A track-type inspection robot, motion positioning control system and method

Abstract

The present invention belongs to the technical field of substation track inspection robots, and provides a track inspection robot, motion positioning control system and method. The technical solution is: relying on the track inspection robot system, the robot adopts a bottom drive transmission scheme to achieve stable operation of the robot in different track sections, including straight sections and turning sections. At the same time, under the premise of a reliable transmission scheme, the robot positioning control system adopts a combination of RFID tag positioning and motor positioning to achieve reliable positioning of the robot, and at the same time, the positioning information is applied to the drive component to stably and reliably reach the target point, effectively improving the inspection efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of track-type inspection robots for transformer substations, and in particular relates to a track-type inspection robot, a motion positioning control system and a method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In order to ensure the stable and reliable operation of the power grid, it is necessary to conduct daily inspections on the operating status of substation equipment. Substation intelligent inspection robots have become an important means of substation equipment inspection. Substation intelligent inspection robots can replace manual work to complete infrared temperature measurement of substation equipment, equipment status monitoring and identification, and other tasks, promoting the process of unmanned substations. At present, in indoor environments such as protection rooms, track-type inspection robots are generally used to inspect indoor equipment.

[0004] When the substation rail inspection robot performs inspection tasks, it is necessary to bind the detection equipment to the most suitable level and lifting stop on the inspection path. The robot needs to move between different levels and lifting stops to realize the inspection of all equipment that needs to be inspected. However, due to the complex on-site environment, sometimes there are situations such as turning and climbing. If the drive solution is unreliable, it will cause the robot to get stuck when turning and slip when climbing. At the same time, under the premise of a reliable drive solution, there must be a stable motion positioning control system to ensure that the robot moves to the corresponding stop accurately to perform inspection tasks. Otherwise, it will cause missed inspections, reduce work efficiency, and greatly consume labor costs. Summary of the invention

[0005] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a track-type inspection robot, a motion positioning control system and a method, which is based on a mature track-type inspection robot system. The robot adopts a bottom drive transmission scheme to achieve stable operation of the robot in different track sections, including straight sections and turning sections. At the same time, under the premise of a reliable transmission scheme, the robot positioning control system adopts a combination of RFID tag positioning and motor positioning to achieve reliable positioning of the robot, and at the same time, the positioning information is applied to the drive component to stably and reliably reach the target point, effectively improving the inspection efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a track-type inspection robot, comprising a base and a driving assembly fixed on the base, the driving assembly comprising a driving frame and a driving cabin, a first motor is fixed in the driving cabin, a driving gear and a driven gear are installed on the first motor, the driving gear and the driven gear are meshed, the driven gear is rotatably connected to a driving wheel, a clamping structure is provided on the driving frame, and the driving wheel and the clamping structure hold the track bottom plate tightly;

[0008] The second motor, the third motor and the spring adjustment sleeve are fixed on both sides of the driving cabin, the upper ends of the second motor and the third motor are connected to the active adjustment gear, and the upper end of the spring adjustment sleeve is connected to the driven adjustment gear. The active adjustment gear and the driven adjustment gear are meshed, and the spring adjustment sleeve is driven to rotate to adjust the clamping force between the driving wheel and the track to adjust the driving force of the robot.

[0009] Furthermore, a bogie is fixed on the base, and the bottom of the bogie is connected via a thrust ball bearing base;

[0010] A first load-bearing wheel and an anti-tilt wheel are respectively fixed on both sides of the bogie, a first guide wheel is arranged on the top of the bogie, the anti-tilt wheel and the first load-bearing wheel hold one end of the track bottom plate, and the first guide wheel is in contact with the side surface of the end of the track;

[0011] Second load-bearing wheels are fixed on both sides of the driving frame respectively, and a second guide wheel is arranged on the top of the driving frame. The second load-bearing wheel and the driving wheel hold the other end of the track bottom plate, and the second guide wheel is in contact with the side surface of the end of the track.

[0012] Furthermore, a T-slot is provided at the front end of the drive frame, a connecting spring is provided in the T-slot, one end of the slider is connected through the connecting spring, the slider and the T-slot are slidably matched, the other end of the slider is fixed with a baffle, and the top end of the slider is fixed with a first guide wheel.

