Elevator detection robot

Abstract

The invention discloses an elevator detection robot, and relates to the field of elevator detection, and the elevator detection robot comprises a middle support mechanism, a first mobile robot, a second mobile robot and a detection mechanism. The first mobile robot and the second mobile robot are respectively installed on opposite rails to run, can be connected through the middle supporting mechanism to form a stable and safe elevator detection robot platform for detection, and can also independently run on elevator guide rails for detection. A detection mechanism is installed on the mobile robot and the supporting platform to obtain the technical sizes of the elevator track and the elevator shaft so as to complete the safety detection work of the elevator.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator detection, and in particular to an elevator multi-parameter detection robot. Background Art

[0002] Elevators are an important means of transportation for residents of high-rise buildings. With the increasing number of high-rise building projects, elevators are used more and more frequently. As a large-scale elevator equipment, elevators will directly affect the safety and convenience of personnel and cargo transportation, but they are also prone to potential safety hazards in the actual operation of elevators. In recent years, there have been frequent cases of elevator safety accidents, so it is very necessary to strengthen on-site inspection of elevators. However, traditional manual inspection methods are time-consuming and have limited accuracy during operation, and are greatly affected by environmental factors. There are also potential safety hazards for inspectors. The present invention proposes a robot for elevator inspection, which can realize parameter inspection of elevator guide rails and elevator shafts, and meet the high inspection requirements of the modern elevator industry. Summary of the invention

[0003] In view of the above-mentioned technical problems existing in the prior art, the present invention provides an elevator inspection robot, which is equipped with a variety of inspection instruments to obtain the three-dimensional dimensions of elevator tracks and elevator shafts, thereby realizing elevator safety inspection.

[0004] The present invention discloses an elevator detection robot, comprising a first mobile robot, a second mobile robot, an intermediate supporting mechanism and a detection mechanism; the first mobile robot and the second mobile robot are arranged at both ends of the intermediate supporting mechanism, and are respectively adsorbed on opposite elevator guide rails for operation detection, and at the same time, the first mobile robot and the second mobile robot can be individually adsorbed on the elevator guide rails for detection work, and the detection mechanism is installed on the first mobile robot, the second mobile robot and the intermediate supporting mechanism to realize the detection function of the elevator.

[0005] Preferably, the first mobile robot and the second mobile robot have the same structure, including an intermediate frame, an adjusting link assembly, a left guide spacing follower assembly, a right guide spacing follower assembly, a guide adsorption assembly and a driving wheel assembly; the adjusting link assembly is fixedly connected to the intermediate frame, and the left guide spacing follower assembly and the right guide spacing connection assembly are arranged on both sides of the intermediate frame, have the same structure, and are fixedly connected to the adjusting link assembly; a plurality of groups of guide adsorption assemblies are arranged on the robot, and are fixedly connected to the left and right guide spacing follower assemblies, and a plurality of groups of driving wheel assemblies are arranged on the robot, and are fixedly connected to the left and right guide spacing follower assemblies.

[0006] Preferably, the adjusting link assembly includes an adjusting knob, a guide member, a push rod member, a limit screw, a push rod connecting member, a first joint screw, a second joint screw, a first link, a second link, a third joint screw, a fourth joint screw, a first link connecting member, a second link connecting member, a first slider, a second slider, a guide rail and a guide rail fixing member; the adjusting knob is provided with an external trapezoidal thread, the guide member is provided with an internal trapezoidal thread, the adjusting knob and the guide member are in threaded cooperation, the guide member is provided with a guide hole, the push rod member is provided with a guide shaft, the guide shaft on the push rod member is coaxially connected with the guide hole on the guide member, and the end of the adjusting knob passes through a circular hole provided on the push rod and is fixedly connected with the limit screw, and the push rod can be driven to move back and forth when the adjusting knob rotates; the push rod connecting member is fixedly connected with the push rod member, and a circular hole is provided on the push rod connecting member, the first joint screw and the second joint screw are coaxially and fixedly connected with the circular hole on the push rod connecting member, circular holes are provided on both sides of the first link and the second link, one side of the circular holes are respectively coaxially rotatably connected with the first joint screw and the second joint screw, the other side of the circular holes are respectively coaxially rotatably connected with the third joint screw and the fourth joint screw, at the same time, the third joint screw and the fourth joint screw are coaxially and fixedly connected with the circular holes provided on the first link connecting member and the second link connecting member, the first link connecting member and the second link connecting member are respectively fixedly connected with the first slider and the second slider, the first slider and the second slider are movably arranged on the slide rail, the slide rail is fixedly connected with the slide rail fixing member, and the slide rail fixing member is fixedly connected with the intermediate vehicle frame.

