阅读说明：本技术 防倾覆巡检机器人 (Overturn-preventing inspection robot ) 是由 周庆 张海兵 肖杰 陈咏涛 高晋 吴照国 王大洪 宋伟 邓邦飞 宫林 包健康 于 2020-11-30 设计创作，主要内容包括：本发明公开了一种防倾覆巡检机器人,属于巡检机器人技术领域,包括前行走履带组、中间关节和后行走履带组,所述前行走履带组和后行走履带组的结构相同,所述前行走履带组包括行走履带从动轮、行走履带、行走履带主动轮、行走履带侧板、电机、控制板、一级传动轴、一级传动直齿轮、二级传动锥齿轮、二级传动直齿轮和一级传动锥齿轮,所述行走履带侧板的两端通过固定连接的轴承分别转动连接有行走履带从动轮和行走履带主动轮,所述行走履带从动轮和行走履带主动轮啮合连接有用于行走的行走履带,本发明防倾覆巡检机器人在管线错杂密布的电缆管廊或者沟道中能移动自如,不会出现倾覆,防倾覆巡检机器人始终保持稳定巡检,利于实际巡检。(The invention discloses an overturn-preventing inspection robot, which belongs to the technical field of inspection robots and comprises a front walking track group, a middle joint and a rear walking track group, wherein the front walking track group and the rear walking track group have the same structure, the front walking track group comprises a walking track driven wheel, a walking track driving wheel, a walking track side plate, a motor, a control plate, a primary transmission shaft, a primary transmission straight gear, a secondary transmission bevel gear, a secondary transmission straight gear and a primary transmission bevel gear, two ends of the walking track side plate are respectively and rotatably connected with the walking track driven wheel and the walking track driving wheel through bearings which are fixedly connected, the walking track driven wheel and the walking track driving wheel are meshed with the walking track for walking, the overturn-preventing inspection robot can freely move in a cable pipe gallery or a channel with staggered and densely distributed pipelines, the overturning prevention inspection robot can not overturn, can always keep stable inspection, and is beneficial to actual inspection.)

1. The utility model provides an it patrols and examines robot to prevent toppling, includes walking track group (1), middle joint (2) and walking track group (3) after, its characterized in that before: the structure of the front walking track group (1) is the same as that of the rear walking track group (3), the front walking track group (1) comprises a walking track driven wheel (8), a walking track (9), a walking track driving wheel (10), walking track side plates (13), a motor (15), a control panel (16), a primary transmission shaft (17), a primary transmission straight gear (22), a secondary transmission bevel gear (23), a secondary transmission straight gear (30) and a primary transmission bevel gear (32), two ends of each walking track side plate (13) are respectively and rotatably connected with the walking track driven wheel (8) and the walking track driving wheel (10) through bearings fixedly connected with each other, the walking track driven wheel (8) and the walking track driving wheel (10) are meshed with the walking track (9) for walking, and the motor (15) and the control panel (16) are fixedly mounted on the inner wall of each walking track side plate (13), output fixedly connected with second grade transmission straight-teeth gear (30) of motor (15), second grade transmission straight-teeth gear (30) meshing is connected with one-level transmission straight-teeth gear (22), one-level transmission straight-teeth gear (22) fixedly connected with one-level transmission shaft (17), one-level transmission shaft (17) fixedly connected with one-level transmission bevel gear (32), one-level transmission bevel gear (32) meshing is connected with second grade transmission bevel gear (23), second grade transmission bevel gear (23) are connected with walking track action wheel (10), preceding walking track group (1) and back walking track group (3) all are connected with tertiary transport structure, tertiary transport structure is connected with level four transmission structure, level four transmission structure is connected with the anti-overturning structure who is used for preventing overturning, the anti-overturning structure is including encircleing track from driving wheel (6), encircleing track (7), Encircle track action wheel (11), encircle the track from driving wheel backup pad (12) and encircle track action wheel backup pad (14), it is connected with through fixed connection's bearing rotation and encircles track from driving wheel (6) to encircle between track from driving wheel backup pad (12), it is connected with through fixed connection's bearing rotation and encircles track action wheel (11) to encircle track action wheel backup pad (14), it is connected with and encircles track (7) from driving wheel (6) and encircleing track action wheel (11) meshing to encircle the track, and encircle track (7) and set up with walking track (9) are perpendicular, it is connected with U-shaped link (4) to encircle track from driving wheel backup pad (12) rotation, U-shaped link (4) fixedly connected with joint (5), the both ends fixed connection of joint (5) and middle joint (2).