[0013] Furthermore, the driving assembly includes a driving base plate and a transmission shaft, a slider is fixed on the driving base plate, the slider is slidably inserted into a slide groove, the driven gear and the driving wheel are connected to the transmission shaft through a key connection, bearings are installed at both ends of the transmission shaft, and the bearings are fixed to the slide groove through bearing end covers.

[0014] Further, the spring adjustment sleeve includes a first spring adjustment sleeve and a second spring adjustment sleeve, a spring pressure plate is fixed on the slide slot, the spring pressure plate is connected to the first spring adjustment sleeve, a first spring fixing sleeve is arranged on the driving bottom plate, and a first spring is arranged in the first spring fixing sleeve and the first spring adjustment sleeve;

[0015] A second spring fixing sleeve is fixed on the base, and a second spring is arranged inside the second spring fixing sleeve and the second spring adjusting sleeve.

[0016] Furthermore, a cabin cover is arranged above the driving cabin, a sealing ring is embedded on the driving cabin, and the driving cabin and the cabin cover are pressed tightly by the sealing ring.

[0017] The second aspect of the present invention provides a track-type inspection robot motion positioning control system, which uses the track-type inspection robot described in the first aspect, including an RFID card reader and a processor arranged on the robot body, wherein the RFID card reader is used to read tag information preset on the track;

[0018] The processor is used to receive the read tag information and the pulse number of the driving motor during operation, and convert the pulse number of the driving motor into position information corresponding to the motor pulse;

[0019] Compare the difference between the tag position information and the preset target position information, the difference between the motor pulse position information and the preset target position information, and the set positioning accuracy, and perform corresponding processing according to different comparison results;

[0020] Determine whether the target stop point has been reached and is in a stopped state. If so, end the motion positioning control.

[0021] A third aspect of the present invention provides a method for controlling the motion positioning of a track-type inspection robot, comprising the following steps:

[0022] Read the label information preset on the track;

[0023] Receive the read tag information and the number of pulses of the driving motor during operation, and convert the number of pulses of the driving motor into position information of the corresponding motor pulses;

[0024] Compare the difference between the tag position information and the preset target position information, the difference between the motor pulse position information and the preset target position information, and the set positioning accuracy, and perform corresponding processing according to different comparison results;

[0025] Determine whether the target stop point has been reached and is in a stopped state. If so, end the motion positioning control.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention innovatively proposes a substation track inspection robot. The robot adopts a bottom drive transmission scheme. Different transmission schemes are used in different track sections. The driving wheel is pressed against the track bottom plate by a compression spring in the straight section, and the driving force is provided by the friction between the driving wheel and the track bottom plate. In the track turning section, the bogie adopts a spring-clamped guide wheel system and the driving frame adopts an inelastic-clamped guide wheel system, which effectively solves the problem of the robot getting stuck. In the uphill and downhill sections of the track, its automatic booster mechanism can achieve the effect of increasing friction by relying on spring pressure when climbing at a small angle to achieve uphill and downhill, thereby solving the sticking phenomenon of the robot during turning, avoiding slipping during uphill and downhill, and improving the operation stability of the equipment.

[0028] 2. The present invention innovatively proposes a motion positioning control method based on a substation rail inspection robot. Under the premise that the transmission scheme is reliable, the robot is reliably positioned by adopting dual positioning methods of RFID tag positioning and motor positioning. At the same time, the positioning information is applied to the drive component to ensure that the robot reaches the target position smoothly. At the same time, the operation and maintenance personnel can replace the card reader or label in time and inspect the drive motor according to the specific situation to avoid missed inspections and effectively improve the inspection efficiency.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 It is a schematic diagram of the overall structure of the track-type inspection robot provided by an embodiment of the present invention;

[0032] Figure 2 is a schematic structural diagram of a bogie assembly provided by an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of the overall structure of a drive assembly provided by an embodiment of the present invention;

[0034] Figure 4 is a side view of a drive assembly provided by an embodiment of the present invention;

