Rail type inspection robot walking mechanism

Abstract

The invention relates to the technical field of intelligent transportation, in particular to a rail type inspection robot walking mechanism, in the rail type inspection robot walking mechanism, two guide wheel assemblies are arranged on a rack in the extending direction of a rail at intervals and can be close to or away from each other, and the guide wheel assemblies are used for walking along the rail; the lifting piece is movably restrained on the rack in the extending direction perpendicular to the track; the driving wheel and the bearing part of the guide wheel assembly are arranged on the upper side and the lower side of the track; the transmission part is arranged between the lifting part and at least one guide wheel assembly, and the transmission part is arranged to drive the two guide wheel assemblies to be close to each other under the driving action of the lifting part when the driving wheel is away from the bearing part in the vertical direction; the elastic piece is used for making the two guide wheel assemblies away from each other. According to the arrangement, the deformation quantity of the elastic piece is smaller and the resistance is reduced when encountering an upward bent track, so that the endurance is favorably improved; and meanwhile, the service life of the driving wheel and the bearing part is ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a walking mechanism of a track-type inspection robot. Background Art

[0002] With the intelligent construction of coal mines, belt inspection robots are widely used in the coal mining industry. The belt lane is responsible for transporting coal from the bottom of the mine to the ground. The track of the belt lane is long, steep and has variable angles. Therefore, the walking mechanism of the belt inspection robot must not only be able to adapt to the track with large slopes and multiple angles, but also have good energy-saving effects to improve the robot's endurance.

[0003] Existing walking mechanism solutions (for example, application publication number CN113815655A, named rail-mounted drive device and drive system, rail-mounted robot and robot system) are mostly in which the load-bearing wheels are above the track, and the distance between the two sets of load-bearing wheels is fixed. The driving wheels under the track are pressed against the track by compressing springs to improve the stability of the connection between the walking mechanism and the track.

[0004] However, when passing through a downward curved track, the driving wheel moves upward and the distance between the load-bearing wheels becomes closer. The adjusting nut must be screwed upward to adjust the spring height to ensure the pressure of the driving wheel on the track. At this time, the height of the adjusting nut is the final height, which requires the driving wheel compression spring to always be maintained at the required height when passing through the downward curved track. However, when passing through an upward curved track, the driving wheel needs to move downward and the distance between the load-bearing wheels becomes farther. At this time, the compression of the spring increases, and the resistance caused by the excess pressure will cause a waste of power consumption, seriously affecting the overall endurance of the robot; at the same time, excessive pressure when passing through an upward curved track will also reduce the service life of the load-bearing wheels and the driving wheel. Summary of the invention

[0005] The object of the present invention is to provide a walking mechanism for a track-type inspection robot to solve the problems in the prior art that when the robot passes through an upwardly curved track, excessive spring pressure causes poor endurance of the robot and the service life of the rollers in contact with the track is low.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A walking mechanism of a track-type inspection robot, comprising:

[0008] frame;

[0009] Two guide wheel assemblies, which are spaced apart on the frame along the extension direction of the track and can be moved closer to or farther from each other, and are used to travel along the track;

[0010] A lifting member is movably constrained to the frame along an extension direction perpendicular to the track;

[0011] A driving wheel is arranged on the lifting member, and the load-bearing parts of the driving wheel and the guide wheel assembly are arranged on the upper and lower sides of the track;

[0012] a transmission member, disposed between the lifting member and at least one of the guide wheel assemblies, wherein the transmission member is arranged to drive the two guide wheel assemblies to approach each other when the driving wheel moves away from the load-bearing part in the vertical direction;

[0013] The elastic member is used to keep the two guide wheel assemblies away from each other.

[0014] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the transmission members are provided with at least two, and the at least two transmission members are divided into two groups. The two groups of transmission members are respectively connected to the two guide wheel assemblies, and are both connected to the lifting member. The transmission member is arranged to drive the two guide wheel assemblies to move synchronously to approach each other when the driving wheel moves away from the load-bearing part in the vertical direction.

[0015] As an optional technical solution for the walking mechanism of a track-type inspection robot, the guide wheel assembly includes a guide member, the frame has a slide rail extending along the length direction, the guide portion of the guide member slides with the slide rail, the transmission member is rod-shaped, and the extension direction forms an acute angle with the extension direction of the slide rail, one end of the transmission member is hinged to the lifting member, and the other end is hinged to the guide member.