[0007] Preferably, the left guiding distance follow-up assembly and the right guiding distance follow-up assembly have the same structure and are symmetrically arranged on both sides of the adjusting link assembly. The left guiding distance follow-up assembly includes: a guiding and adsorbing assembly connecting plate, a first push rod, a second push rod, a first linear bearing, a second linear bearing, a first linear bearing connecting plate, a second linear bearing connecting plate, a first rotating pin shaft, a third link, a fifth joint screw, a fourth link, a sixth joint screw, a fifth link, a seventh joint screw, and a sixth link; the first push rod and the second push rod are fixedly connected to the guiding and adsorbing assembly and can move relative to the first linear bearing and the second linear bearing respectively through the round holes provided on the first linear bearing and the second linear bearing. The first linear bearing and the second linear bearing are respectively fixed on the first linear bearing connecting plate and the second linear bearing connecting plate; one end of the first rotating pin shaft is fixedly connected to the first linear bearing connecting plate, and the other end is rotatably connected with the round hole provided on the third link. The fifth joint screw is coaxially and fixedly connected with the round hole provided at the other end of the third link. The round hole provided at one end of the fourth link is rotatably connected with the fifth joint screw, and the round hole provided at the other end is rotatably connected with the sixth joint screw. The sixth joint screw is rotatably connected with the round hole provided at one end of the fifth link. The round hole provided at the other end of the fifth link is rotatably connected with the seventh joint screw. The seventh joint screw is fixedly connected to the guiding and adsorbing assembly connecting plate. At the same time, the same link structure is symmetrically provided on the second linear bearing connecting plate. The sixth link is fixedly connected to the link structures on both sides and is also fixedly connected to the adjusting link assembly, so that the movement of the adjusting link assembly can drive the left guiding distance follow-up assembly and the right guiding distance follow-up assembly to move.

[0008] Preferably, the guiding and adsorbing assembly includes a first guiding wheel fixing seat, a first guiding wheel, a second guiding wheel fixing seat, a second guiding wheel, a third guiding wheel fixing seat, a third guiding wheel, a first adsorbing part and a second adsorbing part; the first guiding wheel fixing seat, the second guiding wheel fixing seat and the third guiding wheel fixing seat are fixedly connected to the guiding distance follow-up assembly. The first guiding wheel, the second guiding wheel and the third guiding wheel are respectively rotatably arranged on the first guiding wheel fixing seat, the second guiding wheel fixing seat and the third guiding wheel fixing seat; the first adsorbing part and the second adsorbing part are fixedly connected to the left guiding distance follow-up assembly; on the other side of the middle frame, the same guiding and adsorbing assembly is provided and is fixedly connected to the right guiding distance follow-up assembly.

[0009] Preferably, multiple groups of driving wheel assemblies are provided and are symmetrically and fixedly connected to the left and right guiding distance follow-up assemblies, including: a mounting frame, a driving motor, a driving shaft and an adsorbing magnetic wheel; the mounting frame is fixedly connected to the driving motor. The driving shaft is provided with a D-shaped groove and is connected with the D-shaped shaft on the driving motor in a matching manner. At the same time, the driving shaft is coaxially arranged in the round hole provided on the adsorbing magnetic wheel and transmits power through a flat key connection.

