A track-type inspection robot capable of automatically adjusting clamping force

Abstract

The present invention relates to the technical field of inspection robots, and in particular to a rail-type inspection robot capable of automatically adjusting the clamping force, comprising a camera and an I-shaped rail, wherein a mounting plate is disposed below the I-shaped rail, and two running devices are rotatably disposed on the upper side of the mounting plate; the running device comprises a bottom plate rotatably connected to one end of the upper side of the mounting plate, and two side plates are fixed on both sides of the bottom plate, and the upper ends of the two side plates are penetrated and rotatably connected with support shafts. The present invention uses guide mechanisms on both sides of the running device, and when the running device moves, multiple guide wheels of the guide mechanisms on both sides roll along the side of the I-shaped rail, and multiple guide wheels of the two guide mechanisms are respectively in contact with the surfaces on both sides of the I-shaped rail, providing lateral support force for the running device when it moves. When the running device moves along the straight section of the I-shaped rail, the running device can be prevented from lateral deviation, thereby improving the movement stability of the running device.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a track-type inspection robot capable of automatically adjusting clamping force. Background Art

[0002] With the rapid development of big data, cloud computing and network communication technologies in my country, data centers, as important infrastructure to promote the development of the digital economy, their quantity and quality have become an important indicator of the core competitiveness of enterprises. Computer room inspection is one of the daily operation and maintenance tasks to ensure the safe and stable operation of data centers.

[0003] At present, most computer room inspections are carried out by video surveillance. Although video surveillance can be deployed in large quantities, it also has problems such as limited computer room space, complex fixed camera control lines, and excessive image storage resource requirements, which lead to arduous maintenance tasks and low overall efficiency. In addition, due to space constraints, its monitoring range is limited, making it difficult to truly achieve the requirements for all-round monitoring of the computer room environment. Therefore, some robots specifically used for computer room inspections have also emerged.

[0004] After searching, the Chinese patent with announcement number: CN112034860B discloses a track-type inspection robot, including a track pre-set according to the travel path, a base plate is arranged in the track, a mobile joint module for driving the overall movement is arranged on the base plate, and an end device for monitoring the monitoring area is arranged below the base plate. The base plate is also provided with a clamping wheel device that is connected to the track and is used to clamp the mobile joint module, and a joint module for driving the end device to move and rotate in multiple directions.

[0005] Based on the above search and combined with actual problems, it was found that the inspection robot has no lateral guidance function. Since there is a certain lateral gap between the robot and the track, when the robot moves along the straight section of the track, the robot tends to swing back and forth laterally to one side or both sides, which reduces the robot's movement stability and causes unstable monitoring images. In addition, when the robot moves from the straight section of the track to the arc section at a relatively fast speed, the arc section of the track will cause a lateral impact on the robot. The lateral impact can easily cause resonance between the robot and the camera, causing the camera's monitoring image to shake violently, affecting the monitoring effect. Summary of the invention

[0006] The purpose of the present invention is to provide a rail-type inspection robot capable of automatically adjusting the clamping force, so as to solve the problems raised in the above-mentioned background technology.

[0007] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The cam is provided with two camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts, each of which is provided with a plurality of camshafts.

[0008] Preferably, the damping adjustment mechanism includes a sliding column housing connected between the first damping tube and the second damping tube, a sliding column is slidably connected to the inner side of the sliding column housing, a flow channel is opened inside the sliding column, and a centrifugal extrusion mechanism for pushing the sliding column to move is arranged between one end of the sliding column housing and the support shaft.

[0009] Preferably, the centrifugal extrusion mechanism includes a rotating disk fixed at one end of the supporting shaft, and a plurality of water chambers arranged in a circle are opened inside the rotating disk, and the inner side of each water chamber is slidably connected to an extrusion column, and each water chamber is connected to a branch pipe at one end close to the edge of the rotating disk, and each branch pipe is connected to each other through a collecting shell, and the collecting shell is connected to the inner end of the sliding column outer shell through a movable connecting pipe.

[0010] Preferably, the connecting pipe is rotatably connected to the inner side of the collecting shell via a rotating pipe joint.