[0035] Figure 5 is a cross-sectional view of a first adjusting spring structure provided by an embodiment of the present invention;

[0036] Figure 6 is a cross-sectional view of a second regulating spring structure provided by an embodiment of the present invention;

[0037] Figure 7 is a schematic diagram of the structure of a drive frame provided by an embodiment of the present invention;

[0038] Figure 8 is a schematic diagram of the structure of the guide wheel of the driving frame provided by an embodiment of the present invention;

[0039] Fig. 9 This is a schematic diagram of the uphill process of the track-type inspection robot provided by an embodiment of the present invention;

[0040] Fig.10 It is a block diagram of the inspection robot motion positioning control system provided by an embodiment of the present invention;

[0041] Fig.11 It is a flow chart of the inspection robot motion positioning control method provided by an embodiment of the present invention.

[0042] Among them, 1, base, 2, track, 3, bogie, 3-1, first load-bearing wheel, 3-2, anti-tilt wheel, 3-3, first load-bearing wheel axle, 3-4, first guide wheel, 4, thrust ball bearing, 5, driving base plate, 6, driving cabin, 6-1, first motor, 6-2, driving gear, 6-3, driven gear, 7-driving frame, 7-1, second load-bearing wheel, 7-2, second guide wheel, 7-3, T-slot, 7-4, connecting spring, 7-5, second slider, 7-6 baffle, 7-7, second load-bearing wheel axle, 8, driving wheel , 9. Transmission shaft, 10. Bearing end cover, 11. Slide groove, 12. First slider, 13. Spring pressure plate, 14. Second motor, 15. Third motor, 16. First spring adjusting sleeve, 17. Second spring adjusting sleeve, 18. First spring fixing sleeve, 19. Second spring fixing sleeve, 20. First spring, 21. Second spring, 22. First active adjusting gear, 23. First driven adjusting gear, 24. Second active adjusting gear, 25. Second driven adjusting gear, 26. Sealing ring, 27. Motor compartment cover. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] It should be noted that, in this specification, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0047] Embodiment 1

[0048] like Figure 1 As shown, this embodiment provides a track-type inspection robot, comprising a platform base 1, on which a bogie assembly and a drive assembly are fixed;

[0049] like Figure 2 As shown, the bogie assembly includes a bogie 3, and the platform base 1 is fixedly connected to the bogie 3 via a thrust ball bearing 4. During the turning action of the robot, the bogie 3 is twisted along the curved track through the thrust ball bearing 4 to realize the turning action of the robot.

[0050] The first load-bearing wheel 3-1 and the anti-roll wheel 3-2 are respectively fixed on both sides of the bogie 3. The first load-bearing wheel 3-1 is fixed to the bogie 3 through the load-bearing wheel shaft 3-3, and the anti-roll wheel 3-2 is fixed to the bogie 3 through threads. The first guide wheel 3-4 is arranged on the top of the bogie 3. The first load-bearing wheel 3-1 and the anti-roll wheel 3-2 hold the bottom plate of the track 2 tightly to ensure the stability of the robot during operation and prevent the robot from overturning during uphill and downhill operations.

[0051] At the same time, the first guide wheel 3-4 fits against the side of the track 2 to guide the robot to walk along the preset track path.

[0052] The anti-tilt wheel 302 is provided with a compression spring, which can make the anti-tilt wheel always fit the bottom surface of the track, thereby improving the stability of the robot when walking.

[0053] like Figure 3-Figure 4 As shown, the driving assembly includes a driving base plate 5, a driving cabin 6 and a driving frame 7. A first motor 14 is fixed in the driving cabin 6, and the first motor 6-1 is fixed to the driving cabin 6 by screws;

[0054] A driving gear 6-2 and a driven gear 6-3 are installed on the shaft of the first motor 6-1, the driving gear 6-2 is meshed with the driven gear 6-3, the driven gear 6-3 and the driving wheel 8 are connected to the transmission shaft 9 through a key connection, the driven gear, the driving wheel and the transmission shaft are connected through a flat key, the torque of the transmission shaft is transmitted to the driven gear and the driving wheel through the flat key, bearings are installed at both ends of the transmission shaft 9, and are fixed to the slide groove 11 through the bearing end cover 10 of the bearing;

[0055] Two symmetrically arranged first sliders 12 are fixed on the driving bottom plate 5 by screws. The sliders 12 are assembled with the slide slots 11 and can slide relative to each other. The slide slots 11 are fixed on the spring pressure plate 13 by screws.

