Guide rail inspection robot

Abstract

The guide rail inspection robot comprises a guide rail, a mounting frame is arranged on the lower portion of the guide rail, extension plates are symmetrically arranged on the left side wall and the right side wall of the mounting frame, two driving assemblies are symmetrically arranged on the mounting frame and the extension plates, an auxiliary assembly is arranged on the upper portion of the mounting frame, and a camera shooting assembly is arranged on the lower portion of the mounting frame; the guide rail is provided with a plurality of sensing protrusions, and the extension plate is provided with a proximity displacement sensor. The proximity displacement sensor is used for sensing the distance between the proximity displacement sensor and the vertical side wall of the guide rail and sensing the sensing protrusion. The two groups of driving assemblies are matched with each other to drive the mounting frame to move and steer along the guide rail; the auxiliary assembly is used for keeping the central axis of the mounting frame perpendicular to the upper and lower surfaces of the guide rail; through cooperation of the induction protrusion and the proximity displacement sensor, displacement data can be forcibly refreshed, the problem of position accumulative errors caused by sliding between the driving wheel and the guide rail is effectively avoided, and the positioning precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a guide rail inspection robot. Background Art

[0002] With the development of electronic technology, robots are increasingly being used in construction, inspection and other work scenarios. The inspection robots in the prior art are mainly wheeled and tracked. However, since part of the transmission line is laid in the underground pipe gallery, wheeled and tracked inspection robots can usually only walk and inspect on flat roads. Even if they can travel in complex environments such as underground pipe galleries with narrow spaces and tortuous routes, they will have difficulty in positioning due to weak GPS signals and other reasons.

[0003] In response to the above problems, a Chinese invention patent with publication number CN114083512B discloses a rail inspection robot, including: a fuselage main body, on which an active mechanism, a driving mechanism and a positioning mechanism are provided; one end of the active mechanism is provided with a first driving wheel and a first clamping wheel, and the other end of the active mechanism is provided with a second driving wheel, the first driving wheel and the second driving wheel are respectively connected to the driving mechanism, wherein a space that a first rail can cross is formed between the first driving wheel and the first clamping wheel, and the second driving wheel is used to roll on the second rail; the positioning mechanism includes an encoder, the first rotating shaft of the encoder is fixedly connected to the second rotating shaft of the first clamping wheel, and the inspection position is recorded by the rotation of the second rotating shaft. The above patent can solve the problem that inspection robots in the prior art are difficult to work and accurately position in complex environments such as underground pipe corridors.

[0004] However, the above-mentioned technical solution uses an encoder to collect the rotation distance and then determine the position of the device. However, in actual use, relative sliding will occur between the active wheel of the driving mechanism and the guide rail, and the position error caused by this sliding increases with the increase of the travel distance, thereby causing errors in the position judgment of the inspection device; and the above-mentioned technical solution and most of the existing technical solutions use front-to-back arranged guide mechanisms to guide the inspection device. Since the front-to-back arranged guide mechanisms are fixedly installed, and there are many right-angle turns in the underground tunnel environment, and the turning radius is small, the front-to-back fixedly arranged guide mechanisms are difficult to achieve small-angle turns, thereby limiting their usage scenarios. Therefore, the present application provides a guide rail inspection robot. Summary of the invention

[0005] The present invention provides a guide rail inspection robot, aiming to solve the problems pointed out in the above background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A guide rail inspection robot comprises: a guide rail, a mounting frame is arranged at the lower part of the guide rail, extension plates are symmetrically arranged on the left and right side walls of the mounting frame, two groups of driving components are symmetrically arranged on the mounting frame and the extension plates, an auxiliary component is arranged at the upper part of the mounting frame, the auxiliary component is located between the mounting frame and the guide rail, and a camera component is arranged at the lower part of the mounting frame; a plurality of sensing protrusions are arranged on the guide rail, and a proximity displacement sensor is arranged on the extension plate;

[0008] The proximity displacement sensor is used to sense the distance between the proximity displacement sensor and the vertical side wall of the guide rail and sense the sensing protrusion;

[0009] The two groups of driving components cooperate with each other to drive the mounting frame to move and turn along the guide rail;

[0010] The auxiliary component is used to keep the central axis of the mounting frame perpendicular to the upper and lower surfaces of the guide rail;

[0011] The camera assembly is used to obtain image information of the target to be monitored.