[0011] Preferably, each of the water chambers has an air hole at one end close to the center of the rotating disk.

[0012] Preferably, one end of the sliding column is elastically connected to an inner end of the sliding column housing through a return spring.

[0013] Preferably, the driving mechanism includes a driving motor installed on one side of one of the side panels and a rack fixed to the lower side of the I-rail, a driving gear is fixed to the driving end of the driving motor, and the driving gear is meshed with the rack through teeth.

[0014] Preferably, the power-taking mechanism includes a positive conductive strip and a negative conductive strip installed on the lower side of the I-shaped rail, and a positive brush and a negative brush arranged on the upper side of the mounting plate, the lower sides of the positive brush and the negative brush are elastically connected to the upper side of the mounting plate through a spring telescopic rod, and the positive brush and the negative brush are respectively fitted with the surface of the positive conductive strip and the negative conductive strip under the elastic force of the two spring telescopic rods, the positive conductive strip and the negative conductive strip are electrically connected to an external power supply, and the positive brush and the negative brush are respectively electrically connected to the power input terminal of the drive motor and the camera.

[0015] Preferably, the lower side of the mounting plate is rotatably connected to a suspension rod, and the camera is mounted on the lower end of the suspension rod.

[0016] The present invention provides a track-type inspection robot capable of automatically adjusting the clamping force by improvement, which has the following improvements and advantages compared with the prior art:

[0017] First, the present invention uses the guide mechanisms on both sides of the walking device. When the walking device moves, the multiple guide wheels of the guide mechanisms on both sides roll along the side of the I-rail. The multiple guide wheels of the two guide mechanisms are respectively in contact with the two side surfaces of the I-rail, providing lateral support force for the walking device when it moves. When the walking device moves along the straight section of the I-rail, it can prevent the walking device from generating lateral deviation, thereby improving the movement stability of the walking device.

[0018] Secondly, the present invention uses a vibration reduction mechanism to reduce the lateral impact of the I-beam track on the traveling device when the traveling device moves from the straight section of the I-beam track to the arc section, thereby playing a good buffering role and preventing the impact force from directly acting on the traveling device to cause overall resonance, thereby avoiding jitter in the monitoring image of the camera. At the same time, the damping size can be automatically adjusted according to the moving speed of the traveling device through the damping adjustment mechanism and the centrifugal extrusion mechanism. When the traveling device passes through the arc section of the I-beam track at a faster speed, its kinetic energy is also greater, and therefore the impact force it receives is also greater. The centrifugal extrusion mechanism can push the sliding column in the damping adjustment mechanism to move a greater range as the speed increases, so that the overlapping area between the two ends of the flow channel and the first damping tube and the second damping tube is smaller, thereby providing a greater damping effect and absorbing more kinetic energy, so that the traveling device can always maintain a stable moving state, and can better suppress the vibration caused by the resonance of the traveling device and the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0021] Figure 2 It is a schematic diagram of the structure of the second viewing angle of the present invention;

[0022] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0023] Figure 4 It is a structural schematic diagram of the combined state of two walking devices in the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of a single walking device in the present invention in a disassembled state;

[0025] Figure 6 It is a cross-sectional structural schematic diagram of the walking device in the present invention;

[0026] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged structure at B in the middle;

[0027] Figure 8 It is a schematic cross-sectional structural diagram of the centrifugal extrusion mechanism in the present invention.

[0028] Reference numerals:

[0029] 1. Camera; 2. I-shaped track; 3. Mounting plate; 4. Suspension rod; 5. Spring telescopic rod; 6. Positive brush; 7. Negative brush; 8. Positive conductive strip; 9. Negative conductive strip; 101. Bottom plate; 102. Side plate; 103. Support shaft; 104. Support wheel; 105. Drive motor; 106. Drive gear; 107. Rack; 201. Rotating shaft; 202. Bending rod; 204. Guide wheel; 301. Extension rod; 302. Slide groove Plate; 303, piston cylinder; 304, sliding rod; 305, buffer spring; 306, sliding groove; 307, sliding pin; 308, piston plate; 309, first damping tube; 310, second damping tube; 401, sliding column housing; 402, sliding column; 403, flow channel; 404, connecting pipe; 405, rotating disk; 406, water cavity; 407, extrusion column; 408, branch pipe; 409, collecting shell; 410, air hole; 411, return spring. DETAILED DESCRIPTION

[0030] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. 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.