[0010] Preferably, the intermediate support mechanism includes an intermediate support rod, a left support rod, a left compression spring, a left hinge support, a right support rod, a right compression spring, and a right hinge support; a deep circular hole groove is provided in the middle of the intermediate support rod, and the circular shaft protruding from one end of the left support rod is coaxially fitted with the deep circular hole groove of the intermediate support rod and can slide relative to each other for a certain distance. A compression spring is provided between the left support rod and the intermediate support rod. At the same time, a circular hole is provided at the other end of the left support rod and is coaxially rotatably fitted with the pin shaft on the left hinge support. The left hinge support is fixedly connected to the first mobile robot; similarly, the right support rod, the right compression spring, and the right hinge support are symmetrically arranged in the same connection manner as the left support rod, the left compression spring, and the left hinge support.

[0011] Preferably, the detection component includes a first inclination sensor, a lidar, a second inclination sensor, a first laser rangefinder, and a second laser rangefinder; the first inclination sensor is fixedly connected to the intermediate support mechanism to determine the motion posture of the robot, and the lidar is fixedly connected to the intermediate support mechanism to obtain information such as the three-dimensional size of the elevator shaft; the second inclination sensor is fixedly connected to the first mobile robot to obtain the angle error of the side and top surfaces of the guide rail relative to the inertial coordinate system; the first laser rangefinder and the second laser rangefinder are fixedly connected to the first mobile robot to obtain the running position of the robot relative to the guide rail, and thus fit the vertical error curve of the guide rail.

[0012] The beneficial effects of the present invention compared with other technical solutions include: by setting a manually adjustable guiding and adsorbing mechanism, it can adapt to trapezoidal guide rails of different specifications and sizes under elevator detection conditions; by connecting the first mobile robot and the second mobile robot in series through the intermediate support mechanism, a safer and more stable detection platform is obtained, and it supports the carrying of detection instruments with a larger space and load, and has better expansion performance; the first and second mobile robots can complete the detection of the elevator guide rail independently without the intermediate support mechanism; by carrying a variety of detection instruments, multi-parameter measurement of the elevator shaft and elevator track is realized, and comprehensive safety detection work is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is the overall structural schematic diagram of the elevator detection robot of the present invention;

[0014] Figure 2 is the structural schematic diagram of the first mobile robot;

[0015] Figure 3 is the structural schematic diagram of the intermediate support mechanism;

[0016] Figure 4 is the working principle diagram of the detection mechanism;

[0017] Figure 5 is the structural schematic diagram of the adjusting link assembly;

[0018] Figure 6 It is a structural schematic diagram of the left and right guiding pitch follower components;

[0019] Figure 7 It is a schematic diagram of the guiding adsorption component;

[0020] Figure 8 It is a schematic diagram of the accessory structure of the driving wheel component.

[0021] Reference numerals: 1 First mobile robot, 2 Second mobile robot, 3 Intermediate support mechanism, 4 Detection mechanism,

[0022] 11 Intermediate frame, 12 Adjusting link assembly, 13 Left guiding pitch follower component, 14 Right guiding pitch follower component, 15 Guiding adsorption component, 16 Driving wheel component,

[0023] 1201 Adjusting knob, 1202 Guide member, 1203 Push rod member, 1204 Limit screw, 1205 Push rod connecting member, 1206 First joint screw, 1207 Second joint screw, 1208 First link, 1209 Second link, 1210 Third joint screw, 1211 Fourth joint screw, 1212 First link connecting member, 1213 Second link connecting member, 1214 First slider, 1215 Second slider, 1216 Guide rail, 1217, Guide rail fixing member (1217),

[0024] 1301 Guiding adsorption component connecting plate, 1302 First push rod, 1303 Second push rod, 1304 First linear bearing, 1305 Second linear bearing, 1306 First linear bearing connecting plate, 1307 Second linear bearing connecting plate, 1308 First rotating pin shaft, 1309 Third link, 1310 Fifth joint screw, 1311 Fourth link, 1312 Sixth joint screw, 1313 Fifth link, 1314 Seventh joint screw, 1315 Sixth link,