[0056] like Figure 3 As shown, the second motor 14, the third motor 15 and the spring adjustment sleeve are fixed at both ends of the driving cabin 6, the upper ends of the second motor 14 and the third motor 15 are correspondingly connected to the active adjustment gears, and the upper end of the spring adjustment sleeve is connected to the driven adjustment gear. The active adjustment gear and the driven adjustment gear are meshed, and the spring adjustment sleeve is driven to rotate to adjust the clamping force between the driving wheel 8 and the track 2 to adjust the driving force of the robot.

[0057] like Figure 5-Figure 6 As shown, the spring adjustment sleeve includes a first spring adjustment sleeve 16 and a second spring adjustment sleeve 17, the first spring adjustment sleeve 16 is connected to the spring pressure plate 13 by a thread, the upper end of the first spring adjustment sleeve 16 is connected to the first driven adjustment gear 23, the second motor 14 is fixed to the spring pressure plate 13, and the upper end is connected to the first active adjustment gear 22, the driving base plate 5 is fixed to the first spring fixing sleeve 18 by screws, the first spring 20 is placed in the first spring fixing sleeve 18, the first spring adjustment sleeve 16 is covered on the outside of the first spring fixing sleeve 18, and the first spring fixing sleeve 18 and the first spring adjustment sleeve 16 play a positioning and protection role for the first spring 20.

[0058] The third motor 15 and the second spring adjustment sleeve 17 are fixed on the driving cabin 6, and the second spring adjustment sleeve 17 is connected to the driving cabin 6 through a thread. The second spring fixing sleeve 19 is fixed on the base, and the second spring 21 is placed in the second spring fixing sleeve 19. The second spring adjustment sleeve 17 is covered on the outer side of the second spring fixing sleeve 19. The upper end of the second spring adjustment sleeve 17 is connected to the second driven adjustment gear 25, and the upper end of the third motor 15 is connected to the second active adjustment gear 24;

[0059] By rotating the front and rear motors to drive the first spring adjustment sleeve and the second spring adjustment sleeve to rotate through gears, the clamping force between the driving wheel and the bottom surface of the track can be adjusted, thereby achieving the purpose of adjusting the driving force of the robot.

[0060] like Figure 3 As shown, a silicone seal ring 26 is embedded in the motor compartment 6, and the motor compartment cover 27 is fastened to the motor compartment 6 by screws and the silicone seal ring 26 is pressed tightly, so that the motor compartment 6 can achieve a waterproof function.

[0061] like Figure 6-Figure 7 As shown, since the driving frame is a fixed structure and no steering structure is provided, the second load-bearing wheels 7-7 are fixed on both sides of the driving frame, and the second guide wheel 7-2 is provided at the top of the driving frame. The second load-bearing wheel 7-7 and the driving wheel 8 hold the other end of the bottom plate of the track 2, and the second guide wheel 7-2 is in contact with the side of the end of the track.

[0062] During the turning process of the robot, in order to make the guide wheel 7-2 follow the curvature of the track and maintain contact with the side of the track, the second guide wheel 7-2 is designed as a retractable structure.

[0063] like Figure 8 As shown, a T-slot 7-3 is provided at the front end of the driving frame, and a connecting spring 7-4 is provided in the T-slot 7-3. One end of the second slider 7-5 is connected through the connecting spring 7-4, and the second slider 7-5 and the T-slot 7-3 are slidably matched. The other end of the second slider 7-5 is fixed with a baffle 7-6, and the top of the second slider 7-5 is fixed with the second guide wheel 7-2. The second slider 7-5 is slidably matched with the T-slot on the driving bracket, and the baffle blocks the second slider.