[0016] As an optional technical solution for the walking mechanism of a track-type inspection robot, two slide rails are provided, and the two slide rails are spaced apart along the width direction. Each end of the guide member has a guide portion, and the two guide portions are respectively slidably matched with the two slide rails.

[0017] As an optional technical solution for the walking mechanism of a track-type inspection robot, the elastic member is arranged between the frame and the lifting member, and is used to apply elastic force to the lifting member to make the lifting member approach the load-bearing part, and drive the two guide wheel assemblies away from each other through the transmission member.

[0018] As an optional technical solution for the walking mechanism of a track-type inspection robot, the lifting member is provided with a lifting hole, and the walking mechanism of the track-type inspection robot also includes a guide rod and an adjusting nut. The guide rod is passed through the lifting hole and can slide relative to the lifting member. The lower end of the guide rod abuts against the frame, and the adjusting nut is threadedly engaged with the guide rod. The elastic member is a compression spring, which is sleeved on the guide rod, and its two ends respectively abut against the lifting member and the adjusting nut.

[0019] As an optional technical solution for the walking mechanism of a track-type inspection robot, the guide wheel assembly includes a guide member, a steering assembly, a guide wheel and a load-bearing wheel forming the load-bearing part. The guide member is slidably arranged on the frame, the steering assembly is arranged on the guide member and can rotate around its own axis, the axis of the steering assembly extends in a vertical direction, the guide wheel is arranged on the steering assembly for abutting the side wall of the track, and the load-bearing wheel is arranged on the steering assembly for abutting the top of the track.

[0020] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the steering assembly includes a steering member, two load-bearing seats and four wheel shafts. The steering member is rotatably arranged on the guide member, two wheel shafts form a group, and the two groups of wheel shafts are respectively arranged at both ends of the steering member. The two load-bearing seats are respectively connected to the two groups of wheel shafts, the lower ends of the wheel shafts are fixedly connected to the steering member, and the upper ends of the wheel shafts are fixedly connected to the load-bearing seats. The guide wheel is rotatably arranged on the wheel shaft and can rotate around the axis of the wheel shaft, and the load-bearing wheel is rotatably arranged on the load-bearing seat.

[0021] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the lifting member is in a frame structure and has a cavity and an upper opening connected to the cavity, and the load-bearing wheel is partially located in the cavity and partially passes through the upper opening.

[0022] As an optional technical solution for the walking mechanism of a rail-type inspection robot, a hinged portion is provided at the lower end of the lifting member, the transmission member is connected to the hinged portion, the upper end of the lifting member is folded outward to form a bearing portion, and the upper end of the elastic member abuts against the bearing portion.

[0023] The beneficial effects of the present invention are:

[0024] The present invention provides a track-type inspection robot walking mechanism, which includes a frame, two guide wheel assemblies, a lifting member, a driving wheel, a transmission member and an elastic member, wherein the two guide wheel assemblies are arranged at intervals on the frame and can approach or move away from each other, the lifting member is movably arranged on the frame in a vertical direction, and the load-bearing parts of the driving wheel and the guide wheel assembly are arranged on the upper and lower sides of the track, the transmission member is arranged between the lifting member and at least one guide wheel assembly, when the driving wheel is away from the load-bearing part, under the driving action of the lifting member, the transmission member drives the guide wheel assemblies to approach each other, and when passing through the upward curved track, the driving wheel is moved away from the load-bearing part, because the distance between the two guide wheel assemblies is reduced, the moving distance of the driving wheel is smaller than the moving distance of the driving wheel in the prior art, so that the deformation of the elastic member is smaller, thereby making the friction between the driving wheel and the load-bearing part and the track smaller, the resistance generated during the travel process is smaller, energy consumption is reduced, and it is helpful to improve endurance; at the same time, the small friction makes the service life of the driving wheel and the load-bearing part longer. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural schematic diagram of a walking mechanism of a track-type inspection robot from a first perspective in an embodiment of the present invention;

[0026] Figure 2 This is a structural schematic diagram of a walking mechanism of a track-type inspection robot from a second perspective in an embodiment of the present invention;

[0027] Figure 3 for Figure 2 The cross-section along the AA direction;

[0028] Figure 4 This is a schematic structural diagram of a walking mechanism of a track-type inspection robot from a third perspective in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a walking mechanism and track of a track-type inspection robot in an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of a walking mechanism of a track-type inspection robot walking on two curved tracks in an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the walking mechanism in the prior art in an embodiment of the present invention walking on two curved tracks.