[0025] 1501 First guide wheel fixing seat, 1502 First guide wheel, 1503 Second guide wheel fixing seat, 1504 Second guide wheel, 1505 Third guide wheel fixing seat, 1506 Third guide wheel, 1507 First adsorbing member, 1508 Second adsorbing member,

[0026] 1601 Mounting frame, 1602 Driving motor, 1603 Driving shaft, 1604 Adsorbing magnetic wheel,

[0027] 31 Intermediate support rod, 32 Left support rod, 33 Left compression spring, 34 Left hinge support, 35 Right support rod, 36 Right compression spring, 37 Right hinge support,

[0028] 41 First inclination sensor, 42 Lidar, 43 Second inclination sensor, 44 First laser rangefinder, 45 Second laser rangefinder. Detailed implementation mode

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] The following further describes the present invention in detail with reference to the accompanying drawings:

[0031] An elevator detection robot, as Figure 1 shown, includes a first mobile robot 1, a second mobile robot 2, an intermediate support mechanism 3 and a detection mechanism 4; the first mobile robot and the second mobile robot are arranged at both ends of the intermediate support mechanism and respectively adsorb on the opposite elevator guide rails for operation detection. At the same time, the first mobile robot and the second mobile robot can separately adsorb on the elevator guide rails for detection work. The detection mechanism is installed on the first mobile robot, the second mobile robot and the intermediate support mechanism to realize the detection function of the elevator.

[0032] Further, as Figure 2 shown, the first mobile robot and the second mobile robot have the same structure, including an intermediate vehicle frame 11, an adjustment link assembly 12, a left guide spacing follow-up assembly 13, a right guide spacing follow-up assembly 14, a guide adsorption assembly 15 and a drive wheel assembly 16; the adjustment link assembly is fixedly connected to the intermediate vehicle frame, and the left guide spacing follow-up assembly and the right guide spacing connection assembly are arranged on both sides of the intermediate vehicle frame, have the same structure, and are fixedly connected to the adjustment link assembly; multiple groups of guide adsorption assemblies are arranged on the robot and are fixedly connected to the left and right guide spacing follow-up assemblies, and multiple groups of drive wheel assemblies are arranged on the robot and are fixedly connected to the left and right guide spacing follow-up assemblies.

[0033] Further, as Figure 5As shown, the adjusting link assembly 12 includes an adjusting knob 1201, a guide member 1202, a push rod member 1203, a limit screw 1204, a push rod connecting member 1205, a first joint screw 1206, a second joint screw 1207, a first link 1208, a second link 1209, a third joint screw 1210, a fourth joint screw 1211, a first link connecting member 1212, a second link connecting member 1213, a first slider 1214, a second slider 1215, a guide rail 1216 and a guide rail fixing member 1217; an external trapezoidal thread is provided on the adjusting knob, an internal trapezoidal thread is provided on the guide member, the adjusting knob and the guide member are in threaded cooperation, a guide hole is provided on the guide member, a guide shaft is provided on the push rod member, the guide shaft on the push rod member is coaxially connected with the guide hole on the guide member in a matching manner, and the end of the adjusting knob passes through a round hole provided on the push rod and is fixedly connected with the limit screw, and the push rod can be driven to move back and forth when the adjusting knob rotates; the push rod connecting member is fixedly connected with the push rod member, and a round hole is provided on the push rod connecting member, the first joint screw and the second joint screw are coaxially and fixedly connected with the round hole on the push rod connecting member, round holes are provided on both sides of the first link and the second link, the round holes on one side are respectively coaxially and rotatably connected with the first joint screw and the second joint screw, the round holes on the other side are respectively coaxially and rotatably connected with the third joint screw and the fourth joint screw, at the same time, the third joint screw and the fourth joint screw are coaxially and fixedly connected with the round holes provided on the first link connecting member and the second link connecting member, the first link connecting member and the second link connecting member are respectively fixedly connected with the first slider and the second slider, the first slider and the second slider are movably arranged on the slide rail, the slide rail is fixedly connected with the slide rail fixing member, and the slide rail fixing member is fixedly connected with the intermediate vehicle frame.