[0064] The specific working principle is:

[0065] like Fig. 9 As shown, before the robot goes uphill, the second motor 14 and the third motor 15 are controlled to rotate synchronously, and the second motor 14 drives the first active adjustment gear 22 and the first driven adjustment gear 23 to rotate, and then drives the first spring adjustment sleeve 16 to rotate. Since the first spring adjustment sleeve 16 is connected to the spring pressure plate 13 by threads, the first spring adjustment sleeve 16 will move downward synchronously when rotating, so as to increase the preload of the first spring 20. Synchronously, the third motor 15 drives the second active adjustment gear 24 and the second driven adjustment gear 25 to rotate, and then drives the second spring adjustment sleeve 17 to rotate. Since the second spring adjustment sleeve 17 is connected to the drive cabin 6 by threads, the second spring adjustment sleeve 17 will move downward synchronously when rotating, so as to increase the preload of the second spring 21. The sum of the elastic forces of the first spring 20 and the second spring 21 drags the driving wheel 8 on the driving assembly to fit the bottom surface of the track with increased elastic force, thereby increasing the friction between the driving wheel and the bottom surface of the track. The friction provides driving force for the robot to go uphill, so that the robot can climb smoothly without the driving wheel slipping.

[0066] Similarly, when the robot goes downhill, the second motor 14 and the third motor 15 are controlled to rotate in the opposite direction to reduce the friction between the drive wheel 8 and the bottom surface of the track, which can reduce the wear of the drive wheel and ensure that the robot walks smoothly without slipping.

[0067] Embodiment 2

[0068] like Fig.10 As shown, this embodiment provides a track-type inspection robot motion positioning control system, which applies a track-type inspection robot described in claim embodiment 1. Since the principle of solving the problem by the system in this embodiment is similar to the method in embodiment 1, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated.

[0069] A motion positioning control system for a track-type inspection robot, comprising an RFID card reader and a controller arranged on a robot body, wherein the RFID card reader is used to read tag information preset on a track;

[0070] The controller is used to receive the read tag information and the pulse number of the driving motor during operation, and convert the pulse number of the driving motor into position information corresponding to the motor pulse;

[0071] Compare the difference between the tag position information and the preset target position information, the difference between the motor pulse position information and the preset target position information, and the set positioning accuracy, and perform corresponding processing according to different comparison results;

[0072] Determine whether the target stop point has been reached and is in a stopped state. If so, end the motion positioning control.

[0073] Further, the controller is used to send motion control instructions;

[0074] Receive feedback. If a control instruction has been received, record the parameter data in the motion control instruction. At the same time, determine whether to execute the motion control instruction based on the various motion states of the robot. If executable, convert the motion control instruction into an instruction that can be recognized by the drive component and start motion positioning control.

[0075] In this embodiment, the motion control instructions sent by the controller are converted into pulse signals that can be recognized by the motor. The controller that drives the motor recognizes the pulse signal and controls the speed of the motor. The motor drives the robot to move according to the control instructions and starts motion positioning control.

[0076] Embodiment 3

[0077] like Fig.11 As shown, this embodiment provides a motion positioning control method for a track-type inspection robot, comprising the following steps:

[0078] Step 1: Start the robot positioning system;

[0079] First, determine whether the inspection robot has received a motion control command; if so, record the parameter data in the motion control command, including whether the motion axis is horizontal or vertical, whether the motion direction is forward or backward, upward or downward, and the label number and pulse number corresponding to the motion target position.

[0080] At the same time, according to the current motion status of the robot, it is determined whether the motion control command can be executed; including whether the self-check has been completed and whether there are any fault alarms that affect the motion;

[0081] If it is executable, the above motion control command parameters are converted into instructions that can be recognized by the drive module, and the relevant control commands are sent to the corresponding drive module;

[0082] At the same time, start the abnormal stop detection of the drive module, start the status and position detection of the drive module, start the obstacle information detection, set the positioning system enable flag, and start the motion positioning system.

