Inspection equipment

Abstract

The present invention provides an inspection device, comprising: a body movably arranged along a predetermined trajectory; an environment detection component for detecting environmental information in the working condition, the environment detection component being connected to the body in a position-adjustable manner along a direction close to or away from the body; a first positioning part is arranged on the body, and the environment detection component comprises a second positioning part cooperating with the first positioning part; when the environment detection component moves towards the body until the first positioning part and the second positioning part are connected to each other, the environment detection component is positioned. The present invention solves the problem of low detection accuracy of the inspection device in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of working condition inspection, and in particular, to an inspection device. Background Art

[0002] At present, in complex working environments such as mines or tunnels, intelligent overhead rail inspection robots are generally used to replace manual labor to detect the construction environment to ensure the safety of workers.

[0003] Since the underground space is large and the inspection device can only move along a preset track, the detection accuracy of the environment far from the device is low, resulting in inaccurate detection of underground environment information and reducing the detection accuracy of the device. Summary of the Invention

[0004] The main object of the present invention is to provide an inspection device to solve the problem of low detection accuracy of the existing inspection device.

[0005] To achieve the above object, the present invention provides an inspection device, including: a body movably arranged along a predetermined track; an environment detection component for detecting environment information in the working condition, the environment detection component being connected to the body in a position-adjustable manner along a direction close to or away from the body; a first positioning portion is provided on the body, and the environment detection component includes a second positioning portion that cooperates with the first positioning portion; when the environment detection component moves towards the body until the first positioning portion and the second positioning portion are connected to each other, the environment detection component is positioned.

[0006] Further, the inspection device further includes: a driving component, the driving component includes a first driving member movably arranged along a first direction, both ends of the first driving member are respectively connected to the body and the environment detection component, and the environment detection component is driven to move by the first driving member.

[0007] Further, an installation cavity is provided in the body, the first driving member is installed in the installation cavity, at least a part of the first driving member extends out of the installation cavity to push the environment detection component to move in a direction away from the body; or, the first driving member retracts into the installation cavity to drive the environment detection component to move in a direction close to the body.

[0008] Further, a through hole communicating with the installation cavity is provided on the body, the first positioning portion is located on the side of the through hole, and the first driving member is connected to the environment detection component after passing through the through hole.

[0009] Further, the first driving member is an electric push rod or a piston cylinder.

[0010] Further, the environmental detection component further includes: a mounting block, on which the second positioning portion is provided; a detection sensor mounted on the mounting block, and the first driving member is connected to the mounting block.

[0011] Further, the driving component further includes: a second driving member movably provided along a second direction, with an included angle between the first direction and the second direction, and the second driving member is drivingly connected to the detection sensor.

[0012] Further, a mounting channel is provided on the mounting block, the second driving member is mounted in the mounting channel, and at least a part of the second driving member protrudes from the mounting channel to push the detection sensor to move away from the mounting block; or, the second driving member retracts into the mounting channel to drive the detection sensor to move closer to the mounting block.

[0013] Further, an avoidance opening communicating with the mounting channel is provided on the side surface of the mounting block, and the second driving member is connected to the detection sensor after passing through the avoidance opening.

[0014] Further, there are a plurality of detection sensors, and the plurality of detection sensors are arranged at intervals along the circumferential direction of the mounting block; there are a plurality of second driving members, and the plurality of second driving members are arranged in one-to-one correspondence with the plurality of detection sensors.

[0015] Further, the second driving member is an electric push rod or a piston cylinder.

[0016] Further, the inspection equipment further includes: a track, on which the body is mounted; the body has a first end face and a second end face arranged oppositely, the first end face faces the track, and the first positioning portion is provided on the second end face.

[0017] Further, the first positioning portion is a positioning groove; the second positioning portion is a positioning protrusion, and at least a part of the positioning protrusion is inserted into the positioning groove.

[0018] Further, the environmental detection component further includes: a mounting block movably provided along a direction close to or away from the body, on which the second positioning portion is provided; a temperature and humidity sensor, a gas sensor, and an obstacle avoidance sensor, and the temperature and humidity sensor, the gas sensor, and the obstacle avoidance sensor are all mounted on the mounting block.

