of the driving wheel; the sixth drive assembly includes a sixth drive motor 451, a sixth drive pulley 452, a sixth driven pulley 453, and a sixth conveyor belt 454. The sixth driving pulley 452 is rotatably mounted on the fifth mounting bracket 423, the sixth driven pulley 453 is rotatably mounted on the fifth mounting bracket 423, the sixth driving pulley 452 is in transmission connection with the sixth driven pulley 453 through a sixth conveyor belt 454, the main shaft of the sixth driven pulley 453 is a third screw 455 extending upwards, a screw hole is formed in the driving wheel mounting platform, and the third screw 455 is in threaded connection with the screw hole. The sixth driving motor 451 is fixedly installed on the fifth mounting frame 423, and the sixth driving motor 451 is in transmission connection with the sixth driving pulley 452. The sixth driving motor 451 operates to drive the screw to rotate via the sixth driving pulley 452 and the sixth driven pulley 453, so that the driving nut drives the driving wheel mounting platform to move linearly up and down. Through adopting lead screw nut subassembly transmission drive wheel mounting platform to do the up-and-down motion, utilized trapezoidal thread's auto-lock characteristic on the screw rod for under the unusual shut down situation (for example outage suddenly), the state and difficult quilt that drive wheel mounting platform was in when shutting down are changed.

It is further preferable that the sixth driving motor 451 is fixedly installed at an outer side of the fifth mounting bracket 423 (i.e., a side of the fifth mounting bracket 423 away from the driving wheel), the sixth driving pulley 452 is rotatably installed at an outer side of the fifth mounting bracket 423, the fourth driven pulley is rotatably installed at an inner side of the first mounting bracket 423 (i.e., a side of the fifth mounting bracket 423 toward the driving wheel), and the sixth transmission belt 454 passes through the fifth mounting bracket 423. Thus, the structure is compact.

Preferably, the driving wheel mounting platform comprises a first mounting platform 461 and a second mounting platform 462 from top to bottom, the second mounting platform 462 is connected with the bottom plate of the walking bracket in a vertical sliding manner, the vertical linear motion output end of the sixth driving assembly is connected with the second mounting platform 462, the second mounting platform 462 is connected with the first mounting platform 461 through an elastic element, the driving wheel is rotatably mounted on the first mounting platform 461, and the eighth driving assembly 47 is fixed on the first mounting platform 461. Therefore, when the driving wheel mounting platform slides up and down, the first mounting platform 461 connected through the elastic piece can also realize the shock absorption when the driving wheel crosses an obstacle in the walking process. The elastic element can be a spring or a rubber element.

In the currently used bus bar, the bottom of the first walking platform has a first V-shaped groove 16 extending along the extension direction of the bus bar, and the bottom of the second walking platform has a second V-shaped groove 17 extending along the extension direction of the bus bar. To this end, in the present embodiment, the driving wheel 41 includes a first scroll wheel 411, a second scroll wheel 412, and a connection member 413, the first scroll wheel 411 is disposed coaxially with the second scroll wheel 412, and the first scroll wheel 411 is connected to the second scroll wheel 412 through the connection member 413. The drive wheel that so sets up can make first roll dish 411 roll along first V-arrangement groove 16, and second roll dish 412 rolls along second V-arrangement groove 17, when guaranteeing that the drive wheel is walked on the busbar, can also utilize first V-arrangement groove 16 and second V-arrangement groove 17 to produce limiting displacement to the drive wheel, makes the drive wheel rock about difficult production in the walking process. It should be noted that the driving wheel 41 may be integrally manufactured and formed, or may be assembled and formed by the first rolling disc 411, the second rolling disc 412 and the connecting member 413.

Further preferably, an annular inclined surface is formed on the first rolling disc 411 in the circumferential direction of the first rolling disc 411 toward the axial direction of the first rolling disc 411; an annular inclined surface is formed on the second rolling disk 412 in the circumferential direction of the second rolling disk 412 toward the axial direction of the first rolling disk 411. So set up, do benefit to first roll dish 411 and the contact of first V-arrangement groove 16, second roll dish 412 and the contact of second V-arrangement groove 17 improve the limiting displacement of first V-arrangement groove 16 and second V-arrangement groove 17 to the drive wheel.