[0083] Step 2: The driving component applies different driving transmission schemes in different track sections to drive the robot to run;

[0084] In the straight section of the track, a set of compression springs press the driving wheel against the track bottom plate, and the friction between the driving wheel and the track bottom plate provides the driving force;

[0085] In the track turning section, the bogie adopts a spring-clamped guide wheel system, and the drive frame adopts a non-elastic-clamped guide wheel system. The guide wheel system can be finished or homemade according to its location, which effectively solves the problem of robot jamming.

[0086] On the uphill and downhill sections of the track, its automatic booster mechanism can achieve the effect of increasing friction by relying on spring pressure when climbing at a small angle to achieve uphill and downhill.

[0087] Step 3: Read the track tag information and report the tag position information to the processor;

[0088] The tag information is continuously read during the movement process until the tag corresponding to the target position is read, and the tag position information is uploaded to the processor;

[0089] During this movement process, some abnormal events may occur, hindering the movement. At this time, alarm processing will be carried out according to the specific events until the robot can move normally.

[0090] Step 4: Work according to the number of pulses corresponding to the target position, and stop working when the number of pulses reaches the target number of pulses, and convert the number of motor pulses at this time into position information to report to the processor;

[0091] Step 5: Compare the difference α between the tag position information and the preset target position information, the difference β between the motor pulse position information and the preset target position information, and the set positioning accuracy γ, and perform corresponding processing according to different comparison results, specifically including:

[0092] If α≤γ and β≤γ, it means that the target position has been reached. At this time, it can be reported that the target position has been reached and the next inspection task can be carried out.

[0093] If α>γ, but β≤γ, it indicates that the card reader is wrong or the tag is damaged, and reports the positioning information of the card reader as wrong, prompting the operation and maintenance personnel to replace the card reader and maintain the tag in time. At this time, positioning can be performed according to the number of motor pulses to ensure smooth arrival at the next target position.

[0094] If α≤γ, but β>γ, it indicates that the motor pulse number calculation is wrong, and the motor pulse positioning information is reported to be wrong, prompting the operation and maintenance personnel to maintain the motor in time. At this time, positioning can be performed according to the label position to ensure smooth arrival at the next target position.

[0095] If α>γ, and β>γ, it indicates that the card reader is wrong or the tag is damaged, the motor pulse number is calculated incorrectly, and the reported card reader positioning information is wrong, prompting the operation and maintenance personnel to replace the card reader and maintain the tag in time. Reporting the motor pulse positioning information error prompts the operation and maintenance personnel to maintain the motor in time.

[0096] Step 6: End robot positioning control.

[0097] Determine whether the track-type inspection robot of the track-type substation has received a motion control command;

[0098] Detect whether the track-type inspection robot has reached the target stop point and is in a stopped state. If it has arrived and stopped, report the arrival information, current motion position, current motion state, etc. to the host computer.

[0099] At the same time, clear all monitoring signs of the positioning system.

[0100] At this point, the positioning operation of this motion system ends. After completing the equipment detection of the current target stop point, the motion positioning control of the next target stop point is started.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A track inspection robot, characterized in that: It comprises a base and a driving assembly fixed on the base, the driving assembly comprises a driving frame and a driving cabin, a first motor is fixed in the driving cabin, a driving gear and a driven gear are installed on the first motor, the driving gear and the driven gear are meshed, the driven gear is rotatably connected to the driving wheel, a clamping structure is arranged on the driving frame, and the driving wheel and the clamping structure hold the track bottom plate tightly; The second motor, the third motor and the spring adjustment sleeve are fixed on both sides of the driving cabin, the upper ends of the second motor and the third motor are connected to the active adjustment gears respectively, the upper end of the spring adjustment sleeve is connected to the driven adjustment gear, the active adjustment gear and the driven adjustment gear are meshed, and the pressing force between the driving wheel and the track is adjusted by driving the spring adjustment sleeve to rotate to adjust the driving force of the robot; Wherein, a bogie is also fixed on the base, and the bottom of the bogie is connected via a thrust ball bearing base; The first load-bearing wheel and the anti-tilt wheel are respectively fixed on both sides of the bogie, and the first guide wheel is arranged on the top of the bogie. The anti-tilt wheel and the first load-bearing wheel hold one end of the track bottom plate, and the first guide wheel is in contact with the side surface of the track end; Second load-bearing wheels are respectively fixed on both sides of the driving frame, and a second guide wheel is arranged on the top of the driving frame. The second load-bearing wheel and the driving wheel hold the other end of the track bottom plate, and the second guide wheel is in contact with the side surface of the end of the track; Wherein, a T-shaped slot is arranged at the front end of the driving frame, a connecting spring is arranged in the T-shaped slot, one end of the slider is connected through the connecting spring, the slider and the T-shaped slot are slidably matched, the other end of the slider is fixed with a baffle, and the top end of the slider is fixed with a first guide wheel; Wherein, the driving assembly further comprises a driving base plate and a transmission shaft, a slider is fixed on the driving base plate, the slider is slidably installed in the slide slot, the spring adjustment sleeve comprises a first spring adjustment sleeve and a second spring adjustment sleeve, a spring pressure plate is fixed on the slide slot, the spring pressure plate is connected to the first spring adjustment sleeve, a first spring fixing sleeve is arranged on the driving base plate, and a first spring is arranged in the first spring fixing sleeve and the first spring adjustment sleeve; A second spring fixing sleeve is fixed on the base, and a second spring is arranged inside the second spring fixing sleeve and the second spring adjusting sleeve.