[0034] Further, as Figure 6As shown in the figure, the left guide spacing follower assembly 13 and the right guide spacing follower assembly 14 have the same structure and are symmetrically arranged on both sides of the adjusting link assembly. The left guide spacing follower assembly includes: a guide adsorption assembly connecting plate 1301, a first push rod 1302, a second push rod 1303, a first linear bearing 1304, a second linear bearing 1305, a first linear bearing connecting plate 1306, a second linear bearing connecting plate 1307, a first rotating pin shaft 1308, a third link 1309, a fifth joint screw 1310, a fourth link 1311, a sixth joint screw 1312, a fifth link 1313, a seventh joint screw 1314, and a sixth link 1315; the first push rod and the second push rod are fixedly connected to the guide adsorption assembly and can move relative to the first linear bearing and the second linear bearing respectively through the round holes provided in the first linear bearing and the second linear bearing. The first linear bearing and the second linear bearing are respectively fixed on the first linear bearing connecting plate and the second linear bearing connecting plate; one end of the first rotating pin shaft is fixedly connected to the first linear bearing connecting plate, and the other end is rotatably connected with the round hole provided on the third link. The fifth joint screw is coaxially and fixedly connected with the round hole provided at the other end of the third link. The round hole provided at one end of the fourth link is rotatably connected with the fifth joint screw, and the round hole provided at the other end is rotatably connected with the sixth joint screw. The sixth joint screw is rotatably connected with the round hole provided at one end of the fifth link. The round hole provided at the other end of the fifth link is rotatably connected with the seventh joint screw. The seventh joint screw is fixedly connected to the guide adsorption assembly connecting plate. At the same time, the same link structure is symmetrically provided on the second linear bearing connecting plate. The sixth link is fixedly connected to the link structures on both sides and is also fixedly connected to the adjusting link assembly, so that the movement of the adjusting link assembly can drive the movement of the left guide spacing follower assembly and the right guide spacing follower assembly.

[0035] Further, as Figure 7 shown in the figure, the guide adsorption assembly 15 includes a first guide wheel fixing seat 1501, a first guide wheel 1502, a second guide wheel fixing seat 1503, a second guide wheel 1504, a third guide wheel fixing seat 1505, a third guide wheel 1506, a first adsorbent 1507, and a second adsorbent 1508; the first guide wheel fixing seat, the second guide wheel fixing seat, and the third guide wheel fixing seat are fixedly connected to the guide spacing follower assembly. The first guide wheel, the second guide wheel, and the third guide wheel are respectively rotatably arranged on the first guide wheel fixing seat, the second guide wheel fixing seat, and the third guide wheel fixing seat; the first adsorbent and the second adsorbent are fixedly connected to the left guide spacing follower assembly; on the other side of the middle frame, the same guide adsorption assembly is provided and is fixedly connected to the right guide spacing follower assembly.

[0036] Further, during on-site work, according to the thickness dimension of the on-site guide rail, turn the adjustment knob on the adjustment link assembly to change the distance between the two side guide and adsorption assemblies until it adapts to the thickness of the on-site elevator guide rail, realizing the adaptability of the first and second mobile robots to elevator guide rails of multiple specifications.

[0037] Further, as Figure 8 shown, multiple groups of driving wheel assemblies 16 are symmetrically and fixedly connected to the left and right guide spacing follower assemblies, including: mounting brackets 1601, driving motors 1602, driving shafts 1603, and adsorption magnetic wheels 1604; the mounting brackets are fixedly connected to the driving motors, the driving shafts are provided with D-shaped grooves that are matingly connected with the D-shaped shafts on the driving motors, and at the same time, the driving shafts are coaxially arranged in the round holes provided on the adsorption magnetic wheels and transmit power through key connections. There is a certain magnetic force between the adsorption magnetic wheels and the elevator guide rail. When the D-shaped shaft of the driving motor rotates and drives the driving magnetic wheel to move, the frictional force between the driving magnetic wheel and the elevator guide rail drives the elevator detection robot to move vertically along the elevator guide rail.