[0019] Applying the technical solution of the present invention, the inspection device includes a body and an environmental detection component. The body is movably arranged along a predetermined trajectory. The environmental detection component is used to detect environmental information in the working condition, and the environmental detection component is connected to the body in a position-adjustable manner along a direction close to or away from the body; a first positioning portion is arranged on the body, and the environmental detection component includes a second positioning portion that cooperates with the first positioning portion; when the environmental detection component moves towards the body until the first positioning portion and the second positioning portion are connected to each other, the environmental detection component is positioned. By arranging the environmental detection component to be connected to the body in a position-adjustable manner along a direction close to or away from the body, the environmental detection component can extend towards a direction away from the body to perform a comprehensive detection of the environmental information around the body, so as to detect information such as temperature and humidity, gas concentration, or gas composition at different positions in the working environment of the body, greatly improving the detection accuracy of the inspection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0021] Figure 1 The structural schematic diagram of an embodiment of the inspection device according to the present invention is shown;

[0022] Figure 2 The cross-sectional view of the environmental detection component of the inspection device according to the present invention is shown;

[0023] Figure 3 The bottom view of the body of the inspection device according to the present invention is shown;

[0024] Figure 4 The side view of the inspection device according to the present invention is shown; and

[0025] Figure 5 The structural schematic diagram of the track of the inspection device according to the present invention is shown.

[0026] Among them, the above-mentioned drawings include the following reference numerals:

[0027] 1, body; 10, first positioning portion; 101, positioning groove; 102, through hole;

[0028] 2, track; 201, groove; 21, installation groove; 22, first body; 23, second body; 24, connecting plate; 25, guiding groove; 251, first guiding groove; 252, second guiding groove;

[0029] 3, walking component; 301, protruding block; 31, walking wheel; 32, driving shaft; 33, sleeve;

[0030] 4. Support frame; 5. Guide wheel set; 51. First guide wheel; 52. Second guide wheel;

[0031] 6. Environmental detection component; 60. Second positioning part; 61. Mounting block; 66. Detection sensor; 610. Mounting channel; 611. Avoidance opening; 601. Positioning protrusion; 63. Temperature and humidity sensor; 64. Gas sensor; 65. Obstacle avoidance sensor;

[0032] 7. Driving component; 70. First driving part; 71. Second driving part. Specific embodiments

[0033] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0034] The present invention provides an inspection device. Please refer to Figures 1 to 5 , including: a body 1, the body 1 is movably arranged along a predetermined trajectory; an environmental detection component 6, the environmental detection component 6 is used to detect environmental information in the working condition, and the environmental detection component 6 is connected to the body 1 in a position-adjustable manner along a direction close to or away from the body 1; a first positioning part 10 is arranged on the body 1, and the environmental detection component 6 includes a second positioning part 60 that cooperates with the first positioning part 10; when the environmental detection component 6 moves towards the body 1 until the first positioning part 10 and the second positioning part 60 are connected to each other, the environmental detection component 6 is positioned.

[0035] According to the inspection device provided by the present invention, including a body 1 and an environmental detection component 6, the body 1 is movably arranged along a predetermined trajectory, the environmental detection component 6 is used to detect environmental information in the working condition, and the environmental detection component 6 is connected to the body 1 in a position-adjustable manner along a direction close to or away from the body 1; a first positioning part 10 is arranged on the body 1, and the environmental detection component 6 includes a second positioning part 60 that cooperates with the first positioning part 10; when the environmental detection component 6 moves towards the body 1 until the first positioning part 10 and the second positioning part 60 are connected to each other, the environmental detection component 6 is positioned. By setting the environmental detection component 6 to be connected to the body 1 in a position-adjustable manner along a direction close to or away from the body 1, the environmental detection component 6 can extend in a direction away from the body 1 to comprehensively detect the environmental information around the body 1, so as to detect information such as temperature and humidity or gas concentration or gas composition at different positions in the working environment of the body, greatly improving the detection accuracy of the inspection device.