[0012] Further, the driving assembly includes: a driving motor fixedly connected to the mounting frame, a driving pulley fixedly connected to the rotating shaft of the driving motor, a passive pulley disposed on the outer side of the upper end of the extension plate, a driving wheel disposed on the inner side of the upper end of the extension plate, the driving wheel and the passive pulley cooperate with each other through a rotating shaft, the rotating shaft is rotatably connected to the extension plate, and the passive pulley and the driving pulley cooperate with each other through a synchronous belt transmission;

[0013] A limiting wheel is rotatably connected to the middle portion of the extension plate, the limiting wheel cooperates with the vertical side wall of the guide rail, and the driving wheel cooperates with the upper side wall of the guide rail.

[0014] Further, the auxiliary component includes: a lifting frame, the lifting frame is slidably connected to the extension plate, the extension plate is provided with a lifting slot matched with the lifting frame, a telescopic rod is provided between the mounting frame and the lifting frame, the lower end of the telescopic rod is fixedly connected to the mounting frame, and the upper end of the telescopic rod is matched with the lifting frame through a first spring;

[0015] The front and rear ends of the upper part of the lifting frame are respectively rotatably connected to front and rear tilt limiting rollers, the front and rear ends of the lower part of the lifting frame are respectively rotatably connected to a pair of switching levers, the middle part of the switching lever is rotatably connected to the mounting frame, and the ends of each pair of switching levers away from the lifting frame are rotatably connected to a deflection limiting roller;

[0016] The forward and backward tilt limiting roller and the deflection limiting roller are both matched with the lower surface of the guide rail.

[0017] Furthermore, a matching roller is arranged in the middle of the deflection limiting roller, limiting inclined surfaces are arranged at both ends of the matching roller, and the length of the circumferential side wall in the middle of the matching roller is adapted to the width of the guide rail.

[0018] Furthermore, the switching lever is used to switch the matching state between the deflection limiting roller and the guide rail, so that the deflection limiting roller and the forward and backward tilt limiting roller do not match with the guide rail at the same time.

[0019] Furthermore, a rotating sleeve is respectively sleeved on both ends of the mating roller, and the rotating sleeve is slidably connected to the mating roller. The outer end of the rotating sleeve is fixedly connected to an end cover, the outer side of the end cover is rotatably connected to the switching lever, and a second spring is arranged between the inner side of the end cover and the mating roller.

[0020] Furthermore, according to the guide rail inspection robot described in claim 1, the feature is that the camera assembly comprises: a first turntable fixedly connected to the lower portion of the mounting frame, a camera frame fixedly connected to the lower portion of the first turntable, a camera frame rotatably connected to the inner cavity of the camera frame, and a second turntable disposed on the outer side of the camera frame;

[0021] The first turntable is used to drive the camera frame to rotate, and the second turntable is used to drive the camera head to rotate.

[0022] Furthermore, the sensing protrusion is arranged at adjacent ends of the straight section and the corner of the guide rail.

[0023] Compared with the prior art, the present invention has the following technical effects:

[0024] 1. The guide rail inspection robot described in the present invention installs heavy components such as a drive motor under the guide rail, thereby lowering the center of gravity of the device and increasing the overall stability, which is more obvious when running on an uneven or curved track; by using the sensing protrusion and the proximity displacement sensor, the displacement data can be forced to be refreshed, effectively avoiding the problem of position accumulation error caused by sliding between the drive wheel and the guide rail, and improving the positioning accuracy.

[0025] 2. The rail inspection robot described in the present invention is designed with adjustable forward and backward tilt limiting rollers and deflection limiting rollers, so that the robot can better adapt to the small radius turning conditions that may occur in underground tunnels, thereby enhancing its flexibility and passability in narrow spaces; even if one of the drive motors fails, the other drive motor can still drive the entire device to move through the action of the deflection limiting roller, thereby ensuring a certain degree of continuous working capability.

