Track type inspection device and method of using the same

Abstract

The present invention provides a track-type inspection device and a method for using the same. The track-type inspection device comprises a frame, a track support seat height adjustment component, a flexible track and an inspection machine. The bottom of a lower bracket of at least one frame is provided with a roller. The track support seat height adjustment component comprises a telescopic member, a track support seat and an elastic member connected in sequence from bottom to top. The telescopic member is connected to the lower bracket, and the elastic member abuts against the upper bracket. The telescopic member can drive the track support seat to rise and fall. The track support seat has a supporting wheel, and the flexible track is wound around the supporting wheel. The flexible track is made of a flexible member and is wound around the supporting wheel. The inspection robot is installed on the flexible track and can move on the flexible track. The track-type inspection device and the method for using the same can adjust the position of the frame according to the working space, and adaptively adjust the height of the inspection robot by adjusting the telescopic length of the telescopic member. The device has the advantages of good flexibility and a large coverage area.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and in particular to a track-type inspection device and a method of using the same. Background Art

[0002] The fully mechanized mining face in underground coal mines is the first production site of coal. It has the characteristics of small working space, many mechanical equipment, poor visual environment, high temperature, etc. It is a frequent site of coal mine accidents. Most accidents underground are caused by inadequate monitoring. Therefore, real-time monitoring plays a vital role in the safe production of coal mining faces.

[0003] Traditional monitoring methods include manual inspection and online monitoring. Manual inspection is gradually being phased out due to its high labor intensity and low inspection efficiency. Online monitoring has better monitoring effects, but is costly, inflexible, and has a small coverage area.

[0004] In recent years, with the rapid development of robot technology, special robots for inspection work have begun to be developed and applied in the field of coal mine inspection. Summary of the invention

[0005] An object of the present invention is to provide a track inspection device and a method of using the same to solve at least one of the above problems.

[0006] A track inspection device, comprising:

[0007] The frame comprises an upper bracket and a lower bracket which are fixedly connected, and an installation space is formed between the upper bracket and the lower bracket; the frame has a plurality of brackets, and at least one of the lower brackets has a roller at the bottom;

[0008] A track support seat height adjustment assembly is located in the installation space, and comprises a telescopic member, a track support seat and an elastic member connected in sequence from bottom to top, wherein the lower end of the telescopic member is connected to the lower bracket, and the upper end of the elastic member abuts against the upper bracket; the telescopic member can drive the track support seat to rise and fall; at least three of the racks are provided with the track support seat height adjustment assembly; the track support seat has a support wheel, the support wheel protrudes from the outer side wall of the telescopic member, and the flexible track is wound around the support wheel;

[0009] A flexible track, made of a flexible member and wound around the supporting wheel; and

[0010] The inspection robot is installed on the flexible track and can move on the flexible track.

[0011] Further, the telescopic member comprises a hydraulic cylinder, the cylinder barrel of the hydraulic cylinder is connected to the lower bracket, and the piston rod is fixed to the track support seat;

[0012] And / or, the elastic member includes an air spring, one end of the air spring is fixed to the track support seat, and the other end of the air spring abuts against the upper bracket.

[0013] Furthermore, the hydraulic cylinder includes a first hydraulic cylinder and a second hydraulic cylinder connected in sequence from bottom to top, the cylinder barrel of the first hydraulic cylinder is connected to the lower bracket, the piston rod of the first hydraulic cylinder is fixed to the cylinder barrel of the second hydraulic cylinder, and the piston of the second hydraulic cylinder is fixed to the track support seat.

[0014] Furthermore, the air spring includes a first air spring and a second air spring connected in sequence from bottom to top, the lower end of the first air spring is fixed to the track support seat, the upper end of the first air spring is fixed to the lower end of the second air spring, and the upper end of the second air spring abuts against the upper bracket.

[0015] Furthermore, the racks include at least three and are adjacent to each other in sequence;

[0016] The flexible track is a steel wire traction rope;

[0017] The support wheel of the track support seat on one side is a driving wheel, and the support wheel of the track support seat on the other side is a passive wheel. The driving wheel is transmission-connected to the first motor, and the first motor is installed on the track support seat.

[0018] Furthermore, it also includes a tensioning assembly, which is used to tension the steel wire traction rope.