[0031] The present invention provides a track-type inspection robot capable of automatically adjusting the clamping force through improvement. The technical solution of the present invention is:

[0032] like Figures 1 to 8 As shown, the embodiment of the present invention provides a rail-type inspection robot capable of automatically adjusting the clamping force, comprising a camera 1 and an I-shaped rail 2, a mounting plate 3 is arranged below the I-shaped rail 2, a suspension rod 4 is rotatably connected to the lower side of the mounting plate 3, the camera 1 is mounted on the lower end of the suspension rod 4, and two walking devices are rotatably arranged on the upper side of the mounting plate 3; the walking device comprises a bottom plate 101 rotatably connected to one end of the upper side of the mounting plate 3, two side plates 102 are fixed on both sides of the bottom plate 101, the upper ends of the two side plates 102 are penetrated by support shafts 103 that are rotatably connected, one end of the two support shafts 103 is fixed with support wheels 104 that roll with the I-shaped rail 2, and two guide mechanisms are symmetrically arranged on both sides of the bottom plate 101; the guide mechanism comprises two rotating shafts 201 rotatably connected to the upper side of the bottom plate 101, two bent rods 202 are fixed on the upper end of each rotating shaft 201, one end of each bent rod 202 is rotatably connected to a guide wheel 204, and a reducing gear is arranged between the lower ends of the two rotating shafts 201 and the bottom plate 101. A vibration mechanism; a driving mechanism is arranged between the two walking devices and the I-shaped rail 2; a power taking mechanism is arranged between the mounting plate 3 and the I-shaped rail 2; a vibration reduction mechanism comprises two extension rods 301 fixed to one side of the lower end of the two rotating shafts 201 and a piston cylinder 303 fixed to the upper side of the bottom plate 101, a sliding rod 304 is slidably connected to the inner side of the piston cylinder 303, a sliding groove plate 302 is fixed to one end of the sliding groove plate 304, two sliding grooves 306 are arranged at both ends of the sliding groove plate 302, and one end of the two extension rods 301 is fixed to the sliding groove plate 302. Both ends are rotatably connected with sliding pins 307, and the two sliding pins 307 are respectively slidably connected to the inner sides of the two sliding grooves 306. One side of the sliding groove plate 302 is elastically connected to the outer end of the piston cylinder 303 through a buffer spring 305. A piston plate 308 that slides with the inner side of the piston cylinder 303 is fixed to the outer side of the sliding rod 304. The two ends of the piston cylinder 303 are connected through a first damping tube 309 and a second damping tube 310. A damping adjustment mechanism is arranged between the first damping tube 309 and the second damping tube 310.

[0033] Through the vibration reduction mechanism, when the traveling device moves from the straight segment of the I-rail 2 to the arc segment, the lateral impact of the I-rail 2 on the traveling device can be reduced, thereby playing a good buffering role and preventing the impact force from directly acting on the traveling device to cause overall resonance, thereby avoiding shaking of the monitoring image of the camera 1.

[0034] Furthermore, the damping adjustment mechanism includes a sliding column housing 401 which is connected and arranged between the first damping tube 309 and the second damping tube 310, a sliding column 402 is slidably connected to the inner side of the sliding column housing 401, a flow channel 403 is provided inside the sliding column 402, a centrifugal extrusion mechanism for pushing the sliding column 402 to move is provided between one end of the sliding column housing 401 and the support shaft 103, the centrifugal extrusion mechanism includes a rotating disk 405 fixed to one end of the support shaft 103, a plurality of water chambers 406 arranged in a circumference are provided inside the rotating disk 405, an extrusion column 407 is slidably connected to the inner side of each water chamber 406, and a branch pipe 408 is connected to one end of each water chamber 406 close to the edge of the rotating disk 405, and an air hole 410 is provided at one end of each water chamber 406 close to the center of the rotating disk 405, each branch pipe 408 is connected through a collective shell 409, and the collective shell 409 is connected to one end of the inner side of the sliding column housing 401 through a movable connecting pipe 404;