Example 2

The present embodiment is mainly different from embodiment 1 in that:

in this embodiment, the first driving pulley set includes a first driving pulley and a second driving pulley, the first driving pulley is coaxially connected to the second driving pulley, the first driving pulley is located at a first end of the top of the first track-changing platform along the extension direction of the bus bar, and the second driving pulley is located at a second end of the top of the first track-changing platform along the extension direction of the bus bar; the first driven pulley set comprises a first driven pulley and a second driven pulley, the first driven pulley is coaxially connected with the second driven pulley, the first driven pulley is positioned at the first end of the top of the first rail replacing platform along the extension direction of the bus bar, and the second driven pulley is positioned at the second end of the top of the first rail replacing platform along the extension direction of the bus bar; the first conveying belt set comprises a first conveying belt and a second conveying belt, a first driving belt wheel is in transmission connection with a first driven belt wheel through the first conveying belt, a second driving belt wheel is in transmission connection with a second driven belt wheel through the second conveying belt, and the top of the first conveying belt and the top of the second conveying belt are fixedly connected with the bottom of the second rail replacing platform. Therefore, the first driving assembly can stably provide power between the first rail replacing platform and the second rail replacing platform.

Further preferably, in this embodiment, the first driving motor and the first speed reducer are both located at the bottom of the first rail replacing platform. Therefore, the volume of the rail replacing mechanism in the extending direction of the bus bar is small.

The rest of the process is the same as that of embodiment 1, and the description thereof is omitted.

It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.

Claims (9)

1. A track type inspection robot is characterized in that,

comprises a walking mechanism (4), an anti-falling mechanism (3) and a rail replacing mechanism (2); the rail replacing mechanism (2) comprises a first driving assembly, a second driving assembly, a first rail replacing platform (21) and a second rail replacing platform (22);

the first rail replacing platform (21) is connected with the second rail replacing platform (22) in a sliding mode in the rail replacing direction through a first driving assembly, the second rail replacing platform (22) is connected with the traveling mechanism (4) in a sliding mode in the rail replacing direction through a second driving assembly, and the first rail replacing platform (21) and the second rail replacing platform (22) move in the rail replacing direction to complete the rail replacing stroke;

the anti-falling mechanism (3) is fixedly arranged on the first rail replacing platform (21).

2. The orbital inspection robot according to claim 1,

the length of the first track changing platform (21) in the track changing direction is equal to the length of the second track changing platform (22) in the track changing direction.

3. The orbital inspection robot according to claim 1,

the fixed end of the first driving component is connected with the first rail changing platform (21), and the linear motion output end of the first driving component is connected with the second rail changing platform (22);

the fixed end of the second driving component is connected with the second rail replacing platform (22), and the linear motion output end of the second driving component is connected with the traveling mechanism (4).

4. The orbital inspection robot according to claim 3,

the fixed end of the first driving component and the fixed end of the second driving component are located on the same side.

5. The orbital inspection robot according to claim 3,

the first driving assembly comprises a first driving motor (231), a first speed reducer, a first driving belt pulley set, a first driven belt pulley set and a first conveying belt set;

the first driving pulley set and the first driven pulley set are both rotatably installed at the top of the first rail replacing platform (21), the first driving pulley set is located at the left end of the first rail replacing platform (21), the first driven pulley set is located at the right end of the first rail replacing platform (21), and the first driving pulley set is in transmission connection with the first driven pulley set through the first conveying belt set; the first driving motor (231) and the first speed reducer are both fixedly arranged at the left end of the first rail replacing platform (21), and the first driving motor (231) is in transmission connection with the first driving belt pulley set through the first speed reducer; the first conveyor belt group is fixedly connected with the second rail changing platform (22); and/or the presence of a gas in the gas,

the second driving assembly comprises a second driving motor (241), a second speed reducer, a second driving belt pulley set, a second driven belt pulley set and a second conveying belt set;

the second driving pulley set and the second driven pulley set are both rotatably mounted at the top of the second rail replacing platform (22), the second driving pulley set is positioned at the left end of the second rail replacing platform (22), the second driven pulley set is positioned at the right end of the second rail replacing platform (22), and the second driving pulley set is in transmission connection with the second driven pulley set through the second conveying belt set; the second driving motor (241) and the second speed reducer are both fixedly arranged at the left end of the second rail replacing platform (22), and the second driving motor (241) is in transmission connection with the second driving belt pulley set through the second speed reducer; the second conveyor belt group is fixedly connected with the travelling mechanism (4).