[0026] 3. The rail inspection robot described in the present invention achieves fine control of the steering angle by controlling the speed of the driving motors on both sides, which not only speeds up the cornering speed but also improves the operational smoothness during the inspection process; through the auxiliary components, the posture of the device during movement (such as forward and backward tilt) is effectively managed, reducing the safety hazards caused by loss of control, especially when dealing with sharp turns. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is an overall schematic diagram of a guide rail inspection robot according to the present invention;

[0028] Figure 2 It is a schematic diagram of the arrangement of the induction protrusions of a guide rail inspection robot according to the present invention;

[0029] Figure 3 It is a schematic diagram of a driving component of a guide rail inspection robot according to the present invention;

[0030] Figure 4 It is an axonometric diagram of an auxiliary component of a guide rail inspection robot according to the present invention;

[0031] Figure 5 It is a front view of an auxiliary component of a guide rail inspection robot according to the present invention;

[0032] Figure 6 It is a schematic diagram of a camera assembly of a guide rail inspection robot according to the present invention;

[0033] Figure 7 It is a schematic diagram of the interior of a matching roller of a guide rail inspection robot described in the present invention.

[0034] In the figure:

[0035] 1. Guide rail;

[0036] 2. Mounting frame; 201. Extension plate; 202. Lifting slot;

[0037] 3. Driving assembly; 301. Driving motor; 302. Active pulley; 303. Synchronous belt; 304. Passive pulley; 305. Driving wheel; 306. Limiting wheel;

[0038] 4. Auxiliary components; 401. Lifting frame; 402. Front and rear tilt limiting roller; 403. Switching lever;

[0039] 404, deflection limiting roller; 4041, matching roller; 4042, rotating sleeve; 4043, end cover; 4044, second spring;

[0040] 405, telescopic rod; 406, first spring;

[0041] 5. Proximity displacement sensor;

[0042] 6. Camera assembly; 601. First turntable; 602. Camera stand; 603. Camera head; 604. Second turntable;

[0043] 7. Induction bulge. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in combination with specific embodiments of the present application and with reference to the accompanying drawings.

[0045] like Figure 1-2 As shown, a guide rail inspection robot comprises: a guide rail 1, a mounting frame 2 is arranged at the lower part of the guide rail 1, extension plates 201 are symmetrically arranged on the left and right side walls of the mounting frame 2, two groups of driving components 3 are symmetrically arranged on the mounting frame 2 and the extension plate 201, an auxiliary component 4 is arranged at the upper part of the mounting frame 2, the auxiliary component 4 is located between the mounting frame 2 and the guide rail 1, and a camera component 6 is arranged at the lower part of the mounting frame 2; a plurality of sensing protrusions 7 are arranged on the guide rail 1, and a proximity displacement sensor 5 is arranged on the extension plate 201;

[0046] The proximity displacement sensor 5 is used to sense the distance between the proximity displacement sensor 5 and the vertical side wall of the guide rail 1 and sense the sensing protrusion 7;

[0047] The two groups of driving components 3 cooperate with each other to drive the mounting frame 2 to move and turn along the guide rail 1;

[0048] The auxiliary component 4 is used to keep the central axis of the mounting frame 2 perpendicular to the upper and lower surfaces of the guide rail 1;

[0049] The camera assembly 6 is used to obtain image information of the target to be monitored.

[0050] In a specific embodiment, the mounting frame 2 is built with an independent power supply, a controller, and a wireless communication device. The controller is electrically connected to each component to coordinate the actions between the components. The controller controls the two sets of driving components 3 to cooperate with each other, and can accurately control the movement and steering of the mounting frame 2 on the guide rail 1. This design ensures the smooth operation of the robot on the guide rail, and can maintain stability and flexibility even in a complex guide rail 1 environment, realize small radius steering, and reduce the impact on the guide rail 1 when turning, thereby increasing the service life of the guide rail 1.