[0035] Through the damping adjustment mechanism and the centrifugal extrusion mechanism, the damping size can be automatically adjusted according to the moving speed of the walking device. When the walking device passes through the arc segment of the I-rail 2 at a faster speed, its kinetic energy is also larger, so the impact force it receives is also greater. As the speed increases, the centrifugal extrusion mechanism can push the sliding column 402 in the damping adjustment mechanism to move a larger range, so that the overlapping area between the two ends of the flow channel 403 and the first damping tube 309 and the second damping tube 310 is smaller, thereby providing a greater damping effect and absorbing more kinetic energy, so that the walking device can always maintain a stable moving state, and the vibration caused by the resonance of the walking device and the camera 1 can be better suppressed.

[0036] Furthermore, the connecting pipe 404 is connected to the inner side of the collecting shell 409 by rotation through a rotating pipe joint;

[0037] The connecting pipe 404 and the collecting shell 409 are connected by rotation through a rotating pipe joint, which ensures that the two are connected to each other and can transport water, and at the same time, the two can be relatively rotated.

[0038] Further, one end of the sliding column 402 is elastically connected to the inner end of the sliding column housing 401 through the return spring 411;

[0039] When the moving speed of the walking device slows down, the rotation speed of the support shaft 103 and the support wheel 104 decreases. At this time, the centrifugal force on the multiple extrusion columns 407 in the centrifugal extrusion mechanism is reduced, so the amount of water squeezed out is reduced, and the amount of water pressed into the inner side of the slide column housing 401 of the damping adjustment mechanism is reduced. At this time, under the action of the reset spring 411, the slide column 402 can be moved in the opposite direction to achieve reset, thereby increasing the overlapping area between the two ends of the flow channel 403 and the first damping tube 309 and the second damping tube 310, reducing the damping force, and allowing the vibration reduction mechanism to adapt to the vibration reduction needs of the walking device when moving at a low speed.

[0040] Furthermore, the driving mechanism includes a driving motor 105 installed on one side of one of the side plates 102 and a rack 107 fixed to the lower side of the I-shaped rail 2, a driving gear 106 is fixed to the driving end of the driving motor 105, and the driving gear 106 is meshed with the rack 107 through teeth;

[0041] The driving motor 105 of the driving mechanism drives the driving gear 106 to rotate, and the driving gear 106 and the rack 107 are engaged with each other through teeth, so as to drive the walking device to move along the outer side of the I-rail 2. When the two driving mechanisms of the two walking devices run synchronously, they can drive a mounting plate 3 and a camera 1 to move at the same time, so that the camera 1 moves along the I-rail 2 and can collect monitoring images of the space passed through.

[0042] Furthermore, the power supply mechanism includes a positive conductive strip 8 and a negative conductive strip 9 installed on the lower side of the I-shaped track 2, and a positive brush 6 and a negative brush 7 arranged on the upper side of the mounting plate 3. The lower sides of the positive brush 6 and the negative brush 7 are elastically connected to the upper side of the mounting plate 3 through a spring telescopic rod 5, and the positive brush 6 and the negative brush 7 are respectively fitted with the surface of the positive conductive strip 8 and the negative conductive strip 9 under the elastic force of the two spring telescopic rods 5, the positive conductive strip 8 and the negative conductive strip 9 are electrically connected to an external power supply, and the positive brush 6 and the negative brush 7 are respectively electrically connected to the power input terminal of the drive motor 105 and the camera 1;

[0043] When moving, the positive brush 6 of the power-collecting mechanism is always in contact with the surface of the positive conductive strip 8 under the elastic force of the lower spring telescopic rod 5, and the negative brush 7 is in contact with the surface of the negative conductive strip 9, so that external electrical energy can be transmitted to the drive motor 105 and the camera 1 to power the drive motor 105 and the camera 1.