[0036] Specifically, the inspection device further includes: a driving component 7. The driving component 7 includes a first driving member 70 that is movably arranged along a first direction. Two ends of the first driving member 70 are respectively connected to the body 1 and the environment detection component 6, and the environment detection component 6 is driven to move by the first driving member 70. By connecting the body 1 and the environment detection component 6 through the first driving member 70, during the process of the first driving member 70 driving the environment detection component 6 to move, the environment detection component 6 is positioned and connected to the body 1 or the environment detection component 6 is pushed out.

[0037] In order to reduce the overall volume of the inspection device and the occupied space of the inspection device, an installation cavity is provided in the body 1. The first driving member 70 is installed in the installation cavity, and at least part of the first driving member 70 extends out of the installation cavity to push the environment detection component 6 to move in a direction away from the body 1; or, the first driving member 70 retracts into the installation cavity to drive the environment detection component 6 to move in a direction close to the body 1. In this way, when the first driving member 70 retracts into the installation cavity, the environment detection component 6 is connected to the first positioning portion 10 through the second positioning portion 60, making the overall volume of the inspection device more compact, and avoiding the situation that the first driving member 70 is always outside the installation cavity and is interfered by foreign objects. When it is necessary to detect the environmental information at different positions, only the first driving member 70 needs to be extended out of the installation cavity, and the first driving member 70 is used to push the environment detection component 6 to move to detect the environmental information at different positions.

[0038] Further, as Figure 3 shown, in order to facilitate the connection between the first driving member 70 and the environment detection component 6, a through hole 102 communicating with the installation cavity is provided on the body 1. The first positioning portion 10 is located on the side of the through hole 102. After passing through the through hole 102, the first driving member 70 is connected to the environment detection component 6. Specifically, the outer surface of the first driving member 70 fits the hole wall surface of the through hole 102, so that at least part of the first driving member 70 is limited in the through hole 102, enabling the first driving member 70 to expand and contract along the extending direction of the through hole 102, and at the same time, it can also drive the second positioning portion 60 to be accurately connected to the first positioning portion 10.

[0039] In the embodiment provided by the present invention, the first driving member 70 is an electric push rod or a piston cylinder. In this way, through the rod structure, the overall structure of the inspection device is simpler, and it is convenient to control the expansion and contraction of the first driving member 70.

[0040] Among them, as Figure 1As shown, the environmental detection component 6 further includes: a mounting block 61, and a second positioning portion 60 is provided on the mounting block 61; a detection sensor 66, the detection sensor 66 is mounted on the mounting block 61, and a first driving component 70 is connected to the mounting block 61. The detection sensor 66 is used to detect the environmental information in the working condition. By using the mounting block 61 to carry the detection sensor 66, when the mounting block 61 is connected to the first driving component 70, it will not affect the electrical connection between the detection sensor 66 and the control circuit board.

[0041] In the specific implementation process, the driving component 7 further includes: a second driving component 71, the second driving component 71 is movably arranged along the second direction, and there is an included angle between the first direction and the second direction, and the second driving component 71 is drivingly connected to the detection sensor 66. By setting the second driving component 71, the detection sensor 66 can move along the second direction, giving the detection sensor 66 more degrees of freedom, and cooperating with the first driving component 70 to realize flexible control of the detection position of the detection sensor 66.

[0042] As Figure 2 shown, an installation channel 610 is provided on the mounting block 61, the second driving component 71 is installed in the installation channel 610, and at least a part of the second driving component 71 extends out of the installation channel 610 to push the detection sensor 66 to move in a direction away from the mounting block 61; or, the second driving component 71 retracts into the installation channel 610 to drive the detection sensor 66 to move in a direction close to the mounting block 61. In this way, when the detection sensor 66 does not need to extend for detection, the second driving component 71 can be retracted into the installation channel 610 to avoid the exposure of the second driving component 71. When the detection sensor 66 needs to detect the environmental information at a relatively far position, the second driving component 71 pushes the detection sensor 66 to extend, and at the same time, the second driving component 71 supports the detection sensor 66.

[0043] Wherein, an avoidance opening 611 communicating with the installation channel 610 is provided on the side surface of the mounting block 61, and the second driving component 71 passes through the avoidance opening 611 and then is connected to the detection sensor 66. The outer surface of the second driving component 71 is attached to the inner wall surface of the avoidance opening 611 to guide the second driving component 71 during the telescopic process. Wherein, a limiting groove is further provided on the side surface of the mounting block 61. After the second driving component 71 retracts into the installation channel 610, at least a part of the detection sensor 66 is located in the limiting groove to support and limit the detection sensor 66 through the limiting groove.