2. The overturn-preventing inspection robot as set forth in claim 1, wherein: and the secondary transmission bevel gear (23) is fixedly arranged on a rotating shaft of the walking crawler belt driving wheel (10).

3. The overturn-preventing inspection robot as set forth in claim 2, wherein: and the straight plates fixedly connected between the side plates (13) of the walking crawler belt are rotatably connected with the primary transmission shaft (17) through bearings fixedly connected.

4. The overturn-preventing inspection robot as set forth in claim 3, wherein: the control panel (16) is electrically connected with a controller of the robot, and the control panel (16) is electrically connected with the motor (15).

5. The overturn-preventing inspection robot as set forth in claim 1, wherein: one end of the walking track side plate (13) is fixedly connected with a surrounding track driven wheel supporting plate (12) from top to bottom, and the other end of the walking track side plate (13) is fixedly connected with a surrounding track driving wheel supporting plate (14) from top to bottom.

6. The overturn-preventing inspection robot as set forth in claim 1, wherein: three-level transmission structure includes three-level transmission straight-teeth gear (18), level four transmission straight-teeth gear (25), secondary drive axle (26) and five-level transmission straight-teeth gear (27), three-level transmission bevel gear (31) fixed connection's tertiary transmission straight-teeth gear of pivot fixedly connected with (18), three-level transmission straight-teeth gear (18) meshing is connected with level four transmission straight-teeth gear (25), level four transmission straight-teeth gear (25) fixedly connected with secondary drive axle (26), level four transmission straight-teeth gear (25) fixedly connected with five-level transmission straight-teeth gear (27).

7. The overturn-preventing inspection robot as set forth in claim 6, wherein: transverse plates connected with the walking track side plates (13) are rotatably connected with a rotating shaft connected with the third-stage transmission bevel gear (31) and a second-stage transmission shaft (26) through bearings fixedly connected with the transverse plates, and the rotating shaft of the walking track driving wheel (10) rotates in a transverse hole of the transverse plates connected with the walking track side plates (13).

8. The anti-toppling inspection robot according to claim 7, wherein: four-stage drive structure includes four-stage drive bevel gear (19), seven-stage drive bevel gear (20), four-stage drive shaft (21), three-stage drive shaft (24), five-stage drive bevel gear (28) and six-stage drive bevel gear (29), the one end and five-stage drive straight-tooth gear (27) fixed connection of three-stage drive shaft (24), the other end fixedly connected with four-stage drive bevel gear (19) of three-stage drive shaft (24), four-stage drive bevel gear (19) meshing is connected with five-stage drive bevel gear (28), five-stage drive bevel gear (28) fixedly connected with four-stage drive shaft (21), four-stage drive shaft (21) fixedly connected with six-stage drive bevel gear (29), six-stage drive bevel gear (29) meshing is connected with seven-stage drive bevel gear (20).

9. The overturn-preventing inspection robot as set forth in claim 8, wherein: the support plate (14) of the encircling track driving wheel is rotatably connected with the third-stage transmission shaft (24) and the fourth-stage transmission shaft (21) through bearings fixedly connected.

10. The anti-toppling inspection robot according to claim 9, wherein: and a rotating shaft surrounding the track driving wheel (11) is fixedly connected with a seven-stage transmission bevel gear (20).

Technical Field

The invention relates to the technical field of inspection robots, in particular to an overturn-preventing inspection robot.

Background

The inspection robot is mainly used for replacing manpower to inspect cables, and the inspection route needs to be planned when the robot operates.

The track channel inspection robot is designed for better inspection, a drive mechanism of the track channel inspection robot consists of three major parts, namely a front track group, a middle joint and a rear track group, the front track group consists of a walking track and a surrounding track, the walking track is a main moving track, and a built-in motor and a transmission structure are arranged in the walking track; the front camera is used for collecting inspection videos; the middle joint consists of a left-right steering joint and an up-down pitching joint, and the turning and the front-back folding of the robot are formed; the rear track group is the same as the front track group.

However, under the condition that pipelines in a cable duct or a channel are arranged in a staggered and dense mode, the common wheel type and crawler type pipelines cannot move freely, and once the pipelines overturn, the pipelines cannot move and are not beneficial to actual inspection.