[0051] The auxiliary component 4 is used to keep the central axis of the mounting frame 2 perpendicular to the upper and lower surfaces of the guide rail 1. This design ensures that the robot remains stable during movement, avoids unstable movement or damage to the guide rail 1 due to deflection, and also helps to improve the image acquisition quality of the camera component;

[0052] The proximity displacement sensor 5 is used to sense the distance between the vertical side wall of the guide rail 1 and the sensing protrusion 7. This design enables the robot to refresh its relative position by sensing the sensing protrusions 7 at different positions, thereby ensuring its accurate movement on the guide rail, effectively avoiding the problem of cumulative position error caused by sliding between the driving wheel 305 and the guide rail 1, and improving the positioning accuracy; specifically, the controller obtains the real-time position of the robot by collecting the rotation information of the driving component 3. When the proximity displacement sensor approaches the sensing protrusion 7, the displacement data in the controller is forced to be refreshed to the length information of the position of the sensing protrusion 7, and then the rotation angle information of the driving component 3 is re-collected on this basis, so as to repeatedly calibrate the displacement data of the robot to ensure the accuracy of the robot's moving position.

[0053] The camera assembly 6 is used to obtain image information of the target to be monitored. Combined with the sensing protrusion 7 and the proximity displacement sensor 5, the robot can achieve multi-dimensional environmental perception, which not only helps to monitor and identify potential faults or abnormalities, but also improves the comprehensiveness and accuracy of inspection work.

[0054] like Figure 3 As shown, the driving assembly 3 includes: a driving motor 301 fixedly connected to the mounting frame 2, a driving pulley 302 fixedly connected to the rotating shaft of the driving motor 301, a passive pulley 304 is arranged on the outer side of the upper end of the extension plate 201, a driving wheel 305 is arranged on the inner side of the upper end of the extension plate 201, the driving wheel 305 and the passive pulley 304 are matched through a rotating shaft, the rotating shaft is rotatably connected to the extension plate 201, and the passive pulley 304 and the driving pulley 302 are matched through a synchronous belt 303;

[0055] A limiting wheel 306 is rotatably connected to the middle portion of the extension plate 201 . The limiting wheel 306 cooperates with the vertical side wall of the guide rail 1 , and the driving wheel 305 cooperates with the upper side wall of the guide rail 1 .

[0056] The driving motor 301 is driven by the synchronous belt 303 between the active pulley 302 and the passive pulley 304, thereby realizing efficient power transmission. The synchronous belt 303 transmission has the advantages of accurate transmission ratio, high efficiency and low noise, etc., and can realize smooth power transmission between the driving motor 301 and the driving wheel 305, ensuring that the robot can move smoothly on the guide rail; the controller obtains the rotation information of the driving motor 301, and then converts it into the rotation information of the driving wheel 305 in proportion to determine the displacement information of the robot on the guide rail 1.

[0057] like Figure 4-5As shown, the auxiliary component 4 includes: a lifting frame 401, the lifting frame 401 is slidably connected to the extension plate 201, the extension plate 201 is provided with a lifting slot 202 that cooperates with the lifting frame 401, a telescopic rod 405 is provided between the mounting frame 2 and the lifting frame 401, the lower end of the telescopic rod 405 is fixedly connected to the mounting frame 2, and the upper end of the telescopic rod 405 cooperates with the lifting frame 401 through a first spring 406;

[0058] The front and rear ends of the upper part of the lifting frame 401 are rotatably connected to front and rear tilt limiting rollers 402 respectively, and the front and rear ends of the lower part of the lifting frame 401 are rotatably connected to a pair of switching levers 403 respectively, the middle part of the switching lever 403 is rotatably connected to the mounting frame 2, and the ends of each pair of switching levers 403 away from the lifting frame 401 are rotatably connected to a deflection limiting roller 404;

[0059] The forward and backward tilt limiting roller 402 and the deflection limiting roller 404 are both matched with the lower surface of the guide rail 1 .

[0060] The front-rear tilt limiting roller 402 cooperates with the lower surface of the guide rail 1 to limit the tilt of the robot in the front-rear direction. This design ensures that the robot maintains stability in the front-rear direction during movement, avoids tilting or shaking caused by changes in the slope of the guide rail 1 or external interference, and further improves the stability and reliability of the robot.