[0044] Preferably, there are multiple detection sensors 66, and the multiple detection sensors 66 are arranged at intervals along the circumferential direction of the mounting block 61; there are multiple second driving components 71, and the multiple second driving components 71 are arranged in one-to-one correspondence with the multiple detection sensors 66. The second driving component 71 is an electric push rod or a piston cylinder. Through a rod structure such as an electric push rod or a piston cylinder, the structure is simple and the installation is convenient, which is convenient for controlling the moving position of the detection sensor 66.

[0045] Among them, the inspection device further includes: a track 2, and the body 1 is mounted on the track 2; the body 1 has a first end face and a second end face arranged oppositely, the first end face faces the track 2, and the first positioning portion 10 is arranged on the second end face.

[0046] In the embodiment provided by the present invention, the first positioning portion 10 is a positioning groove 101; the second positioning portion 60 is a positioning protrusion 601, and at least a part of the positioning protrusion 601 is inserted into the positioning groove 101. The positioning groove 101 is arranged around the through hole 102. It is convenient to position the environmental detection component 6.

[0047] Specifically, the environmental detection component 6 further includes: a mounting block 61, the mounting block 61 is movably arranged along the direction close to or away from the body 1, the second positioning portion 60 is arranged on the mounting block; a temperature and humidity sensor 63, a gas sensor 64 and an obstacle avoidance sensor 65, the temperature and humidity sensor 63, the gas sensor 64 and the obstacle avoidance sensor 65 are all mounted on the mounting block 61. Specifically, the second positioning portion 60 protrudes from the mounting end face of the mounting block 61 towards the direction close to the body, and the first driving component 70 is connected to the second positioning portion 60. The temperature and humidity in the working environment are detected by the temperature and humidity sensor 63, the components and concentration of the gas in the working environment are detected by the gas sensor 64, and obstacles are detected by the obstacle avoidance sensor 65. Among them, the obstacle avoidance sensor 65 is a vision sensor or a laser sensor or an infrared sensor or an ultrasonic sensor.

[0048] In the embodiment provided by the present invention, the first driving component 70 is rotatably arranged around a predetermined axis. The first driving component 70 includes a fixed body and a telescopic driving rod. The driving rod is mounted on the fixed body. The fixed body is mounted on a turntable. The turntable is rotatably arranged around the predetermined axis. The turntable is mounted in the mounting cavity. The turntable is driven to rotate by a motor shaft. A tooth groove is arranged on the circumferential surface of the turntable, and a gear meshing with the tooth groove is arranged on the motor shaft. In this way, each detection sensor can detect different positions to improve the detection precision of the inspection device.

[0049] Among them, the inspection device further includes: a traveling assembly 3, installed on the body 1, at least part of the traveling assembly 3 is connected to the track 2, and the body 1 is driven to move along the track 2 by the traveling assembly 3. The traveling assembly 3 includes a protruding block 301, and a groove 201 for inserting the protruding block 301 is provided on the track 2. By using the stopping effect between the protruding block 301 and the groove 201, the traveling assembly 3 is prevented from slipping during walking, and the traveling assembly 3 is prevented from being easily deformed under the action of gravity.

[0050] Specifically, the traveling assembly 3 further includes: traveling wheels 31, connected to the body 1, the traveling wheels 31 are rotatably arranged around their own axes, and the protruding blocks 301 are arranged on the circumferential surface of the traveling wheels 31. There are multiple protruding blocks 301, and the multiple protruding blocks 301 are arranged at intervals along the circumferential direction of the traveling wheels 31. Among them, the protruding block 301 includes a first side surface and a second side surface arranged oppositely, the protruding block 301 has a fixed end connected to the circumferential surface and a free end in contact with the groove 201, and in the direction from the fixed end to the free end, the vertical distance between the first side surface and the second side surface gradually decreases.