Disclosure of Invention

The invention aims to provide an overturn-preventing inspection robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an overturn-preventing inspection robot comprises a front walking track group, a middle joint and a rear walking track group, wherein the front walking track group and the rear walking track group are identical in structure, the front walking track group comprises a walking track driven wheel, a walking track driving wheel, a walking track side plate, a motor, a control plate, a primary transmission shaft, a primary transmission straight gear, a secondary transmission bevel gear, a secondary transmission straight gear and a primary transmission bevel gear, two ends of the walking track side plate are respectively and rotatably connected with the walking track driven wheel and the walking track driving wheel through fixedly connected bearings, the walking track driven wheel and the walking track driving wheel are meshed with the walking track for walking, the motor and the control plate are fixedly mounted on the inner wall of the walking track side plate, the output end of the motor is fixedly connected with the secondary transmission straight gear, the secondary transmission straight gear is meshed with the primary transmission straight gear, the anti-overturning device comprises a first-stage transmission straight gear, a first-stage transmission bevel gear, a second-stage transmission bevel gear, a walking track driving wheel, a forward walking track group, a backward walking track group, a third-stage transmission structure, a fourth-stage transmission structure, a surrounding track driven wheel supporting plate and a surrounding track driving wheel supporting plate, wherein the first-stage transmission straight gear is fixedly connected with the first-stage transmission shaft, the first-stage transmission bevel gear is meshed with the second-stage transmission bevel gear, the second-stage transmission bevel gear is connected with the walking track driving wheel, the forward walking track group and the backward walking track group are both connected with the third-stage transmission structure, the third-stage transmission structure is connected with the fourth-stage transmission structure, the fourth-stage transmission structure is connected with the anti-, the driving wheel is meshed with the surrounding track through the surrounding track and the driving wheel, the surrounding track is perpendicular to the walking track, the supporting plate is rotatably connected with a U-shaped connecting frame through the surrounding track, the U-shaped connecting frame is fixedly connected with a connecting joint, and the connecting joint is fixedly connected with two ends of the middle joint.

Preferably, the secondary transmission bevel gear is fixedly arranged on a rotating shaft of the walking crawler driving wheel.

Preferably, the straight plate fixedly connected between the side plates of the walking track is rotatably connected with the primary transmission shaft through a bearing fixedly connected with the straight plate.

Preferably, the control panel is electrically connected with a controller of the robot, and the control panel is electrically connected with the motor.

Preferably, one end of the walking track side plate is fixedly connected with the surrounding track driven wheel supporting plate from top to bottom, and the other end of the walking track side plate is fixedly connected with the surrounding track driving wheel supporting plate from top to bottom.

Preferably, tertiary transport structure includes tertiary transmission straight-teeth gear, level four transmission straight-teeth gear secondary drive axle and five-stage transmission straight-teeth gear, tertiary transmission bevel gear fixed connection's tertiary transmission straight-teeth gear of pivot fixedly connected with, tertiary transmission straight-teeth gear meshing is connected with level four transmission straight-teeth gear, level four transmission straight-teeth gear fixedly connected with secondary drive axle, level four transmission straight-teeth gear fixedly connected with five-stage transmission straight-teeth gear.

Preferably, the transverse plates connected with the side plates of the walking track are rotatably connected with the rotating shaft connected with the third-stage transmission bevel gear and the second-stage transmission shaft through bearings fixedly connected with the transverse plates, and the rotating shaft of the driving wheel of the walking track rotates in the transverse holes of the transverse plates connected with the side plates of the walking track.

Preferably, the level four drive structure includes level four drive bevel gear, seven drive bevel gear, level four transmission shaft, tertiary transmission shaft, five drive bevel gear and six drive bevel gear, the one end and the five drive straight-tooth gear fixed connection of tertiary transmission shaft, the other end fixedly connected with level four drive bevel gear of tertiary transmission shaft, level four drive bevel gear meshing is connected with five drive bevel gear, five drive bevel gear fixedly connected with level four transmission shaft, level four transmission shaft fixedly connected with six drive bevel gear, six drive bevel gear meshing is connected with seven drive bevel gear.

Preferably, the support plate surrounding the crawler driving wheel is rotatably connected with the third-stage transmission shaft and the fourth-stage transmission shaft through bearings fixedly connected with the support plate.