[0061] The deflection limiting roller 404 cooperates with the lower surface of the guide rail 1 to limit the deflection of the robot in the left and right directions. The cooperation between the deflection limiting roller 404 and the forward and backward tilt limiting roller 402 and the guide rail 1 is switched through the movement of the lifting frame 401, and can be flexibly adjusted according to the straight line movement or turning movement of the robot, ensuring that the robot always remains stable during the straight line movement and turning process on the guide rail 1, and can improve its turning efficiency.

[0062] like Figure 4-5 As shown, a matching roller 4041 is provided in the middle of the deflection limiting roller 404, and limiting inclined surfaces are provided at both ends of the matching roller 4041. The length of the circumferential side wall in the middle of the matching roller 4041 is adapted to the width of the guide rail 1. By providing the matching roller 4041 and the limiting inclined surface, the deflection limiting roller 404 can always match with the guide rail 1 when the robot makes a small turn, thereby ensuring the stability of the robot when making a small turn.

[0063] like Figure 4As shown, the switching lever 403 is used to switch the matching state between the deflection limiting roller 404 and the guide rail 1, so that the deflection limiting roller 404 and the front and rear tilt limiting roller 402 do not match the guide rail 1 at the same time. Specifically, when the telescopic rod 405 is extended and the lifting frame 401 is at a high point, the front and rear limiting rollers 402 abut against the guide rail 1, and the switching lever 403 drives the deflection limiting roller 404 to move downward and separate from the guide rail 1; when the telescopic rod 405 is retracted, the lifting frame 401 is at a low point, and the front and rear limiting rollers 402 separate from the guide rail 1, and the switching lever 403 drives the deflection limiting roller 404 to move upward and abut against the guide rail 1.

[0064] like Figure 7 As shown, both ends of the mating roller 4041 are respectively sleeved with a rotating sleeve 4042, the rotating sleeve 4042 is slidably connected to the mating roller 4041, the outer end of the rotating sleeve 4042 is fixedly connected to an end cap 4043, the outer side of the end cap 4043 is rotatably connected to the switching lever 403, and a second spring 4044 is arranged between the inner side of the end cap 4043 and the mating roller 4041. Through the flexible setting of the mating roller 4041, when the robot moves on the guide rail 1 with a small deflection amplitude, the mating roller 4041 can cooperate with the second spring 4044 to automatically compensate for the deflection of the guide rail 1, thereby ensuring the stability of the robot during movement.

[0065] like Figure 6 As shown, the camera assembly 6 includes: a first turntable 601 fixedly connected to the lower part of the mounting frame 2, a camera frame 602 fixedly connected to the lower part of the first turntable 601, a camera 603 is rotatably connected to the inner cavity of the camera frame 602, and a second turntable 604 is arranged on the outer side of the camera frame 602;

[0066] The first turntable 601 is used to drive the camera frame 602 to rotate, and the second turntable 604 is used to drive the camera 603 to rotate.

[0067] The first turntable 601 is used to drive the camera stand 602 to rotate, and the second turntable 604 is used to drive the camera 603 to rotate, forming a multi-angle rotating camera system. This design enables the camera 603 to rotate freely in the horizontal and vertical directions, covering a wider monitoring area, ensuring no-blind-angle monitoring of the target, and improving the comprehensiveness and accuracy of the inspection.

[0068] like Figure 2As shown, the sensing protrusion 7 is arranged at the adjacent ends of the straight section and the corner of the guide rail 1. Specifically, the two adjacent sensing protrusions 7 at the two ends of the corner are arranged in pairs, and a turning signal is built in. When the robot moves before entering the corner, after the proximity displacement sensor 5 senses the first sensing protrusion 7, the controller controls the telescopic rod 405 to extend, so that the front and rear tilt limiting rollers 402 cooperate with the guide rail 1, and the deflection limiting roller 404 is separated from the guide rail 1, so as to facilitate the robot to make a small radius turn, avoid the deflection limiting roller 404 and the guide rail 1 from getting stuck at the turning point, causing damage to the robot or the guide rail 1, and when driving out of the curved section, that is, after the proximity displacement sensor 5 senses the sensing protrusion 7 at the other end of the corner, the telescopic rod 405 is controlled to move in the opposite direction to drive the switching lever 403 and the lifting frame 401 to move so that the deflection limiting roller 404 limits the straight direction of the mounting frame 2, thereby realizing a small radius turn;