[0019] Furthermore, the inspection robot comprises:

[0020] Body;

[0021] The controller, power supply components and communicator are all set in the machine body;

[0022] A gas concentration sensor, a temperature and humidity sensor, an infrared camera and a laser radar are all arranged at the lower part of the machine body; and,

[0023] The wheels and the inspection driving member driving the wheels to roll on the steel wire traction rope are both installed on the upper part of the machine body.

[0024] Furthermore, the inspection drive component includes: a vertical pole, a bearing seat, a belt, a second motor, a driving pulley and a driven pulley, the vertical pole and the second motor are both fixedly mounted on the machine body, the bearing seat is fixedly connected to the upper end of the vertical pole, the power output end of the second motor is fixedly connected to a driving shaft, the bearing seat is rotatably connected to a driven shaft, the driving pulley is fixedly sleeved on the driving shaft, the driven pulley is fixedly sleeved on the driven shaft, the wheel is fixedly sleeved on the driven shaft, and the driven pulley is connected to the driving pulley through the belt transmission.

[0025] Furthermore, the power supply assembly includes: an explosion-proof box and a battery arranged in the explosion-proof box.

[0026] Compared with the prior art, the track inspection device provided by the present invention has the following beneficial effects:

[0027] In the track-type inspection device provided by the present invention, when in use, the frame is placed on the ground, and at least one frame can adjust its position through rollers to adjust the shape of the flexible track, for example, to adjust the tension of the flexible track; the track support seat height adjustment component drives the track support seat to rise and fall through the telescopic component, thereby driving the flexible track and the inspection robot thereon to rise and fall, so that the inspection robot is kept at an appropriate height, thereby ensuring the normal progress of the inspection. It can be seen that in actual use, the track-type inspection device can adjust the position of the frame according to the working space, and adaptively adjust the height of the inspection robot by adjusting the telescopic length of the telescopic member, and has the advantages of good flexibility and large coverage area.

[0028] The present invention also provides a method for using a track-type inspection device, which is applied to the above-mentioned track-type inspection device. The method comprises the steps of:

[0029] The first motor is started to make the steel wire traction rope wound around the driving wheel and the passive wheel in a tensioned state, and the inspection robot is located on the steel wire traction rope;

[0030] Control the inspection robot to move on the steel wire traction rope;

[0031] Obtain the gas concentration information around the inspection robot and the image information of the current working environment, and upload the obtained information to the signal transmission base station;

[0032] Determine whether the gas concentration exceeds the preset concentration value. If so, control the inspection robot to send out an alarm signal.

[0033] Compared with the prior art, the beneficial effects of the method of using the track-type inspection device provided by the present invention are the same as those of the above-mentioned track-type inspection device, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the flexible track of the track-type inspection device according to an embodiment of the present invention when the track is not tensioned;

[0036] Figure 2 It is a schematic diagram of the three-dimensional structure of the track-type inspection device according to an embodiment of the present invention when the flexible track is in a tensioned state;

[0037] Figure 3 It is a schematic diagram of the three-dimensional structure of the flexible track of the track-type inspection device according to an embodiment of the present invention when the track is not tensioned, wherein the frame is not shown;

[0038] Figure 4 It is a schematic diagram from one viewing angle of the three-dimensional structure of the height adjustment assembly of the track support seat in the track type inspection device according to an embodiment of the present invention;

[0039] Figure 5 It is a schematic diagram of the three-dimensional structure of the inspection robot in the track-type inspection device according to an embodiment of the present invention;

[0040] Figure 6 It is a schematic diagram of a front cross-section of an inspection robot in a track-type inspection device according to an embodiment of the present invention;

[0041] Figure 7 It is a schematic diagram from another perspective of the three-dimensional structure of the height adjustment assembly of the track support seat in the track inspection device according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 100-rack; 110-upper bracket; 120-lower bracket;

[0044] 200-track support seat height adjustment assembly;

[0045] 210- telescopic member; 211- first hydraulic cylinder; 212- second hydraulic cylinder; 222- first motor;

[0046] 220-track support seat; 221-support wheel;

[0047] 230-elastic member; 231-first air spring; 232-second air spring;

[0048] 300-flexible track;

[0049] 400-Inspection robot;

[0050] 410-body; 420-controller; 430-power supply assembly; 440-communicator;

[0051] 450-gas concentration sensor; 460-temperature and humidity sensor;

[0052] 470-infrared camera; 480-lidar; 490-wheel;

[0053] 500-Tensioning assembly;

[0054] 600-inspection drive parts;

[0055] 610-pole; 620-bearing seat; 630-belt; 640-second motor;

[0056] 650-driving pulley; 660-driven pulley; 670-driving shaft; 680-driven shaft. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly stated or limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0060] The embodiment of the present invention provides a track type inspection device, such as Figure 1-3 As shown, it includes: a frame 100, a track support seat height adjustment component 200, a flexible track 300 and an inspection robot 400.