Preferably, the rotating shaft surrounding the track driving wheel is fixedly connected with a seven-stage transmission bevel gear.

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

the invention drives the rotation of a third-stage transmission bevel gear of a third-stage transmission structure through a second-stage transmission bevel gear, the third-stage transmission bevel gear drives a third-stage transmission spur gear to rotate, the third-stage transmission spur gear drives a fourth-stage transmission spur gear to rotate, the fourth-stage transmission spur gear drives a fifth-stage transmission spur gear to rotate, the fifth-stage transmission spur gear drives a third-stage transmission shaft of a fourth-stage transmission structure to rotate, the third-stage transmission shaft drives a fourth-stage transmission bevel gear to rotate, the fourth-stage transmission bevel gear drives a sixth-stage transmission bevel gear to rotate, the sixth-stage transmission bevel gear drives a seventh-stage transmission bevel gear to rotate, the power surrounding the track driving wheel is conveniently transmitted to the seventh-stage transmission bevel gear, the driving stability of the seventh-stage transmission bevel gear is ensured, then the seventh-stage transmission bevel gear of the fourth-, encircle the track action wheel and encircle the track and drive from the driving wheel and encircle the track and rotate, encircle the track and rotate in walking track vertical direction, encircle track and the motor of walking track sharing as power, connect through multistage transmission, realize same power, same control, the realization is encircleed the track and is rotated on the horizontal direction, two the same encircleing the track and respectively preventing toppling the processing to two the same walking tracks of group, it is in steady walking state to have guaranteed the walking track, prevent toppling and patrol and examine the robot and move freely in the cable pipe gallery or the channel of pipeline miscellaneous cloth, can not appear toppling, prevent toppling and patrol and examine the robot and remain stable throughout and patrol and examine, do benefit to actually and patrol and examine.

Drawings

FIG. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a top view of the inventive structure of the present invention;

FIG. 3 is a front view of the rear track set and its attachment structure of the present invention;

FIG. 4 is a top view of the rear track set and its connection structure of the present invention;

FIG. 5 is a front cross-sectional view of the rear travel track set and its attachment structure of the present invention;

FIG. 6 is a schematic front view of the driving wheel of the encircling track and the connecting structure thereof according to the present invention;

in the figure: 1. the front traveling crawler belt set 2, the middle joint 3, the rear traveling crawler belt set 4, the U-shaped connecting frame 5, the connecting joint 6, the surrounding crawler belt driven wheel 7, the surrounding crawler belt 8, the traveling crawler belt driven wheel 9, the traveling crawler belt 10, the traveling crawler belt driving wheel 11, the surrounding crawler belt driving wheel 12, the surrounding crawler belt driven wheel supporting plate 13, the traveling crawler belt side plate 14, the surrounding crawler belt driving wheel supporting plate 15, the motor 16, the control plate 17, the primary transmission shaft 18, the tertiary transmission straight gear 19, the quaternary transmission bevel gear 20, the seven-stage transmission bevel gear 21, the quaternary transmission shaft 22, the primary transmission straight gear 23, the secondary transmission bevel gear 24, the tertiary transmission bevel gear 25, the quaternary transmission straight gear 26, the secondary transmission shaft 27, the fifth transmission straight gear 28, the fifth transmission bevel gear 29, the sixth transmission bevel gear 30, the secondary transmission straight gear 31, the tertiary transmission And (4) wheels.

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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The present invention will be further described with reference to the following examples.