[0069] During the turning process, the distance between the extension plate 201 on one side of the mounting frame 2 and the guide rail 1 is determined by the proximity displacement sensor 5. When the distance is greater than or less than the set threshold, the rotation speed of the driving motors 301 on both sides is changed, thereby driving the rotation speed of the driving wheel on one side to be greater than that on the other side, and changing the deflection direction of the mounting frame 2 in the opposite direction, thereby realizing the horizontal torsion angle control of the mounting frame 2 at the turning point of the guide rail 1.

[0070] With respect to the above-mentioned guide rail inspection robot, the present application further provides an inspection method for the inspection robot, specifically: when working, the two driving motors 301 work synchronously to drive the active pulley 302 to rotate, the rotation of the active pulley 302 drives the synchronous belt 303 to rotate and then drives the passive pulley 304 to rotate, the rotation of the passive pulley 304 drives the driving wheel 305 to rotate and then drives the mounting frame 2 to move forward, when one driving motor 301 is damaged, only one driving motor drives the driving wheel on one side to drive the mounting frame to move under the limiting deflection of the deflection limiting roller 404;

[0071] The driving motor 301 and other components of the device are located below the guide rail 1, so that the center of gravity of the device is located below the guide rail 1, thereby increasing the stability of the device; when working, the movement distance of the device is determined by collecting the rotation angle of the driving motor 301. Since the guide rail 1 is provided with sensing protrusions 7 at intervals, when the proximity displacement sensor 5 approaches the sensing protrusion 7, the displacement data in the controller is forcibly refreshed to the length information of the position of the sensing protrusion 7, and then the rotation angle information of the driving motor 301 is recollected on this basis, thereby avoiding the problem of the error caused by slipping increasing with the distance during long-distance movement. When the mounting frame 2 moves to the curved section close to the guide rail 1, the controller controls the telescopic rod 405 to extend, thereby driving the first spring 406 to move upward, driving the lifting frame 401 to move upward, and then driving the forward and backward tilt limiting roller 402 to rise. At the same time, the lifting frame 401 drives the switching lever 403 to rotate, thereby driving the deflection limiting roller 404 to descend in height. At this time, the forward and backward tilting of the mounting frame 2 is limited by the forward and backward tilting limiting roller 402. When it moves to the curved section of the guide rail 1, the distance between one side of the mounting frame 2 and the guide rail 1 is judged by the proximity displacement sensor 5. When the distance is greater than or less than the set threshold, the rotation speed of the driving motors 301 on both sides is changed, thereby driving the rotation speed of the driving wheel 305 on one side to be greater than that of the other side, changing the deflection direction of the mounting frame 2 in the opposite direction, thereby realizing the horizontal torsion angle control of the mounting frame 2 in the curved section. When the curved section is driven out, that is, after the proximity displacement sensor 5 senses the sensing protrusion 7 close to the curved section of the guide rail 1, the telescopic rod is controlled to move in the reverse direction to drive the switching lever 403 and the lifting frame 401 to move, so that the deflection limiting roller 404 limits the straight direction of the mounting frame 2, thereby realizing the small radius steering of the device.

[0072] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A guide rail inspection robot, characterized in that: include: A guide rail (1), a mounting frame (2) is arranged at the lower part of the guide rail (1), extension plates (201) are symmetrically arranged on the left and right side walls of the mounting frame (2), two groups of driving components (3) are symmetrically arranged on the mounting frame (2) and the extension plates (201), an auxiliary component (4) is arranged at the upper part of the mounting frame (2), the auxiliary component (4) is located between the mounting frame (2) and the guide rail (1), and a camera component (6) is arranged at the lower part of the mounting frame (2); a plurality of sensing protrusions (7) are arranged on the guide rail (1), and a proximity displacement sensor (5) is arranged on the extension plate (201); The proximity displacement sensor (5) is used to sense the distance between the proximity displacement sensor and the vertical side wall of the guide rail (1) and to sense the sensing protrusion (7); The two groups of driving components (3) cooperate with each other to drive the mounting frame (2) to move and turn along the guide rail (1); The auxiliary component (4) is used to keep the central axis of the mounting frame (2) perpendicular to the upper and lower surfaces of the guide rail (1); The camera assembly (6) is used to obtain image information of the target to be monitored.