[0032] In the figure:

[0033] 1000, track;

[0034] 100, frame; 110, slide rail; 120, first shaft sleeve;

[0035] 200, guide wheel assembly; 210, load-bearing part; 220, guide member; 230, guide wheel; 240, steering member; 250, load-bearing seat; 260, wheel shaft; 270, steering shaft; 271, second shaft sleeve; 272, gasket;

[0036] 300, lifting member; 310, bearing portion;

[0037] 400, driving wheel;

[0038] 500, transmission parts;

[0039] 600, elastic parts;

[0040] 700. Guide rod; 710. Adjusting nut. DETAILED DESCRIPTION

[0041] 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.

[0042] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected 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.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] like Figures 1 to 5 As shown, this embodiment provides a track-type inspection robot walking mechanism, which is used to walk along a track 1000, and when the track 1000 bends downward, energy consumption is reduced and service life is increased. The track 1000 in this embodiment can be a hanging track.

[0046] The walking mechanism of the rail inspection robot includes a frame 100, two guide wheel assemblies 200, a lifting member 300, a driving wheel 400, a transmission member 500 and an elastic member 600. Among them, the two guide wheel assemblies 200 are arranged on the frame 100 at intervals along the extension direction of the track 1000, and can approach or move away from each other, and the guide wheel assemblies 200 are used to walk along the track 1000; the lifting member 300 is slidably arranged on the frame 100 along the vertical direction; the driving wheel 400 is arranged on the lifting member 300, and the driving wheel 400 and the bearing part 210 of the guide wheel assembly 200 are respectively arranged on the upper and lower sides of the track 1000; the transmission member 500 is arranged between the lifting member 300 and at least one guide wheel assembly 200, and the transmission member 500 is arranged so that when the driving wheel 400 moves away from the bearing part 210 along the vertical direction, the two guide wheel assemblies 200 are driven to approach each other under the driving action of the lifting member 300, and the elastic member 600 is used to make the two guide wheel assemblies 200 move away from each other.

[0047] With the aid of the above-mentioned structural setting, when encountering an upward curved track 1000, the driving wheel 400 moves away from the load-bearing part 210 and drives the lifting member 300 to descend. The descending lifting member 300 drives the transmission member 500 to descend, thereby driving the guide wheel assemblies 200 to approach each other. Since the distance between the two guide wheel assemblies 200 is reduced, when facing a track 1000 with the same curvature, the moving distance of the driving wheel 400 is smaller than that of the driving wheel 400 in the prior art, so that the deformation of the elastic member 600 is smaller, so that the friction between the driving wheel 400 and the load-bearing part 210 and the track 1000 is smaller, the resistance generated during the travel process is smaller, energy consumption is reduced, and it helps to improve endurance; at the same time, the small friction makes the service life of the driving wheel 400 and the load-bearing part 210 longer; finally, the two guide wheel assemblies 200 have the same structure, strong replaceability, and easy maintenance.

[0048] The guide wheel assembly 200 includes a guide member 220. The frame 100 has a slide rail 110 extending in the length direction. The guide portion of the guide member 220 is slidably matched with the slide rail 110. The transmission member 500 is rod-shaped, and the extension direction is at an acute angle to the extension direction of the slide rail 110. One end of the transmission member 500 is hinged to the lifting member 300, and the other end is hinged to the guide member 220. The setting of the guide member 220 limits the moving trajectory of the guide wheel assembly 200 relative to the frame 100, and improves the reliability of approaching or moving away from each other; the transmission member 500 adopts a rod-shaped structure, which helps to reduce the volume, quality and operating energy consumption; the extension direction of the transmission member 500 is at an acute angle to the extension direction of the slide rail 110, which can form a smooth power transmission structure with the lifting member 300, so as to facilitate driving the two guide wheel assemblies 200 to approach or move away during the lifting process of the lifting member 300. Among them, the length direction is the front-to-back direction, and the vertical direction is the up-down direction.

[0049] In other embodiments, two inclined surfaces may be slidably matched to achieve the pressing of the guide member 220 during the descending process of the lifting member 300, so that the two guide members 220 are separated from each other. The inclined surface of the guide member 220 is inclined inward from top to bottom, and the inclined surface of the lifting member 300 is inclined outward from top to bottom.