6. The orbital inspection robot according to claim 5,

the first driving pulley set comprises a first driving pulley (232), and the first driving pulley (232) is positioned at the rear end of the first rail replacing platform (21); the first driven pulley set comprises a first driven pulley (233), and the first driven pulley (233) is positioned at the rear end of the first rail changing platform (21); the first conveyor belt group comprises a first conveyor belt (234), a first driving belt wheel (232) is in transmission connection with a first driven belt wheel (233) through the first conveyor belt (234), and the top of the first conveyor belt (234) is fixedly connected with the bottom of the second rail changing platform (22); and/or the presence of a gas in the gas,

the second driving pulley set comprises a third driving pulley (242), and the third driving pulley (242) is positioned at the rear end of the second rail changing platform (22); the second driven pulley set comprises a third driven pulley (243), and the third driven pulley (243) is positioned at the rear end of the second rail changing platform (22); the second conveyor belt group comprises a third conveyor belt (244), the third driving pulley (242) is in transmission connection with a third driven pulley (243) through the third conveyor belt (244), and the top of the third conveyor belt (244) is fixedly connected with the bottom of the travelling mechanism (4).

7. The orbital inspection robot according to claim 5,

the first driving pulley set comprises a first driving pulley (232) and a second driving pulley, the first driving pulley (232) is coaxially connected with the second driving pulley, the first driving pulley (232) is positioned at the front end of the first rail replacing platform (21), and the second driving pulley is positioned at the rear end of the first rail replacing platform (21);

the first driven pulley set comprises a first driven pulley (233) and a second driven pulley, the first driven pulley (233) is coaxially connected with the second driven pulley, the first driven pulley (233) is positioned at the front end of the first rail replacing platform (21), and the second driven pulley is positioned at the rear end of the first rail replacing platform (21);

the first conveyor belt group comprises a first conveyor belt (234) and a second conveyor belt, a first driving belt wheel (232) is in transmission connection with a first driven belt wheel (233) through the first conveyor belt (234), a second driving belt wheel is in transmission connection with a second driven belt wheel through the second conveyor belt, and the top of the first conveyor belt (234) and the top of the second conveyor belt are both fixedly connected with the bottom of the second rail replacing platform (22).

8. The orbital inspection robot according to claim 1,

the anti-falling mechanism (3) comprises a first jaw rod (322), a second jaw rod (326), a first connecting rod group, a second connecting rod group, a third driving assembly and an anti-falling support (31) fixedly connected to the first rail replacing platform (21);

the first jaw rod (322) is hinged with the anti-falling support (31) at a position close to the first end of the first jaw rod (322), the second jaw rod (326) is hinged with the anti-falling support (31) at a position close to the first end of the second jaw rod (326), and the hinged position of the first jaw rod (322) and the anti-falling support (31) is on the left side of the hinged position of the second jaw rod (326) and the anti-falling support (31);

the first end of the first jaw rod (322) is hinged with the first end of the first connecting rod group, the first end of the second jaw rod (326) is hinged with the first end of the second connecting rod group, and the second end of the first connecting rod group and the second end of the second connecting rod group are both hinged with the vertical linear motion output end of the third driving assembly;

the fixed end of the third driving component is connected with the falling-proof bracket (31).

9. The orbital inspection robot according to claim 1,

the device comprises a third jaw rod (432), a fourth jaw rod (436), a third connecting rod group, a fourth connecting rod group, a fifth driving component and a walking bracket (42) which is connected to the second rail changing platform (22) in a sliding way;

a driving wheel (41) for driving the traveling mechanism to travel is rotatably mounted on the traveling support (42), the third jaw rod (432) and the fourth jaw rod (436) are positioned on the front side of the driving wheel (41), the third jaw rod (432) is hinged to the traveling support (42) at a position close to the first end of the third jaw rod (432), the fourth jaw rod (436) is hinged to the traveling support (42) at a position close to the first end of the fourth jaw rod (436), and the hinged position of the third jaw rod (432) and the traveling support (42) is positioned on the left side of the hinged position of the fourth jaw rod (436) and the traveling support (42);

the first end of the third jaw rod (432) is hinged with the first end of the third connecting rod group, the first end of the fourth jaw rod (436) is hinged with the first end of the fourth connecting rod group, and the second end of the third connecting rod group and the second end of the fourth connecting rod group are hinged with the vertical linear motion output end of the fifth driving component;

the fixed end of the fifth driving component is connected with the walking bracket (42).

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