[0044] Working principle: When in use, first install the I-shaped track 2 on the indoor ceiling. The cross-section of the I-shaped track 2 is in the shape of an "I". Press the four support wheels 104 of the two walking devices on the inner bottom surface of the I-shaped track 2. The four support wheels 104 can support the robot as a whole. Start the two driving motors 105 of the two driving mechanisms to run synchronously to drive the two driving gears 106 to rotate synchronously. The two driving gears 106 are respectively engaged with the two racks 107 through teeth, so that the two walking devices can be driven to move along the outer side of the I-shaped track 2, and then the mounting plate 3 and the camera 1 are driven to move accordingly, so that the camera 1 moves along the I-shaped track 2, and can collect monitoring images of the space passed;

[0045] When moving, the positive electrode brush 6 of the power taking mechanism is always in contact with the surface of the positive electrode conductive strip 8 under the elastic force of the lower spring telescopic rod 5, and the negative electrode brush 7 is in contact with the surface of the negative electrode conductive strip 9, so that external electric energy can be transmitted to the drive motor 105 and the camera 1 to supply power to the drive motor 105 and the camera 1;

[0046] When moving, the two guide mechanisms on both sides of each walking device move accordingly, and the multiple guide wheels 204 of the two guide mechanisms roll along the side of the I-shaped rail 2. The multiple guide wheels 204 of the two guide mechanisms are respectively in contact with the two side surfaces of the I-shaped rail 2, providing lateral support force for the walking device when moving. When the walking device moves along the straight section of the I-shaped rail 2, it can prevent the walking device from lateral deviation, thereby improving the movement stability of the walking device;

[0047] When the two walking devices move to the arc segment position of the I-beam track 2, centrifugal force will be generated when the walking devices move along the arc segment of the I-beam track 2. The arc segment of the I-beam track 2 applies a centripetal force opposite to the direction of the centrifugal force to the walking devices. The centripetal force changes the moving direction of the walking devices that originally move in a straight line, so that it changes from a straight line movement to an arc movement. The centripetal force is first transmitted to a plurality of guide wheels 204 of a guide mechanism located on the inner curved side, and then transmitted to the curved rod 202 at the corresponding position through the plurality of guide wheels 204, and then transmitted to a rotating shaft 201 close to the forward direction, so that the rotating shaft 201 generates a rotational torque, and the rotating shaft 201 then drives the extension rod 301 of the damping mechanism at the lower end to rotate. Since the two sliding pins 307 are respectively slidably connected to the inner sides of the two sliding grooves 306, when the extension rod 301 rotates, a sliding pin 307 at its end can apply a thrust to the sliding groove plate 302, so that the sliding groove plate 302 drives the sliding rod 30 4 slides along the inner side of the piston cylinder 303, and at the same time, the slide plate 302 applies a rotational torque to the other extension rod 301 through another slide pin 307, thereby driving the other rotation shaft 201 to rotate in the opposite direction by a certain angle, so that the guide mechanism located on the inner curved side can always have the guide wheel 204 attached to the inner surface of the I-shaped track 2, thereby improving the stability of the robot in turning. While the slide plate 302 drives the slide rod 304 to move, it can compress the buffer spring 305. When the buffer spring 305 is compressed, it can apply a reverse force to the slide plate 302. When the walking device moves from the straight section of the I-shaped track 2 to the arc section, the lateral impact of the I-shaped track 2 on the walking device can be reduced (the lateral impact is caused by the centripetal force acting quickly on one side of the walking device in a short time), thereby playing a good buffering role, preventing the impact force from directly acting on the walking device to cause overall resonance, thereby avoiding the monitoring screen of the camera 1 from shaking;