[0038] Further, as Figure 3 shown, the intermediate support mechanism 3 includes an intermediate support rod 31, a left support rod 32, a left compression spring 33, a left hinge support 34, a right support rod 35, a right compression spring 36, and a right hinge support 37; a deep round hole groove is provided in the middle of the intermediate support rod. The round shaft protruding from one end of the left support rod is coaxially fitted with the deep round hole groove of the intermediate support rod and can slide relative to each other for a certain distance. A compression spring is provided between the left support rod and the intermediate support rod. At the same time, a round hole is provided at the other end of the left support rod and is coaxially rotatably fitted with the pin shaft on the left hinge support. The left hinge support is fixedly connected to the first mobile robot; similarly, the right support rod, the right compression spring, and the right hinge support are symmetrically arranged in the same connection manner as the left support rod, the left compression spring, and the left hinge support.

[0039] Further, by connecting the first mobile robot and the second mobile robot in series through the intermediate support mechanism, a greater pressing force can be achieved between the first and second mobile robots relative to the elevator guide rail, realizing a more stable and safe detection function. At the same time, the installation space and load capacity of the detection platform are also increased, enabling the elevator detection robot to have better expansion functions.

[0040] Further, as Figure 4 shown, the detection component 4 includes a first inclination sensor 41, a lidar 42, a second inclination sensor 43, a first laser rangefinder 44, and a second laser rangefinder 45.

[0041] Further, the first inclination sensor is fixedly connected to the intermediate support mechanism to determine the motion posture of the robot. When the first inclination sensor detects that the intermediate support mechanism is tilted relative to the inertial coordinate system, the speeds of the first mobile robot and the second mobile robot are controlled, and the intermediate support mechanism is kept horizontal by differential speed to ensure the accuracy of the detection data.

[0042] Further, the lidar is fixedly connected to the intermediate support mechanism to obtain information such as the three-dimensional dimensions of the elevator shaft. When performing safety inspections on the elevator shaft, it is necessary to confirm the actual dimensions of the elevator shaft, including whether the length and width dimensions of the elevator shaft correspond to the civil engineering drawings, the verticality of the shaft, and the size and position of protrusions and openings in the shaft, all of which need to meet the construction standards. The lidar scans the elevator shaft in a full circle to obtain three-dimensional point cloud data of the elevator shaft and establish a model to achieve a comprehensive safety inspection of the elevator shaft.

[0043] Further, there are mainly two types of vertical errors in the elevator guide rails: bending and dislocation. The bending of the guide rail usually occurs on the side of the guide rail. The dislocation of the guide rail refers to the jump caused by the misalignment of adjacent rails at the connection, which can occur on the side and top of the rail. The second inclination sensor is fixedly connected to the first mobile robot to obtain the angular error of the side and top of the guide rail relative to the inertial coordinate system. At the same time, the first laser rangefinder and the second laser rangefinder are fixedly connected to the first mobile robot to obtain the running position of the robot relative to the guide rail, and thus the vertical error curve of the guide rail is fitted to achieve the safety detection of the two vertical errors of the elevator guide rail.

[0044] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An elevator inspection robot, characterized in that, It includes a first mobile robot (1), a second mobile robot (2), an intermediate support mechanism (3) and a detection mechanism (4); the first mobile robot and the second mobile robot are arranged at both ends of the intermediate support mechanism and respectively adsorb on the opposite elevator guide rails for running detection. At the same time, the first mobile robot and the second mobile robot can separately adsorb on the elevator guide rails for detection work, and the detection mechanism is installed on the first mobile robot, the second mobile robot and the intermediate support mechanism to realize the detection function of the elevator. The first mobile robot and the second mobile robot have the same structure, including an intermediate vehicle frame (11), an adjustment link assembly (12), a left guide spacing follow-up assembly (13), a right guide spacing follow-up assembly (14), a guide adsorption assembly (15) and a driving wheel assembly (16); the adjustment link assembly is fixedly connected to the intermediate vehicle frame, and the left guide spacing follow-up assembly and the right guide spacing connection assembly are arranged on both sides of the intermediate vehicle frame, having the same structure and fixedly connected to the adjustment link assembly; multiple groups of guide adsorption assemblies are arranged on the robot and fixedly connected to the left and right guide spacing follow-up assemblies, and multiple groups of driving wheel assemblies are arranged on the robot and fixedly connected to the left and right guide spacing follow-up assemblies.