[0061] like Figure 1-2As shown, the rack 100 has an upper bracket 110 and a lower bracket 120 that are fixedly connected, and an installation space is formed between the upper bracket 110 and the lower bracket 120; the rack 100 has multiple, at least one lower bracket 120 having a roller at the bottom.

[0062] like Figure 1-2 As shown, the track support seat height adjustment assembly 200 is located in the installation space, such as Figure 4 As shown, the track support seat height adjustment assembly 200 includes a telescopic member 210, a track support seat 220 and an elastic member 230 connected in sequence from bottom to top, the lower end of the telescopic member 210 is connected to the lower bracket 120, and the upper end of the elastic member 230 abuts against the upper bracket 110; the telescopic member 210 can drive the track support seat 220 to rise and fall; at least three racks 100 are provided with a track support seat height adjustment assembly 200; the track support seat 220 has a support wheel 221, the support wheel 221 protrudes from the outer wall of the telescopic member 210, and the flexible track 300 is wrapped around the support wheel 221.

[0063] The flexible track 300 is made of a flexible member and is wound around the supporting wheel 221 .

[0064] like Figure 1-3 As shown, the inspection robot 400 is installed on the flexible track 300 and can move on the flexible track 300 .

[0065] In the track-type inspection device provided in this embodiment, when in use, the frame is placed on the ground, and at least one frame can adjust its position through rollers to adjust the shape of the flexible track, for example, to adjust the tension of the flexible track; the track support seat height adjustment component drives the track support seat to rise and fall through the telescopic component, thereby driving the flexible track and the inspection robot thereon to rise and fall, so that the inspection robot is kept at an appropriate height, thereby ensuring the normal progress of the inspection. It can be seen from this that in actual use, the track-type inspection device can adjust the position of the frame according to the working space, and adaptively adjust the height of the inspection robot by adjusting the telescopic length of the telescopic member, and has the advantages of good flexibility and large coverage area.

[0066] It should be noted that, in this embodiment, the frame 100 is a hydraulic support. The bottom end of the telescopic member 210 can be fixedly connected to the lower bracket 120. At this time, when the telescopic member drives the track support seat to rise and fall, it will be subject to the buffering force given by the elastic member, thereby ensuring the stable rise and fall of the track support seat and the flexible track thereon and the inspection robot on the flexible track; in addition, the bottom end of the telescopic member can also be hinged to the lower bracket. At this time, the upper end of the telescopic member is required to always be tightly against the upper bracket to ensure that the telescopic member is in a stable vertical state. Compared with the aforementioned fixed connection method, such a setting will not cause stress concentration on the bottom end of the telescopic member. In this case, in order to further ensure that the telescopic member is in a stable vertical state, the connection part between the upper end of the elastic member and the upper bracket is set as an embedded connection. One of the two can be set as a convex arc surface, and the other can be set as a concave arc surface. For example, the upper end of the elastic member is set as a convex arc surface, and the corresponding matching part of the upper bracket is set as a concave arc surface. In this way, the embedded matching connection between the two is realized, which can not only limit the lateral movement of the elastic member, but also facilitate disassembly and assembly.

[0067] In this embodiment, Figure 4 As shown, the telescopic member 210 includes a hydraulic cylinder, the cylinder barrel of the hydraulic cylinder is connected to the lower bracket 120, and the piston rod is fixed to the track support seat 220; the elastic member 230 includes an air spring, one end of the air spring 230 is fixed to the track support seat 220, and the other end abuts against the upper bracket 110.