[0048] When the walking device is subjected to a lateral impact, the buffer spring 305 is compressed, and at the same time, the sliding rod 304 drives the piston plate 308 to slide on the inner side of the piston cylinder 303. Since the inner ends of the piston cylinder 303 and the inner sides of the first damping tube 309 and the second damping tube 310 are filled with damping oil, when the piston plate 308 moves along the inner side of the piston cylinder 303 toward the end where the second damping tube 310 is located, the damping oil at one end of the inner side of the piston cylinder 303 is squeezed into the inner side of the second damping tube 310, and then flows into the first damping tube 309 through the flow channel 403 of the damping adjustment mechanism, and then flows into the other end of the inner side of the piston cylinder 303 through the first damping tube 309. The damping oil flows through the second damping tube 309 with a smaller inner diameter. The second damping tube 310, the first damping tube 309 and the flow channel 403 will be subject to a certain resistance, so that a certain amount of energy can be absorbed, so that the buffer spring 305 can be prevented from rebounding multiple times after being compressed, so that the vibration amplitude and vibration frequency of the slide bar 304 and the slide slot plate 302 can be suppressed, and when the walking device passes through the arc segment of the I-shaped track 2, the walking device can be prevented from lateral reciprocating swing, thereby avoiding the vibration of the robot as a whole when passing through the arc segment of the I-shaped track 2, further improving the stability of the walking device moving in the arc segment of the I-shaped track 2, thereby reducing the shaking times of the camera 1 when passing through this position, thereby further improving the stability of the monitoring screen of the camera 1;

[0049] When the moving speed of the walking device is faster, the faster the support wheel 104 rotates, the faster the support wheel 104 drives the support shaft 103 to rotate, and the support shaft 103 drives the rotating disk 405 of the centrifugal extrusion mechanism at one end to rotate faster. When the rotating disk 405 rotates at high speed, the multiple extrusion columns 407 inside it are subjected to a large centrifugal force, so that each extrusion column 407 moves toward the edge direction of the rotating disk 405. When each extrusion column 407 moves, it squeezes the water inside the water cavity 406 at the corresponding position toward the inside of the branch pipe 408 at the corresponding position. The water inside the multiple branch pipes 408 is squeezed into the inside of the collecting shell 409, and then squeezed to one end of the inner side of the sliding column shell 401 of the damping adjustment mechanism through the connecting pipe 404. After the water enters the inside of the sliding column shell 401, it pushes the sliding column 402 to move. The column 402 drives the flow channel 403 to move and compresses the return spring 411. When the walking device moves faster, the rotating disk 405 rotates faster, the centrifugal force is greater, the more water is squeezed onto the inner side of the sliding column housing 401, and the sliding column 402 moves with a greater amplitude. Therefore, the overlapping area between the two ends of the flow channel 403 and the first damping tube 309 and the second damping tube 310 is smaller, so the damping of the damping oil when flowing through the flow channel 403 is greater. Therefore, greater damping can be provided, thereby absorbing more kinetic energy, so that the vibration reduction effect of the walking device can increase with the increase of speed. When the speed is slower, the kinetic energy is smaller and the damping is smaller. When the speed is faster, the kinetic energy is larger and the damping is larger, so that the walking device can always maintain a stable operating state, and the resonance of the walking device and the camera 1 and the vibration can be well suppressed.

[0050] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A track-type inspection robot capable of automatically adjusting clamping force, comprising a camera (1) and an I-shaped track (2), wherein a mounting plate (3) is provided below the I-shaped track (2), characterized in that: The upper side of the mounting plate (3) is rotatably provided with two walking devices; The walking device comprises a bottom plate (101) rotatably connected to one end of the upper side of the mounting plate (3), two side plates (102) are fixed on both sides of the bottom plate (101), the upper ends of the two side plates (102) are penetrated by support shafts (103) rotatably connected, one end of the two support shafts (103) is fixed with support wheels (104) that roll with the I-shaped rail (2), and two guide mechanisms are symmetrically arranged on both sides of the bottom plate (101); The guide mechanism comprises two rotating shafts (201) rotatably connected to the upper side of the bottom plate (101), two bent rods (202) are fixed to the upper end of each rotating shaft (201), one end of each bent rod (202) is rotatably connected to a guide wheel (204), and a vibration reduction mechanism is provided between the lower ends of the two rotating shafts (201) and the bottom plate (101); A driving mechanism is provided between the two walking devices and the I-shaped rail (2); A power supply mechanism is provided between the mounting plate (3) and the I-shaped rail (2); The vibration reduction mechanism comprises two extension rods (301) fixed to one side of the lower ends of the two rotating shafts (201) and a piston cylinder (303) fixed to the upper side of the bottom plate (101); a sliding rod (304) is slidably connected to the inner side of the piston cylinder (303); a sliding groove plate (302) is fixed to one end of the sliding groove plate (304); two sliding grooves (306) are provided at both ends of the sliding groove plate (302); one end of the two extension rods (301) is rotatably connected to a sliding pin (307); the two sliding pins (307) are The slide rod (304) is slidably connected to the inner sides of the two slide grooves (306), one side of the slide groove plate (302) is elastically connected to the outer end of the piston cylinder (303) via a buffer spring (305), a piston plate (308) slidably matched with the inner side of the piston cylinder (303) is fixed to the outer side of the slide rod (304), the two ends of the piston cylinder (303) are connected via a first damping tube (309) and a second damping tube (310), and a damping adjustment mechanism is provided between the first damping tube (309) and the second damping tube (310).