Example 1

As shown in fig. 1, 2, 3, 4, an overturn-preventing inspection robot comprises a front walking track group 1, a middle joint 2 and a rear walking track group 3, wherein the front walking track group 1 and the rear walking track group 3 have the same structure, the front walking track group 1 comprises a walking track driven wheel 8, a walking track 9, a walking track driving wheel 10, a walking track side plate 13, a motor 15, a control panel 16, a primary transmission shaft 17, a primary transmission spur gear 22, a secondary transmission bevel gear 23, a secondary transmission spur gear 30 and a primary transmission bevel gear 32, two ends of the walking track side plate 13 are respectively and rotatably connected with the walking track driven wheel 8 and the walking track driving wheel 10 through bearings which are fixedly connected, the walking track driven wheel 8 and the walking track driving wheel 10 are connected with the walking track 9 for walking in a meshed manner, the motor 15 and the control panel 16 are fixedly installed on the inner wall of the walking track side plate 13, the control panel 16 is electrically connected with a controller of the robot, the control panel 16 is electrically connected with the motor 15, the output end of the motor 15 is fixedly connected with a second-stage transmission straight gear 30, the second-stage transmission straight gear 30 is connected with a first-stage transmission straight gear 22 in a meshing way, the first-stage transmission straight gear 22 is fixedly connected with a first-stage transmission shaft 17, a straight plate fixedly connected between the walking track side plates 13 is rotatably connected with the first-stage transmission shaft 17 through a bearing fixedly connected with the first-stage transmission straight gear 17, the first-stage transmission straight gear 17 is fixedly connected with a first-stage transmission bevel gear 32, the first-stage transmission bevel gear 32 is connected with a second-stage transmission bevel gear 23 in a meshing way, the second-stage transmission bevel gear 23 is fixedly arranged on a rotating shaft of the walking track driving wheel 10, the second-stage transmission, the four-stage transmission structure is connected with an anti-overturning structure for preventing overturning, the anti-overturning structure comprises a surrounding track driven wheel 6, a surrounding track 7, a surrounding track driving wheel 11, a surrounding track driven wheel supporting plate 12 and a surrounding track driving wheel supporting plate 14, the surrounding track driven wheel 6 is rotatably connected between the surrounding track driven wheel supporting plates 12 through fixedly connected bearings, the surrounding track driving wheel supporting plate 14 is rotatably connected with the surrounding track driving wheel 11 through fixedly connected bearings, the surrounding track driven wheel 6 and the surrounding track driving wheel 11 are meshed and connected with the surrounding track 7, the surrounding track 7 is vertically arranged with a walking track 9, the surrounding track driven wheel supporting plate 12 is rotatably connected with a U-shaped connecting frame 4, one end of a walking track side plate 13 is vertically and fixedly connected with the surrounding track driven wheel supporting plate 12, the other end of the walking track side plate 13 is vertically and fixedly connected, the U-shaped connecting frame 4 is fixedly connected with a connecting joint 5, the connecting joint 5 is fixedly connected with two ends of a middle joint 2, the middle joint 2 is a connecting structure of a front walking track group 1 and a rear walking track group 3, the middle joint 2 consists of a left-right steering joint and an upper-lower pitching joint, the turning and the front-back folding of the robot are formed, a four-stage transmission structure drives a surrounding track driving wheel 11 of an anti-overturning structure to rotate, the surrounding track driving wheel 11 and the surrounding track driven wheel 6 drive a surrounding track 7 to rotate, the surrounding track 7 rotates in the vertical direction of a walking track 9, the surrounding track 7 and the walking track 9 share one motor 15 as power, the same power and the same control are realized through multi-stage transmission connection, the same rotating of the surrounding track 7 in the horizontal direction, and the same surrounding tracks 7 respectively perform anti-overturning treatment on the same walking tracks 9, the walking crawler belt 9 is in a stable walking state, the overturn-preventing inspection robot can freely move in a cable pipe gallery or a channel with the pipelines distributed in a staggered and dense mode, overturn cannot occur, the overturn-preventing inspection robot always keeps stable inspection, and actual inspection is facilitated.

Example 2

Example 2 is a further modification to example 1.