[0050] In some embodiments, at least two transmission members 500 are provided, and at least two transmission members 500 are divided into two groups. The two groups of transmission members 500 are respectively connected to the two guide wheel assemblies 200, and are both connected to the lifting member 300. The transmission member 500 is arranged so that when the driving wheel 400 moves away from the load-bearing part 210 in the vertical direction, the two guide wheel assemblies 200 are driven to move synchronously to approach each other under the driving action of the lifting member 300. The two guide wheel assemblies 200 move synchronously to approach each other, thereby increasing the speed at which the two guide wheel assemblies 200 approach each other, so that they can quickly adapt to the curved track 1000, so that the deformation of the elastic member 600 is as small as possible. Exemplarily, the two groups of transmission members 500 are respectively connected to the two guide members 220 in the two guide wheel assemblies 200, and are both connected to the lifting member 300.

[0051] In order to ensure the smooth movement of the guide member 220, two slide rails 110 are provided, and the two slide rails 110 are arranged at intervals along the width direction. The two ends of the guide member 220 each have a guide part, and the two guide parts respectively slide with the two slide rails 110. Exemplarily, four transmission members 500 are provided, wherein two transmission members 500 form a group, and the two transmission members 500 in the same group correspond to one guide member 220, and the two guide members 220 are arranged on both sides of the width direction of the transmission member 500. The two transmission members 500 act simultaneously, so that the two guide parts of the guide member 220 move synchronously relative to the corresponding slide rails 110, thereby improving the smooth movement of the guide member 220 and reducing the probability of jamming. Among them, the width direction is the left-right direction.

[0052] The guide member 220 is provided with a guide hole to form a guide portion, and the slide rail 110 is rod-shaped and is inserted into the guide hole. A first sleeve 120 is provided between the guide hole and the slide rail 110. In other embodiments, the guide portion may be a slider, which is slidably provided on the slide rail 110.

[0053] The elastic member 600 is disposed between the frame 100 and the lifting member 300, and is used to apply elastic force to the lifting member 300 so that the lifting member 300 is close to the load-bearing part 210, so as to drive the two guide wheel assemblies 200 away from each other through the transmission member 500. This arrangement allows the elastic force to directly act on the lifting member 300, so as to push the lifting member 300 and drive the driving wheel 400 to approach the track 1000, thereby making the contact between the driving wheel 400 and the track 1000 more reliable.

[0054] Combination Figure 1, Figure 3 and Figure 4 As shown, the lifting member 300 is provided with a lifting hole, and the walking mechanism of the rail-type inspection robot also includes a guide rod 700 and an adjusting nut 710. The guide rod 700 is inserted into the lifting hole and can slide relative to the lifting member 300. The lower end of the guide rod 700 abuts against the frame 100, and the adjusting nut 710 is threadedly matched with the guide rod 700. The elastic member 600 is a compression spring, which is sleeved on the guide rod 700, and the two ends abut against the lifting member 300 and the adjusting nut 710 respectively. The elastic member 600 can change its length by adjusting the adjusting nut 710, so that it can be used for rails 1000 of different thicknesses; at the same time, the compression spring sleeved on the guide rod 700 makes the use process more stable.

[0055] In some embodiments, the guide wheel assembly 200 includes a guide member 220, a steering assembly, a guide wheel 230, and a load-bearing wheel forming the load-bearing portion 210. The guide member 220 is slidably disposed on the frame 100. The steering assembly is disposed on the guide member 220 and can rotate around its own axis. The axis of the steering assembly extends in the vertical direction. The guide wheel 230 is disposed on the steering assembly and is used to abut against the side wall of the track 1000. The load-bearing wheel is disposed on the steering assembly and is used to abut against the top of the track 1000. The guide wheel 230 abuts against the side walls of both sides of the track 1000, thereby enabling left and right steering. The load-bearing wheel is pressurized on the upper surface of the track 1000 to bear the weight of the entire walking mechanism.

[0056] The steering assembly includes a steering member 240, two bearing seats 250 and four wheel shafts 260. The steering member 240 is rotatably arranged on the guide member 220. The two wheel shafts 260 form a group. The two groups of wheel shafts 260 are respectively arranged at both ends of the steering member 240. The two bearing seats 250 are respectively connected to the two groups of wheel shafts 260. The lower ends of the wheel shafts 260 are fixedly connected to the steering member 240, and the upper ends of the wheel shafts 260 are fixedly connected to the bearing seats 250. The guide wheel 230 is rotatably arranged on the wheel shafts 260 and can rotate around the axis of the wheel shafts 260. The bearing wheel is rotatably arranged on the bearing seats 250. In this embodiment, the wheel shafts 260 serve as the rotating shafts for installing the guide wheels 230, and also serve as the connecting structure connecting the guide member 220 and the bearing seats 250, and the structure is compact and the volume is small.