2. The elevator inspection robot according to claim 1, characterized in that, The adjusting link assembly (12) includes an adjusting knob (1201), a guide member (1202), a push rod member (1203), a limit screw (1204), a push rod connecting member (1205), a first joint screw (1206), a second joint screw (1207), a first link (1208), a second link (1209), a third joint screw (1210), a fourth joint screw (1211), a first link connecting member (1212), a second link connecting member (1213), a first slider (1214), a second slider (1215), a guide rail (1216) and a guide rail fixing member (1217); an external trapezoidal thread is provided on the adjusting knob, an internal trapezoidal thread is provided on the guide member, the adjusting knob and the guide member are in threaded cooperation, a guide hole is provided on the guide member, a guide shaft is provided on the push rod member, the guide shaft on the push rod member is coaxially and cooperatively connected with the guide hole on the guide member, and the end of the adjusting knob passes through a round hole provided on the push rod and is fixedly connected with the limit screw, and the push rod can be driven to move back and forth when the adjusting knob rotates; the push rod connecting member is fixedly connected with the push rod member, and a round hole is provided on the push rod connecting member, the first joint screw and the second joint screw are coaxially and fixedly connected with the round hole on the push rod connecting member, round holes are provided on both sides of the first link and the second link, the round holes on one side are respectively coaxially and rotatably connected with the first joint screw and the second joint screw, the round holes on the other side are respectively coaxially and rotatably connected with the third joint screw and the fourth joint screw, at the same time, the third joint screw and the fourth joint screw are coaxially and fixedly connected with the round holes provided on the first link connecting member and the second link connecting member, the first connecting member and the second link connecting member are respectively fixedly connected with the first slider and the second slider, the first slider and the second slider are movably arranged on the slide rail, the slide rail is fixedly connected with the slide rail fixing member, and the slide rail fixing member is fixedly connected with the intermediate vehicle frame.

3. The elevator inspection robot according to claim 1, characterized in that, The left guiding pitch follower assembly (13) and the right guiding pitch follower assembly (14) have the same structure and are symmetrically arranged on both sides of the adjusting link assembly. The left guiding pitch follower assembly includes: a guiding and adsorbing assembly connecting plate (1301), a first push rod (1302), a second push rod (1303), a first linear bearing (1304), a second linear bearing (1305), a first linear bearing connecting plate (1306), a second linear bearing connecting plate (1307), a first rotating pin shaft (1308), a third connecting rod (1309), a fifth joint screw (1310), a fourth connecting rod (1311), a sixth joint screw (1312), a fifth connecting rod (1313), a seventh joint screw (1314), and a sixth connecting rod (1315); the first push rod and the second push rod are fixedly connected to the guiding and adsorbing assembly, and can move relative to the first linear bearing and the second linear bearing respectively through the round holes provided on the first linear bearing and the second linear bearing. The first linear bearing and the second linear bearing are respectively fixed on the first linear bearing connecting plate and the second linear bearing connecting plate; one end of the first rotating pin shaft is fixedly connected to the first linear bearing connecting plate, and the other end is rotationally connected with the round hole provided on the third connecting rod. The fifth joint screw is coaxially and fixedly connected with the round hole provided at the other end of the third connecting rod. The round hole provided at one end of the fourth connecting rod is rotationally connected with the fifth joint screw, and the round hole provided at the other end is rotationally connected with the sixth joint screw. The sixth joint screw is rotationally connected with the round hole provided at one end of the fifth connecting rod. The round hole provided at the other end of the fifth connecting rod is rotationally connected with the seventh joint screw. The seventh joint screw is fixedly connected to the guiding and adsorbing assembly connecting plate. At the same time, the same connecting rod structure is symmetrically provided on the second linear bearing connecting plate. The sixth connecting rod is fixedly connected to the connecting rod structures on both sides, and at the same time, the sixth connecting rod is fixedly connected to the adjusting link assembly, so that the movement of the adjusting link assembly can drive the movement of the left guiding pitch follower assembly and the right guiding pitch follower assembly.