[0068] Specifically, Figure 4 As shown, the hydraulic cylinder includes a first hydraulic cylinder 211 and a second hydraulic cylinder 212 connected in sequence from bottom to top, the cylinder barrel of the first hydraulic cylinder 211 is connected to the lower bracket 120, the piston rod of the first hydraulic cylinder 211 is fixedly connected to the cylinder barrel of the second hydraulic cylinder 212, and the piston of the second hydraulic cylinder 212 is fixedly connected to the track support seat 220. In the actual working process, in order to ensure the stability of the working surface height of the inspection robot, the extension length of one of the first hydraulic cylinder and the second hydraulic cylinder can be adjusted first, and when the extension length does not meet the requirements, the extension length of the other hydraulic cylinder is adjusted; for example, the first hydraulic cylinder is controlled to extend first, and when the height requirement is not met, the second hydraulic cylinder is controlled to extend, thereby realizing the ascending adjustment of the inspection robot. When the height of the inspection robot needs to be lowered, the reverse operation can be performed, as long as the inspection height of the inspection robot can be guaranteed to be stable.

[0069] Specifically, Figure 4As shown, the air spring includes a first air spring 231 and a second air spring 232 connected in sequence from bottom to top, the lower end of the first air spring 231 is fixed to the track support seat 220, the upper end of the first air spring 231 is fixed to the lower end of the second air spring 232, and the upper end of the second air spring 232 abuts against the upper bracket 110. In the actual working process, the first air spring and the second air spring are both used for vertical guidance, and there is no power inside. The purpose is to abut against the upper bracket and expand and contract accordingly with the expansion and contraction of the corresponding hydraulic cylinder to ensure the vertical state and stability of the hydraulic cylinder, and to facilitate disassembly and assembly.

[0070] In this embodiment, Figure 1-3 As shown, the rack 100 includes at least three, which are adjacent in sequence; the flexible track 300 is a wire traction rope; the support wheel 221 of the track support seat 220 on one side is a driving wheel, and the support wheel 221 of the track support seat 220 on the other side (such as Figure 4 The driven wheel is shown in the figure, and the driving wheel is connected to the first motor 222 in a transmission manner. The first motor is installed on the track support seat 220.

[0071] In this embodiment, Figure 1-3 As shown, the track inspection device is also provided with a tensioning assembly 500, which is used to tension the steel wire traction rope to ensure that the inspection robot 400 performs inspection operations at the same height. Specifically, the tensioning assembly 500 can be a drum-type tensioning structure, including a tensioning drum and a tensioning drive motor for driving the tensioning drum to rotate, and the tensioning drum and the tensioning drive motor are both installed on the tensioning body. When the steel wire traction rope needs to be tensioned, the tensioning drum in the drum-type tensioning structure rotates to shrink the steel wire traction rope into the drum, thereby realizing the tensioning operation of the steel wire traction rope. Of course, other methods can also be used, for example, a tensioning wheel that can move / slide up and down is provided on the track support seat.

[0072] It should be noted that when the tensioning assembly 500 is a drum-type tensioning structure, it can be provided with an independent tensioning drive motor. The tensioning drive motor drives the tensioning drum to work, winds the steel wire traction rope circle by circle, and then realizes the tensioning operation. The tensioning drive motor and the tensioning drum are both installed in the tensioning shell or tensioning body; alternatively, the first motor is used as the tensioning drive motor. At this time, the tensioning shell or tensioning body can be installed on the track support seat.

[0073] In this embodiment, Figure 5-7As shown, the inspection robot 400 includes: a body 410, a controller 420, a power supply assembly 430, a communicator 440, a gas concentration sensor 450, a temperature and humidity sensor 460, an infrared camera 470, a laser radar 480, wheels 490 and an inspection drive 600. Among them, the body 410 is a shell structure; the controller 420, the power supply assembly 430 and the communicator 440 are all arranged in the body 410; the gas concentration sensor 450, the temperature and humidity sensor 460, the infrared camera 470 and the laser radar 480 are all arranged at the lower part of the body 410; the wheels 490 and the inspection drive 600 are both installed at the upper part of the body 410.