[0057] Combination Figure 3 As shown, in some embodiments, the steering assembly further includes a steering shaft 270, the steering member 240 is provided with a steering hole, the steering shaft 270 is passed through the steering hole, and the portion passing through the steering hole is screwed with the guide member 220. Among them, the second sleeve 271 is sleeved outside the steering shaft 270 and passed through the steering hole. The second sleeve 271 is a self-lubricating sleeve, and the gasket 272 is sleeved on the outer periphery of the steering shaft 270 and sandwiched between the steering member 240 and the guide member 220, which can achieve better dust and rust prevention effects and higher stability.

[0058] To facilitate the installation of the load-bearing wheels, in some embodiments, the lifting member 300 is a frame structure, and has a cavity and an upper opening connected to the cavity, and the load-bearing wheel is partially located in the cavity and partially passes through the upper opening. The structure of the lifting member 300 is fully utilized to make the diameter of the load-bearing wheel as large as possible, thereby improving the flow of the load-bearing wheel rolling along the track 1000.

[0059] In some embodiments, the lower end of the lifting member 300 is provided with a hinged portion, the transmission member 500 is connected to the hinged portion, the upper end of the lifting member 300 is folded outward to form a bearing portion 310, the lifting hole is provided in the bearing portion 310, and the upper end of the elastic member 600 abuts against the bearing portion 310. In the vertical direction, the elastic member 600 and the transmission member 500 are almost completely overlapped, reducing the size of the walking mechanism of the track-type inspection robot in the vertical direction, which is conducive to reducing the volume of the walking mechanism of the track-type inspection robot, reducing costs, and improving convenience of use.

[0060] The changes in the functional compression amount of the elastic member 600 in this embodiment and the technical solution in the prior art when encountering a curved track 1000 are different. For ease of understanding, the values ​​of the various structures are assigned and calculated and compared.

[0061] Combination Figure 6 As shown, in the embodiment where the distance between the two guide wheel assemblies 200 can be changed, the outer diameter of the track 1000 is 1000mm, the diameter of the load-bearing wheel is 40mm, the diameter of the driving wheel 400 is 110mm, the wheelbase of the two load-bearing wheels is 150mm, and the thickness of the track 1000 is 30mm. Assuming that the spring height is 50mm, it can just pass through the downward curved track 1000. It can be seen from the figure that when the walking mechanism of the track-type inspection robot enters the upward curved track 1000 from the downward curved track 1000, the compression amount L2 of the spring is 2.23mm. Therefore, the pressure change of the spring is smaller, so that the friction of the load-bearing wheel and the driving wheel 400 is smaller, the resistance generated during the walking process is smaller, and the energy consumption is lower; at the same time, it helps to ensure the service life of the load-bearing wheel and the driving wheel 400.

[0062] Combination Figure 7 As shown, in the embodiment where the distance between the two guide wheel assemblies 200 is fixed (the solution in the prior art), when other parameters are the same, that is, the outer diameter of the track 1000 is 1000mm, the diameter of the load-bearing wheel is 40mm, the diameter of the driving wheel 400 is 110mm, the wheelbase of the two load-bearing wheels is 150mm, and the thickness of the track 1000 is 30mm. Assuming that when the spring height is 50mm, it can just pass through the downward curved track 1000, it can be concluded from the figure that when the walking mechanism of the track-type inspection robot enters the upward curved track 1000 from the downward curved track 1000, the compression amount L1 of the spring is 11.73mm, the spring pressure is greater, the resistance is large, and the energy consumption is high.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A rail-type inspection robot walking mechanism, characterized in that: include: Rack(100); Two guide wheel assemblies (200), the two guide wheel assemblies (200) are arranged on the frame (100) at intervals along the extension direction of the track (1000), and can be moved closer to or farther from each other, and the guide wheel assemblies (200) are used to travel along the track (1000); A lifting member (300) is movably constrained to the frame (100) along an extension direction perpendicular to the track (1000); A driving wheel (400) is arranged on the lifting member (300), and the driving wheel (400) and the load-bearing part (210) of the guide wheel assembly (200) are respectively arranged on the upper and lower sides of the track (1000); a transmission member (500) disposed between the lifting member (300) and at least one of the guide wheel assemblies (200), wherein the transmission member (500) is arranged to drive the two guide wheel assemblies (200) to move closer to each other when the driving wheel (400) moves away from the load-bearing part (210) in a vertical direction; The elastic member (600) is used to keep the two guide wheel assemblies (200) away from each other.