2. A guide rail inspection robot according to claim 1, characterized in that: The driving assembly (3) comprises: a driving motor (301) fixedly connected to the mounting frame (2); a driving pulley (302) fixedly connected to the rotating shaft of the driving motor (301); a passive pulley (304) is arranged on the outer side of the upper end of the extension plate (201); a driving wheel (305) is arranged on the inner side of the upper end of the extension plate (201); the driving wheel (305) and the passive pulley (304) are matched via a rotating shaft; the rotating shaft is rotatably connected to the extension plate (201); and the passive pulley (304) and the driving pulley (302) are matched via a synchronous belt (303); A limiting wheel (306) is rotatably connected to the middle portion of the extension plate (201), the limiting wheel (306) cooperates with the vertical side wall of the guide rail (1), and the driving wheel (305) cooperates with the upper side wall of the guide rail (1).

3. A guide rail inspection robot according to claim 1, characterized in that: The auxiliary component (4) comprises: a lifting frame (401), the lifting frame (401) is slidably connected to the extension plate (201), a lifting slot (202) cooperating with the lifting frame (401) is provided on the extension plate (201), a telescopic rod (405) is provided between the mounting frame (2) and the lifting frame (401), the lower end of the telescopic rod (405) is fixedly connected to the mounting frame (2), and the upper end of the telescopic rod (405) is cooperating with the lifting frame (401) via a first spring (406); The front and rear ends of the upper part of the lifting frame (401) are rotatably connected to front and rear tilt limiting rollers (402), and the front and rear ends of the lower part of the lifting frame (401) are rotatably connected to a pair of switching levers (403), the middle part of the switching lever (403) is rotatably connected to the mounting frame (2), and a deflection limiting roller (404) is rotatably connected between the ends of each pair of switching levers (403) away from the lifting frame (401); The forward and backward tilt limiting roller (402) and the deflection limiting roller (404) both cooperate with the lower surface of the guide rail (1).

4. A guide rail inspection robot according to claim 3, characterized in that: A matching roller (4041) is arranged in the middle of the deflection limiting roller (404), limiting inclined surfaces are arranged at both ends of the matching roller (4041), and the length of the circumferential side wall in the middle of the matching roller (4041) is adapted to the width of the guide rail (1).

5. A guide rail inspection robot according to claim 4, characterized in that: The switching lever (403) is used to switch the matching state between the deflection limiting roller (404) and the guide rail (1), so that the deflection limiting roller (404) and the forward and backward tilt limiting roller (402) do not match with the guide rail (1) at the same time.

6. A guide rail inspection robot according to claim 5, characterized in that: The two ends of the mating roller (4041) are respectively sleeved with a rotating sleeve (4042), the rotating sleeve (4042) is slidably connected to the mating roller (4041), the outer end of the rotating sleeve (4042) is fixedly connected with an end cover (4043), the outer side of the end cover (4043) is rotatably connected to the switching lever (403), and a second spring (4044) is arranged between the inner side of the end cover (4043) and the mating roller (4041).

7. The guide rail inspection robot according to claim 1, characterized in that: The camera assembly (6) comprises: a first turntable (601) fixedly connected to the lower part of the mounting frame (2); a camera frame (602) is fixedly connected to the lower part of the first turntable (601); a camera (603) is rotatably connected to the inner cavity of the camera frame (602); and a second turntable (604) is arranged on the outer side of the camera frame (602); The first turntable (601) is used to drive the camera frame (602) to rotate, and the second turntable (604) is used to drive the camera head (603) to rotate.

8. The guide rail inspection robot according to claim 1, characterized in that: The sensing protrusion (7) is arranged at the adjacent ends of the straight section and the corner of the guide rail (1).

Images