[0074] Specifically, the communicator 440 is mainly responsible for information transmission with the signal receiving base station to ensure smooth information transmission. The communicator is integrated with inertial navigation equipment and positioning equipment; the gas concentration sensor 450 can detect the gas composition and concentration in the air to determine whether there is a leak of hazardous gases, such as toxic gases such as carbon monoxide, vinyl chloride, and flammable gases such as hydrogen and methane. Once the ambient temperature and humidity or the concentration of harmful and flammable gases exceeds the safety threshold, it will be reported to the staff for processing immediately. The humidity and temperature sensor 460 can obtain the temperature and humidity of the actual inspection area environment; the infrared camera 470 is mainly used to obtain and process the image information of the working environment; the laser radar 480 is a radar system that emits laser beams to detect characteristic quantities such as target position and speed. The inspection robot 400 uses a laser radar 480 to detect the dynamic environment, detect information around the inspection robot 400, and collect parameters such as target distance, direction, height, speed, posture, and shape. After obtaining the raw data of the laser radar, data preprocessing is required. The amount of raw data is determined by the sensor resolution and is usually large. In order to facilitate practical application, the data needs to be downsampled. The laser radar data after data filtering and downsampling will be used in related perception functions such as object recognition and detection.

[0075] In this embodiment, Figure 5As shown, the inspection drive component 600 includes: a vertical pole 610, a bearing seat 620, a belt 630, a second motor 640, a driving pulley 650 and a driven pulley 660. The vertical pole 610 and the second motor 640 are both fixedly mounted on the body 410. The bearing seat 620 is fixedly connected to the upper end of the vertical pole 610. The power output end of the second motor 640 is fixedly connected to a driving shaft 670. The bearing seat 620 is rotatably connected to a driven shaft 680. The driving pulley 650 is fixedly sleeved on the driving shaft 670. The driven pulley 660 is fixedly sleeved on the driven shaft 680. The wheel 490 is fixedly sleeved on the driven shaft 680. The driven pulley 660 is connected to the driving pulley 650 through a belt 630. When the inspection robot 400 needs to move on the flexible track 300, the second motor 640 starts working, and drives the wheel 490 to roll on the flexible track 300 through the active pulley 650, belt 630, driven pulley 660, etc., just like a vehicle moving forward on the road, thereby realizing the movement of the inspection robot 400 on the steel wire traction rope.

[0076] It should be noted that in addition to the above-mentioned methods or means for driving the inspection robot 400, there are other driving methods. For example, the inspection robot is fixed to a steel wire traction rope, and the steel wire traction rope moves under the traction of the driving wheel, which can also drive the inspection robot to move. This is not limited here.

[0077] In this embodiment, the power supply assembly 430 includes an explosion-proof box and a battery disposed in the explosion-proof box to ensure its explosion-proof performance and ensure safe operation.

[0078] Compared with traditional inspection operations, the advantage of the present invention is that it can realize the function of controlling the robot to run and monitor on a flexible track by a ground industrial control terminal, can assist or replace manual work to complete daily inspection work, effectively monitor the on-site environment, and can realize long-distance inspection of tunnels; the movement mode of the inspection robot of the present invention on the wire traction rope replaces the traditional inspection mode of connecting the monorail to the frame, and does not need to be disassembled after inspection. Moreover, the movement of the frame during the advancement of the comprehensive mining working face will not affect the normal use of the flexible track. It can follow the movement of the frame to perform multiple inspection operations, and can adapt to curved and changing tunnels, which greatly improves the inspection efficiency and inspection capacity, and can greatly reduce the labor intensity of maintenance workers on the coal mining working face and reduce personal injuries.

[0079] The embodiment of the present invention further provides a method for using a track-type inspection device, which is applied to the above-mentioned track-type inspection device. The method comprises the steps of:

[0080] S100 starts the first motor to put the steel wire traction rope wound around the driving wheel and the passive wheel into a tensioned state, and the inspection robot is located on the steel wire traction rope;

[0081] S200 controls the inspection robot to move on the steel wire traction rope; in this step, the positioning device of the inspection robot is turned on, and the signal transmission base station controls the movement of the inspection robot through the controller.

[0082] S300 obtains the gas concentration information around the inspection robot and the image information of the current working environment, and uploads the obtained information to the signal transmission base station; in this step, the gas concentration sensor is used to detect the gas concentration of the surrounding environment, and the infrared camera is used to obtain the image information of the current working environment, and uploads the obtained information to the signal transmission base station.

[0083] S400 determines whether the gas concentration exceeds a preset concentration value, and if so, controls the inspection robot to send out an alarm signal. In this step, when the concentration of the corresponding harmful gas exceeds a certain set value, the inspection robot sends out an alarm signal to remind the staff.

[0084] S500 controls the first motor and the second motor to stop and complete the inspection of the working surface.