2. The walking mechanism of the rail-type inspection robot according to claim 1, characterized in that: At least two transmission members (500) are provided, and the at least two transmission members (500) are divided into two groups. The two groups of transmission members (500) are respectively connected to the two guide wheel assemblies (200) and are both connected to the lifting member (300). The transmission member (500) is arranged to drive the two guide wheel assemblies (200) to move synchronously to approach each other when the driving wheel (400) moves away from the load-bearing part (210) in the vertical direction.

3. The walking mechanism of the rail-type inspection robot according to claim 1, characterized in that: The guide wheel assembly (200) comprises a guide member (220), the frame (100) has a slide rail (110) extending along the length direction, the guide portion of the guide member (220) is slidably matched with the slide rail (110), the transmission member (500) is rod-shaped, and the extension direction forms an acute angle with the extension direction of the slide rail (110), one end of the transmission member (500) is hinged to the lifting member (300), and the other end is hinged to the guide member (220).

4. The walking mechanism of the rail-type inspection robot according to claim 3 is characterized in that: Two slide rails (110) are provided, and the two slide rails (110) are spaced apart in the width direction. Both ends of the guide member (220) each have a guide portion, and the two guide portions are respectively slidably matched with the two slide rails (110).

5. The walking mechanism of the rail-type inspection robot according to claim 1, characterized in that: The elastic member (600) is arranged between the frame (100) and the lifting member (300), and is used to apply elastic force to the lifting member (300) so that the lifting member (300) is close to the load-bearing part (210), and drives the two guide wheel assemblies (200) to move away from each other through the transmission member (500).

6. The walking mechanism of the rail-type inspection robot according to claim 1, characterized in that: The lifting member (300) is provided with a lifting hole, and the walking mechanism of the track-type inspection robot further comprises a guide rod (700) and an adjusting nut (710). The guide rod (700) is inserted into the lifting hole and can slide relative to the lifting member (300). The lower end of the guide rod (700) abuts against the frame (100), and the adjusting nut (710) is threadedly matched with the guide rod (700). The elastic member (600) is a compression spring, which is sleeved on the guide rod (700), and the two ends of the compression spring respectively abut against the lifting member (300) and the adjusting nut (710).

7. The walking mechanism of the track-type inspection robot according to any one of claims 1 to 6, characterized in that: The guide wheel assembly (200) comprises a guide member (220), a steering assembly, a guide wheel (230) and a load-bearing wheel forming the load-bearing portion (210); the guide member (220) is slidably arranged on the frame (100); the steering assembly is arranged on the guide member (220) and can rotate around its own axis; the axis of the steering assembly extends in a vertical direction; the guide wheel (230) is arranged on the steering assembly and is used to abut against the side wall of the track (1000); and the load-bearing wheel is arranged on the steering assembly and is used to abut against the top of the track (1000).

8. The walking mechanism of the rail-type inspection robot according to claim 7, characterized in that: The steering assembly comprises a steering member (240), two load-bearing seats (250) and four wheel shafts (260); the steering member (240) is rotatably arranged on the guide member (220); two wheel shafts (260) form a group; the two groups of wheel shafts (260) are respectively arranged at two ends of the steering member (240); the two load-bearing seats (250) are respectively connected to the two groups of wheel shafts (260); the lower ends of the wheel shafts (260) are fixedly connected to the steering member (240); the upper ends of the wheel shafts (260) are fixedly connected to the load-bearing seats (250); the guide wheel (230) is rotatably arranged on the wheel shafts (260) and can rotate around the axis of the wheel shafts (260); the load-bearing wheel is rotatably arranged on the load-bearing seats (250).

9. The walking mechanism of the track-type inspection robot according to claim 7, characterized in that: The lifting member (300) is in a frame structure and has a cavity and an upper opening communicating with the cavity; the load-bearing wheel is partially located in the cavity and partially passes through the upper opening.

10. The walking mechanism of the rail-type inspection robot according to claim 9, characterized in that: The lower end of the lifting member (300) is provided with a hinged portion, the transmission member (500) is connected to the hinged portion, the upper end of the lifting member (300) is folded outward to form a bearing portion (310), and the upper end of the elastic member (600) abuts against the bearing portion (310).

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