[0051] During specific implementation, along the insertion direction of the protruding block 301, the notch of the groove 201 gradually decreases. Such a setting makes the groove wall surface of the groove 201 fit with the outer surface of the protruding block 301. During the rotation of the traveling wheels 31, the outer surface of the protruding block 301 can stop against the groove wall surface of the groove 201, preventing the traveling wheels 31 from slipping during walking.

[0052] In the embodiment provided by the present invention, as Figure 5 shown, the track 2 includes an installation groove 21, at least part of the traveling wheels 31 are located in the installation groove 21, the groove 201 is arranged on the bottom surface of the installation groove 21, and at least part of the side end surfaces of the traveling wheels 31 are in contact with the groove wall surface of the installation groove 21. Such a setting is to prevent the traveling wheels 31 from being suspended in the installation groove 21, and the groove wall surface of the installation groove 21 supports the traveling wheels 31, reducing the stress borne by the protruding block 301 and improving the service life of the inspection device. Preferably, antistatic coatings are applied to both the groove wall surface of the installation groove 21 and the side end surfaces of the traveling wheels 31.

[0053] Among them, the traveling assembly 3 further includes: a drive shaft 32, rotatably arranged around its own axis, one end of the drive shaft 32 is connected to the body 1, the other end of the drive shaft 32 is drivingly connected to the traveling wheels 31, and the traveling wheels 31 are driven to rotate by the drive shaft 32; a sleeve 33, sleeved on the drive shaft 32, the end of the sleeve 33 is connected to the body 1, and a bearing is arranged between the sleeve 33 and the drive shaft 32 to enable the drive shaft 32 to rotate relative to the sleeve 33. The sleeve 33 protects the drive shaft 32, preventing debris in the working environment from interfering with the drive shaft 32.

[0054] In specific implementation, to facilitate the guidance of the traveling assembly 3, the inspection device further includes: a support frame 4 mounted on the body 1; a guiding wheel set 5 disposed on the support frame 4 and located on the side of the traveling assembly 3, at least a part of the guiding wheel set 5 being in contact with the track 2 to guide the traveling assembly 3. Preferably, the guiding wheel set 5 is located on the side of the traveling wheel 31.

[0055] In the embodiment provided by the present invention, the track 2 includes a first body 22 and a second body 23 which are oppositely arranged, and the first body 22 and the second body 23 are connected by a connecting plate 24. A groove 201 is provided on the connecting plate 24, and at least a part of the traveling assembly 3 is located between the first body 22 and the second body 23; wherein, a guiding groove 25 is provided on the first body 22 and / or the second body 23, and the extending direction of the guiding groove 25 is the same as the extending direction of the track 2, and at least a part of the guiding wheel set 5 is located in the guiding groove 25. By limiting the guiding wheel set 5 in the guiding groove 25, the guiding wheel set 5 is connected to the traveling assembly 3 through the support frame 4, so as to guide the traveling wheel 31 through the guiding wheel set 5 during the rotation of the traveling wheel 31, and at the same time, the connection stability between the body 1 and the track 2 is increased by using the guiding wheel set 5.

[0056] Specifically, the first body 22 includes a first side surface and a second side surface which are oppositely arranged. A first guiding groove 251 is provided on the first side surface, and a second guiding groove 252 is provided on the second side surface. The guiding wheel set 5 includes a first guiding wheel 51 and a second guiding wheel 52. At least a part of the first guiding wheel 51 is located in the first guiding groove 251, at least a part of the second guiding wheel 52 is located in the second guiding groove 252, and the first guiding wheel 51 and the second guiding wheel 52 are connected.

[0057] Further, as Figure 4 shown, the second body 23 includes a third side surface and a fourth side surface which are oppositely arranged. A first guiding groove 251 is provided on the third side surface, and a second guiding groove 252 is provided on the fourth side surface. The guiding wheel set 5 includes a first guiding wheel 51 and a second guiding wheel 52. At least a part of the first guiding wheel 51 is located in the first guiding groove 251, at least a part of the second guiding wheel 52 is located in the second guiding groove 252, and the first guiding wheel 51 and the second guiding wheel 52 are connected. By arranging the guiding wheel set 5 on both sides of the track 2 in this way, the guiding wheel set 5 is prevented from slipping out of the guiding groove 25 due to the clamping action between the two sets of opposite guiding wheel sets 5. Among them, the guiding wheel set 5 is preferably four groups, two groups of guiding wheel sets 5 are located on the first side of the track 2 and on both sides of a traveling wheel 31, and the other two groups of guiding wheel sets 5 are located on the second side of the track 2 and on both sides of another traveling wheel 31.