[0085] Compared with the prior art, the beneficial effects of the method of using the track-type inspection device provided by the present invention are the same as those of the above-mentioned track-type inspection device, which will not be repeated here.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track inspection device, characterized in that: include: A frame having an upper bracket and a lower bracket fixedly connected to each other, wherein an installation space is formed between the upper bracket and the lower bracket; The frame has multiple parts, and at least one of the lower brackets has rollers at the bottom; the frame is a hydraulic bracket; A track support seat height adjustment assembly is located in the installation space, and comprises a telescopic member, a track support seat and an elastic member connected in sequence from bottom to top, wherein the lower end of the telescopic member is connected to the lower bracket, and the upper end of the elastic member abuts against the upper bracket; the telescopic member can drive the track support seat to rise and fall; at least three racks are provided with the track support seat height adjustment assembly; the track support seat has a support wheel, and the support wheel protrudes from the outer side wall of the telescopic member; A flexible track, made of a flexible member and wound around the supporting wheel; and An inspection robot is installed on the flexible track and can move on the flexible track; The telescopic member comprises a hydraulic cylinder, the cylinder barrel of the hydraulic cylinder is connected to the lower bracket, and the piston rod is fixed to the track support seat; The elastic member comprises an air spring, one end of which is fixedly connected to the track support seat, and the other end of which is abutted against the upper bracket.

2. The track inspection device according to claim 1, characterized in that: The hydraulic cylinder includes a first hydraulic cylinder and a second hydraulic cylinder connected in sequence from bottom to top, the cylinder barrel of the first hydraulic cylinder is connected to the lower bracket, the piston rod of the first hydraulic cylinder is fixedly connected to the cylinder barrel of the second hydraulic cylinder, and the piston of the second hydraulic cylinder is fixedly connected to the track support seat.

3. The track inspection device according to claim 2, characterized in that: The air spring includes a first air spring and a second air spring connected in sequence from bottom to top, the lower end of the first air spring is fixed to the track support seat, the upper end of the first air spring is fixed to the lower end of the second air spring, and the upper end of the second air spring abuts against the upper bracket.

4. The track inspection device according to claim 3 or 2, characterized in that: The racks include at least three and are adjacent to each other in sequence; The flexible track is a steel wire traction rope; The support wheel of the track support seat on one side is a driving wheel, and the support wheel of the track support seat on the other side is a passive wheel. The driving wheel is transmission-connected to the first motor, and the first motor is installed on the track support seat.

5. The track inspection device according to claim 4, characterized in that: It also includes a tensioning assembly, which is used to tension the steel wire traction rope.

6. The track inspection device according to claim 5, characterized in that: The inspection robot comprises: Body; The controller, power supply components and communicator are all set in the machine body; A gas concentration sensor, a temperature and humidity sensor, an infrared camera and a laser radar are all arranged at the lower part of the machine body; and, The wheels and the inspection driving member driving the wheels to roll on the steel wire traction rope are both installed on the upper part of the machine body.

7. The track inspection device according to claim 6, characterized in that: The inspection drive component includes: a vertical pole, a bearing seat, a belt, a second motor, a driving pulley and a driven pulley. The vertical pole and the second motor are both fixedly installed on the body, the bearing seat is fixedly connected to the upper end of the vertical pole, the power output end of the second motor is fixedly connected to a driving shaft, the bearing seat is rotatably connected to a driven shaft, the driving pulley is fixedly sleeved on the driving shaft, the driven pulley is fixedly sleeved on the driven shaft, the wheel is fixedly sleeved on the driven shaft, and the driven pulley is connected to the driving pulley through the belt transmission.

8. The track inspection device according to claim 7, characterized in that: The power supply assembly comprises: an explosion-proof box and a battery arranged in the explosion-proof box.

9. A method for using a track inspection device, characterized in that: The track inspection device according to any one of claims 1 to 8, wherein the method of use comprises the steps of: The first motor is started to make the steel wire traction rope wound around the driving wheel and the passive wheel in a tensioned state, and the inspection robot is located on the steel wire traction rope; Control the inspection robot to move on the steel wire traction rope; Obtain the gas concentration information around the inspection robot and the image information of the current working environment, and upload the obtained information to the signal transmission base station; Determine whether the gas concentration exceeds the preset concentration value. If so, control the inspection robot to send out an alarm signal.

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