4. The elevator inspection robot according to claim 1, characterized in that, The guiding and adsorbing assembly (15) includes a first guiding wheel fixing seat (1501), a first guiding wheel (1502), a second guiding wheel fixing seat (1503), a second guiding wheel (1504), a third guiding wheel fixing seat (1505), a third guiding wheel (1506), a first adsorbing part (1507) and a second adsorbing part (1508); the first guiding wheel fixing seat, the second guiding wheel fixing seat and the third guiding wheel fixing seat are fixedly connected to the guiding pitch follower assembly. The first guiding wheel, the second guiding wheel and the third guiding wheel are respectively rotatably arranged on the first guiding wheel fixing seat, the second guiding wheel fixing seat and the third guiding wheel fixing seat; the first adsorbing part and the second adsorbing part are fixedly connected to the left guiding pitch follower assembly; on the other side of the middle vehicle frame, the same guiding and adsorbing assembly is provided and is fixedly connected to the right guiding pitch follower assembly.

5. The elevator inspection robot according to claim 1, characterized in that, A plurality of groups of the driving wheel assemblies (16) are provided and symmetrically and fixedly connected to the left and right guiding pitch follower assemblies, and each driving wheel assembly includes: a mounting frame (1601), a driving motor (1602), a driving shaft (1603) and an adsorption magnetic wheel (1604); the mounting frame is fixedly connected to the driving motor, a D-shaped groove is provided on the driving shaft and is in fit connection with a D-shaped shaft on the driving motor, and meanwhile, the driving shaft is coaxially arranged in a circular hole provided on the adsorption magnetic wheel and transmits power through a key connection.

6. The elevator inspection robot according to claim 1, characterized in that, The intermediate support mechanism (3) includes an intermediate support rod (31), a left support rod (32), a left compression spring (33), a left hinge support (34), a right support rod (35), a right compression spring (36), and a right hinge support (37); a deep circular hole groove is provided in the middle of the intermediate support rod, a circular shaft protruding from one end of the left support rod is coaxially fitted with the deep circular hole groove of the intermediate support rod and can slide relative to each other by a certain distance, a compression spring is provided between the left support rod and the intermediate support rod, and meanwhile, a circular hole is provided at the other end of the left support rod and is in coaxial rotational fit with a pin shaft on the left hinge support, and the left hinge support is fixedly connected to the first mobile robot; similarly, the right support rod, the right compression spring, and the right hinge support are symmetrically arranged in the same connection manner as the left support rod, the left compression spring, and the left hinge support.

7. The elevator inspection robot according to claim 1, characterized in that, The detection assembly (4) includes a first inclination sensor (41), a lidar (42), a second inclination sensor (43), a first laser rangefinder (44), and a second laser rangefinder (45); the first inclination sensor is fixedly connected to the intermediate support mechanism to determine the motion posture of the robot, the lidar is fixedly connected to the intermediate support mechanism to obtain information such as the three-dimensional size of the elevator shaft; the second inclination sensor is fixedly connected to the first mobile robot to obtain the angular error of the side and top surfaces of the guide rail relative to the inertial coordinate system; the first laser rangefinder and the second laser rangefinder are fixedly connected to the first mobile robot to obtain the running position of the robot relative to the guide rail, and thus the vertical error curve of the guide rail is fitted.

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