[0058] In the actual application process, both sides of the connecting plate 24 are respectively provided with mounting grooves 21. The two opposite side surfaces of the connecting plate 24 are respectively the groove bottom surfaces of the two mounting grooves 21. Grooves 201 are respectively arranged on the two side surfaces of the connecting plate 24. There are two traveling wheels 31, and the two traveling wheels 31 are respectively located on both sides of the connecting plate 24, so as to ensure that the traveling wheels 31 will not tilt under the action of gravity and ensure stable traveling.

[0059] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0060] According to the inspection device provided by the present invention, it includes a machine body 1 and an environment detection component 6. The machine body 1 is movably arranged along a predetermined track. The environment detection component 6 is used to detect environmental information in the working condition. The environment detection component 6 is connected to the machine body 1 in a position-adjustable manner along a direction close to or away from the machine body 1. A first positioning portion 10 is arranged on the machine body 1. The environment detection component 6 includes a second positioning portion 60 that cooperates with the first positioning portion 10. When the environment detection component 6 moves towards the machine body 1 until the first positioning portion 10 is connected to the second positioning portion 60, the environment detection component 6 is positioned. By arranging the environment detection component 6 to be connected to the machine body 1 in a position-adjustable manner along a direction close to or away from the machine body 1, the environment detection component 6 can extend in a direction away from the machine body 1 to perform a comprehensive detection of the environmental information around the machine body 1, so as to detect information such as temperature and humidity, gas concentration, or gas composition at different positions in the working environment of the machine body, greatly improving the detection accuracy of the inspection device.

[0061] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An inspection device, characterized in that, Including: A body (1), which is movably arranged along a predetermined trajectory; An environment detection component (6), which is used to detect environmental information in the working condition, and the environment detection component (6) is connected to the body (1) in a position-adjustable manner along a direction close to or away from the body (1); A first positioning portion (10) is provided on the body (1), and the environment detection component (6) includes a second positioning portion (60) that cooperates with the first positioning portion (10); when the environment detection component (6) moves towards the body (1) until the first positioning portion (10) is connected to the second positioning portion (60), the environment detection component (6) is positioned; The inspection device further includes: a driving component (7), the driving component (7) includes a first driving member (70) that is movably arranged along a first direction, and both ends of the first driving member (70) are respectively connected to the body (1) and the environment detection component (6), and the environment detection component (6) is driven to move by the first driving member (70); An installation cavity is provided inside the body (1), the first driving member (70) is installed in the installation cavity, and at least a part of the first driving member (70) extends out of the installation cavity to push the environment detection component (6) to move in a direction away from the body (1); Or, the first driving member (70) retracts into the installation cavity to drive the environment detection component (6) to move in a direction close to the body (1); The environment detection component (6) further includes: a mounting block (61), the second positioning portion (60) is provided on the mounting block (61); a detection sensor (66), the detection sensor (66) is installed on the mounting block (61), and the first driving member (70) is connected to the mounting block (61); The driving component (7) further includes: a second driving member (71), the second driving member (71) is movably arranged along a second direction, there is an included angle between the first direction and the second direction, and the second driving member (71) is drivingly connected to the detection sensor (66); The inspection device further includes: a track (2), on which the body (1) is mounted; the body (1) has a first end face and a second end face arranged oppositely, the first end face faces the track (2), and the first positioning portion (10) is arranged on the second end face; a traveling assembly (3), mounted on the body (1), at least part of the traveling assembly (3) is connected to the track (2), and the body (1) is driven to move along the track (2) through the traveling assembly (3); the traveling assembly (3) includes a protruding block (301), and a groove (201) into which the protruding block (301) is inserted is arranged on the track (2); the traveling assembly (3) further includes a traveling wheel (31), connected to the body (1), the traveling wheel (31) is rotatably arranged around its own axis, and the protruding block (301) is arranged on the circumferential surface of the traveling wheel (31); the protruding blocks (301) are multiple, and the multiple protruding blocks (301) are arranged at intervals along the circumferential direction of the traveling wheel (31). A support frame (4), mounted on the body (1); a guide wheel set (5), arranged on the support frame (4) and located on the side of the traveling assembly (3), at least part of the guide wheel set (5) contacts the track (2) to guide the traveling assembly (3). The track (2) includes a first body (22) and a second body (23) arranged oppositely, the first body (22) and the second body (23) are connected by a connecting plate (24), the groove (201) is arranged on the connecting plate (24), and at least part of the traveling assembly (3) is located between the first body (22) and the second body (23); wherein, a guide groove (25) is arranged on the first body (22) and / or the second body (23), the extending direction of the guide groove (25) is consistent with the extending direction of the track (2), and at least part of the guide wheel set (5) is located in the guide groove (25). The first body (22) includes a first side face and a second side face arranged oppositely, a first guide groove (251) is arranged on the first side face, and a second guide groove (252) is arranged on the second side face; the second body (23) includes a third side face and a fourth side face arranged oppositely, the first guide groove (251) is arranged on the third side face, and the second guide groove (252) is arranged on the fourth side face; the guide wheel set (5) includes a first guide wheel (51) and a second guide wheel (52), at least part of the first guide wheel (51) is located in the first guide groove (251), at least part of the second guide wheel (52) is located in the second guide groove (252), and the first guide wheel (51) and the second guide wheel (52) are connected. Among them, there are four groups of the guide wheel sets (5). Two groups of the guide wheel sets (5) are located on the first side of the track (2) and on both sides of one of the traveling wheels (31). The other two groups of the guide wheel sets (5) are located on the second side of the track (2) and on both sides of the other traveling wheel (31). Both sides of the connecting plate (24) are respectively provided with mounting grooves (21). The two opposite side surfaces of the connecting plate (24) are respectively the bottom surfaces of the two mounting grooves (21). The two side surfaces of the connecting plate (24) are respectively provided with the grooves (201). There are two traveling wheels (31), and the two traveling wheels (31) are respectively located on both sides of the connecting plate (24).