As shown in fig. 1, 2, 3, 5, 6, the third-level transmission structure comprises a third-level transmission straight gear 18, a fourth-level transmission straight gear 25 and a second-level transmission shaft 26, a rotating shaft fixedly connected with the third-level transmission straight gear 18 of the third-level transmission bevel gear 31 is fixedly connected with the third-level transmission straight gear 18, the third-level transmission straight gear 18 is meshed with the fourth-level transmission straight gear 25, the fourth-level transmission straight gear 25 is fixedly connected with the second-level transmission shaft 26, the fourth-level transmission straight gear 25 is fixedly connected with the fifth-level transmission straight gear 27, a transverse plate connected with a walking crawler side plate 13 is rotatably connected with the rotating shaft connected with the third-level transmission bevel gear 31 and the second-level transmission shaft 26 through fixedly connected bearings, the rotating shaft of the walking crawler driving wheel 10 rotates in a transverse hole of the transverse plate connected with the walking, A fifth-stage transmission bevel gear 28 and a sixth-stage transmission bevel gear 29, one end of a third-stage transmission shaft 24 is fixedly connected with a fifth-stage transmission straight gear 27, the other end of the third-stage transmission shaft 24 is fixedly connected with a fourth-stage transmission bevel gear 19, the fourth-stage transmission bevel gear 19 is connected with the fifth-stage transmission bevel gear 28 in a meshing manner, the fifth-stage transmission bevel gear 28 is fixedly connected with a fourth-stage transmission shaft 21, the fourth-stage transmission shaft 21 is fixedly connected with the sixth-stage transmission bevel gear 29, the sixth-stage transmission bevel gear 29 is connected with a seventh-stage transmission bevel gear 20 in a meshing manner, a support plate 14 surrounding a caterpillar driving wheel is rotatably connected with the third-stage transmission shaft 24 and the fourth-stage transmission shaft 21 through fixedly connected bearings, a rotating shaft surrounding the caterpillar driving wheel 11 is fixedly connected with the, the three-stage transmission straight gear 18 drives the four-stage transmission straight gear 25 to rotate, the four-stage transmission straight gear 25 drives the five-stage transmission straight gear 27 to rotate, the five-stage transmission straight gear 27 drives the three-stage transmission shaft 24 of the four-stage transmission structure to rotate, the three-stage transmission shaft 24 drives the four-stage transmission bevel gear 19 to rotate, the four-stage transmission bevel gear 19 drives the five-stage transmission bevel gear 28 to rotate, the five-stage transmission bevel gear 28 drives the four-stage transmission shaft 21 to rotate, the four-stage transmission shaft 21 drives the six-stage transmission bevel gear 29 to rotate, the six-stage transmission bevel gear 29 drives the seven-stage transmission bevel gear 20 to rotate, power which surrounds the crawler driving wheel 11 is convenient to transmit to.

When the overturn-preventing inspection robot is used, the motor 15 is controlled by the control panel 16, the motor 15 drives the first-stage transmission straight gear 22 to rotate through the second-stage transmission straight gear 30, the first-stage transmission straight gear 22 drives the first-stage transmission shaft 17 to rotate, the first-stage transmission shaft 17 drives the first-stage transmission bevel gear 32 to rotate, the first-stage transmission bevel gear 32 drives the second-stage transmission bevel gear 23 to rotate, the second-stage transmission bevel gear 23 drives the walking track driving wheel 10 to rotate, the walking track driving wheel 10 and the walking track driven wheel 8 are matched to drive the walking track 9, and the walking track 9 drives the front walking track group 1 and the rear walking track group 3 to move, so that; during inspection, the second-stage transmission bevel gear 23 drives the third-stage transmission bevel gear 31 of the third-stage transmission structure to rotate, the third-stage transmission bevel gear 31 drives the third-stage transmission spur gear 18 to rotate, the third-stage transmission spur gear 18 drives the fourth-stage transmission spur gear 25 to rotate, the fourth-stage transmission spur gear 25 drives the fifth-stage transmission spur gear 27 to rotate, the fifth-stage transmission spur gear 27 drives the third-stage transmission shaft 24 of the fourth-stage transmission structure to rotate, the third-stage transmission shaft 24 drives the fourth-stage transmission bevel gear 19 to rotate, the fourth-stage transmission bevel gear 19 drives the fifth-stage transmission bevel gear 28 to rotate, the fifth-stage transmission bevel gear 28 drives the fourth-stage transmission shaft 21 to rotate, the fourth-stage transmission bevel gear 21 drives the sixth-stage transmission bevel gear 29 to rotate, the sixth-stage transmission bevel gear 29 drives the seventh-, then seven-stage transmission bevel gear 20 of four-stage transmission structure drives the encirclement track driving wheel 11 of anti-overturning structure to rotate, encirclement track driving wheel 11 and encirclement track follow driving wheel 6 drive encirclement track 7 to rotate, encirclement track 7 rotates in walking track 9 vertical direction, encirclement track 7 and walking track 9 share one motor 15 as power, through multi-stage transmission connection, realize same power, same control, it rotates in the horizontal direction to realize encirclement track 7, two same encirclement tracks 7 respectively prevent overturning treatment to two same walking tracks 9, it is in stable walking state to have guaranteed that walking tracks 9 are in, prevent overturning and patrol and examine the robot and can move freely in the cable pipe gallery or the ditch that the pipeline is crisscross densely covered, can not appear overturning, do benefit to actual patrol and examine.

The parts not involved in the present invention are the same as or can be implemented by the prior art. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.