2. The rail-type inspection robot capable of automatically adjusting the clamping force according to claim 1, characterized in that: The damping adjustment mechanism comprises a sliding column housing (401) connected between a first damping tube (309) and a second damping tube (310); a sliding column (402) is slidably connected to the inner side of the sliding column housing (401); a flow channel (403) is provided inside the sliding column (402); and a centrifugal extrusion mechanism for pushing the sliding column (402) to move is provided between one end of the sliding column housing (401) and the support shaft (103).

3. The track-type inspection robot capable of automatically adjusting the clamping force according to claim 2, characterized in that: The centrifugal extrusion mechanism comprises a rotating disk (405) fixed at one end of a support shaft (103), a plurality of water chambers (406) arranged in a circumferential pattern are provided inside the rotating disk (405), an extrusion column (407) is slidably connected to the inner side of each of the water chambers (406), and a branch pipe (408) is connected to one end of each of the water chambers (406) close to the edge of the rotating disk (405), each of the branch pipes (408) is connected to each other via a collection shell (409), and the collection shell (409) is connected to one end of the inner side of the sliding column outer shell (401) via a movable connecting pipe (404).

4. The rail-type inspection robot capable of automatically adjusting the clamping force according to claim 3 is characterized in that: The connecting pipe (404) is connected to the inner side of the collecting shell (409) by rotation via a rotating pipe joint.

5. The rail-type inspection robot capable of automatically adjusting the clamping force according to claim 3 is characterized in that: An air hole (410) is formed at one end of each water cavity (406) close to the center of the rotating disk (405).

6. The track-type inspection robot capable of automatically adjusting the clamping force according to claim 2, characterized in that: One end of the sliding column (402) is elastically connected to an inner end of the sliding column housing (401) via a return spring (411).

7. The track-type inspection robot capable of automatically adjusting the clamping force according to claim 1, characterized in that: The driving mechanism comprises a driving motor (105) mounted on one side of one of the side plates (102) and a rack (107) fixed on the lower side of the I-shaped rail (2); a driving gear (106) is fixed to the driving end of the driving motor (105); the driving gear (106) is meshed with the rack (107) via teeth.

8. The track-type inspection robot capable of automatically adjusting the clamping force according to claim 7, characterized in that: The power supply mechanism comprises a positive conductive strip (8) and a negative conductive strip (9) mounted on the lower side of the I-shaped rail (2), and a positive brush (6) and a negative brush (7) arranged on the upper side of the mounting plate (3); the lower sides of the positive brush (6) and the negative brush (7) are elastically connected to the upper side of the mounting plate (3) through a spring telescopic rod (5), and the positive brush (6) and the negative brush (7) are respectively fitted with the surface of the positive conductive strip (8) and the negative conductive strip (9) under the elastic force of the two spring telescopic rods (5); the positive conductive strip (8) and the negative conductive strip (9) are electrically connected to an external power supply, and the positive brush (6) and the negative brush (7) are respectively electrically connected to the power input terminal of the drive motor (105) and the camera (1).

9. The rail-type inspection robot capable of automatically adjusting the clamping force according to claim 1, characterized in that: The lower side of the mounting plate (3) is rotatably connected to a suspension rod (4), and the camera (1) is mounted on the lower end of the suspension rod (4).

Images