2. A track-type inspection robot as claimed in claim 1, characterized in that: The slider is slidably installed in the slide groove, the driven gear and the driving wheel are connected to the transmission shaft through a key connection, bearings are installed at both ends of the transmission shaft, and the bearings are fixed to the slide groove through bearing end covers.

3. A track-type inspection robot as claimed in claim 1, characterized in that: A hatch cover is arranged above the driving cabin, a sealing ring is embedded on the driving cabin, and the driving cabin and the hatch cover are pressed tightly by the sealing ring.

4. A track-type inspection robot motion positioning control system, characterized in that: A track inspection robot according to any one of claims 1 to 3, comprising an RFID card reader and a controller arranged on the robot body, wherein the RFID card reader is used to read tag information preset on the track; The controller is used to receive the read tag information and the pulse number of the driving motor during operation, and convert the pulse number of the driving motor into position information corresponding to the motor pulse; Compare the difference between the tag position information and the preset target position information, the difference between the motor pulse position information and the preset target position information, and the set positioning accuracy, and perform corresponding processing according to different comparison results; Determine whether the target stop point has been reached and is in a stopped state. If so, end the motion positioning control.

5. A track-type inspection robot motion positioning control system as claimed in claim 4, characterized in that: The controller is used to send motion control instructions; Receive feedback. If a control instruction has been received, record the parameter data in the motion control instruction. At the same time, determine whether to execute the motion control instruction based on the various motion states of the robot. If executable, convert the motion control instruction into an instruction that can be recognized by the drive component and start motion positioning control.

6. A method for controlling the motion and positioning of a track-type inspection robot, using a track-type inspection robot motion and positioning control system according to any one of claims 4 to 5, comprising the following steps: Read the label information preset on the track; Receive the read tag information and the pulse number of the driving motor during operation, and convert the pulse number of the driving motor into the position information of the corresponding motor pulse; Compare the difference between the tag position information and the preset target position information, the difference between the motor pulse position information and the preset target position information, and the set positioning accuracy, and perform corresponding processing according to different comparison results; Determine whether the target stop point has been reached and is in a stopped state. If so, end the motion positioning control.

7. A method for controlling the motion positioning of a track-type inspection robot as claimed in claim 6, characterized in that: The method compares the difference α between the tag position information and the preset target position information, the difference β between the motor pulse position information and the preset target position information, and the set positioning accuracy γ, and performs corresponding processing according to different comparison results, specifically including: If α≤γ and β≤γ, the target position is reached and the next inspection task is carried out; If α>γ, but β≤γ, the positioning information of the card reader is wrong, and positioning is performed according to the number of motor pulses; If α≤γ, but β>γ, the motor pulse number is calculated incorrectly, and positioning is performed based on the label position; If α>γ and β>γ, the motor pulse number and card reader positioning information are both wrong, and a maintenance warning is prompted.

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