2. The inspection device according to claim 1, wherein A through hole (102) communicating with the installation cavity is provided on the body (1). The first positioning portion (10) is located on the side of the through hole (102). The first driving component (70) passes through the through hole (102) and is connected to the environmental detection component (6).

3. The inspection device according to claim 1, characterized in that, The first driving component (70) is an electric push rod or a piston cylinder.

4. The inspection device according to claim 1, characterized in that, An installation channel (610) is provided on the installation block (61). The second driving component (71) is installed in the installation channel (610). At least part of the second driving component (71) extends out of the installation channel (610) to push the detection sensor (66) to move in a direction away from the installation block (61). Or, the second driving component (71) retracts into the installation channel (610) to drive the detection sensor (66) to move in a direction close to the installation block (61).

5. The inspection device according to claim 4, characterized in that, An avoidance opening (611) communicating with the installation channel (610) is provided on the side surface of the installation block (61). The second driving component (71) passes through the avoidance opening (611) and is connected to the detection sensor (66).

6. The inspection device according to claim 4, characterized in that There are multiple detection sensors (66), and the multiple detection sensors (66) are arranged at intervals along the circumferential direction of the installation block (61). There are multiple second driving components (71), and the multiple second driving components (71) are arranged in one-to-one correspondence with the multiple detection sensors (66).

7. The inspection device according to claim 1, wherein The second driving component (71) is an electric push rod or a piston cylinder.

8. The inspection device according to claim 1, wherein The first positioning portion (10) is a positioning groove (101). The second positioning portion (60) is a positioning protrusion (601), and at least part of the positioning protrusion (601) is inserted into the positioning groove (101).

9. The inspection device according to any one of claims 1 to 7, characterized in that, The environmental detection component (6) further includes: An installation block (61), the installation block (61) is movably arranged along a direction close to or away from the body (1), and the second positioning portion (60) is arranged on the installation block (61). A temperature and humidity sensor (63), a gas sensor (64) and an obstacle avoidance sensor (65). The temperature and humidity sensor (63), the gas sensor (64) and the obstacle avoidance sensor (65) are all installed on the installation block (61).

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