Variable-pitch steering mechanism and steering method for rail-mounted inspection robot

Abstract

The invention provides a variable-pitch steering mechanism and method for a hanging rail inspection robot. The variable-pitch steering mechanism comprises a first supporting assembly and a second supporting assembly which are oppositely distributed on a hanging rail. The first supporting assembly comprises a first bearing wheel and a first side plate for fixing the first bearing wheel; the second supporting assembly comprises a second bearing wheel and a second side plate for fixing the second bearing wheel; the first bearing wheel and the second bearing wheel are in contact sliding connection with the hanging rail; the opening and closing adjusting assembly comprises a lead screw assembly and a sliding assembly; the first side plate and the second side plate simultaneously generate displacement with the same distance and opposite directions on the sliding assembly through the lead screw assembly so as to adjust the distance of the first bearing wheel and the second bearing wheel relative to the hanging rail. One end of the main body connecting assembly is connected with the sliding assembly, and the other end is connected with the inspection robot. According to the invention, the relative position change of the rigid bearing structure of the steering mechanism can be realized, and the detachability of the robot to the track is controlled.

Description

Technical Field

[0001] The present application relates to the field of rail-hanging inspection robots, and in particular to a variable-pitch steering mechanism and steering method of a rail-hanging inspection robot. Background Art

[0002] The load-bearing wheels and steering mechanism of the rail-mounted inspection robot enclose the track to prevent the robot from detaching. However, this also increases the difficulty of installing and removing the robot. During operation, the rail-mounted inspection robot needs to be frequently installed and removed at any point on the track for reasons such as charging, downtime, and maintenance. Therefore, it is important to provide a steering mechanism to solve this problem. Summary of the Invention

[0003] The present application aims to solve, at least to some extent, one of the technical problems in the related art. To this end, the purpose of the present application is to propose a variable-pitch steering mechanism and steering method for a rail-hanging inspection robot, which can achieve a change in the relative position of the rigid load-bearing structure of the steering mechanism and control the detachability of the rail-hanging robot from the rail.

[0004] To achieve the above-mentioned purpose, a variable-pitch steering mechanism of a rail-mounted inspection robot is proposed according to the first aspect of the present application, comprising:

[0005] A first support assembly and a second support assembly are relatively distributed on the hanging rail; the first support assembly includes a first load-bearing wheel and a first side plate for fixing the first load-bearing wheel; the second support assembly includes a second load-bearing wheel and a second side plate for fixing the second load-bearing wheel; the first load-bearing wheel and the second load-bearing wheel are both in contact and sliding connection with the hanging rail;

[0006] an opening and closing adjustment assembly, comprising a screw assembly and a sliding assembly; the first side plate and the second side plate are simultaneously displaced on the sliding assembly by the screw assembly at the same distance and in opposite directions to adjust the distance between the first load-bearing wheel and the second load-bearing wheel relative to the hanging rail; and

[0007] The main body connecting component has one end connected to the sliding component and the other end connected to the inspection robot.

[0008] In some embodiments, the screw assembly includes a guide positioning member, a screw member and a support member; wherein the screw member and the guide positioning member pass through the first side plate and the second side plate respectively, and the two ends of the screw member are respectively arranged on the symmetrically arranged support members; the screw member is rotatably connected to the first side plate and the second side plate respectively; the first side plate and the second side plate are translated and positioned along the guide positioning member; the sliding assembly is located between the symmetrically arranged support members.

[0009] In some embodiments, the guide positioning member includes a guide rod and a positioning tube, the guide rod passes through the first side plate and the second side plate respectively, and the positioning tube is sleeved on the outside of the guide rod and located between the first side plate and the second side plate.

[0010] In some embodiments, the lead screw member includes a lead screw, which passes through the first side plate and the second side plate respectively and is rotatably and slidingly connected to the first side plate and the second side plate; both ends of the lead screw are respectively arranged on the support member.

[0011] In some embodiments, the sliding assembly includes a first slider and a second slider respectively connected to the first side plate and the second side plate, and a slide rail; the first slider and the second slider slide on the slide rail respectively; the support members are respectively arranged at both ends of the slide rail in the length direction.

[0012] In some embodiments, the end face of the support member generates axial positioning for the shoulder of the lead screw, and the lead screw is always located at the center of the sliding assembly.

[0013] In some embodiments, the main connecting assembly includes a transmission assembly and a bearing assembly, wherein the bearing assembly is sleeved on one end of the transmission assembly and connected to the transmission assembly; the inspection robot is sleeved on the bearing assembly and connected to the bearing assembly.

[0014] In some embodiments, the transmission assembly includes a transmission shaft and a base plate; the base plate is connected to the sliding assembly, and one end of the transmission shaft is fixed to the base plate.

[0015] According to the second aspect of the present application, a variable-pitch steering method for a rail-mounted inspection robot is proposed, which uses the steering mechanism described in any of the above embodiments for steering.

[0016] In some embodiments, the steering method includes:

[0017] When the inspection robot is in operation, the first support assembly and the second support assembly are rigidly connected with each other at a minimum distance, and the first load-bearing wheel and the second load-bearing wheel are both in contact and sliding connection with the hanging rail, so that the inspection robot cannot fall off the hanging rail;

[0018] During loading and unloading, the inspection robot maintains the maximum distance between the first support assembly and the second support assembly by opening and closing the adjustment assembly, and the distance between the first load-bearing wheel and the second load-bearing wheel relative to the hanging rail is greater than the lower flange of the hanging rail, so that the inspection robot can detach from the hanging rail.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 This is a structural diagram of a variable-pitch steering mechanism of a rail-mounted inspection robot proposed in one embodiment of the present application;

[0022] Figure 2 yes Figure 1 Working diagram of the variable-pitch steering mechanism of the rail-mounted inspection robot;

[0023] Figure 3 is a structural diagram of a first supporting assembly proposed in one embodiment of the present application;

[0024] Figure 4 is a structural diagram of a second support assembly proposed in one embodiment of the present application;

[0025] Figure 5 This is a partial structural diagram of an opening and closing adjustment component proposed in one embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the operation of the main body connection assembly proposed in one embodiment of the present application;

[0027] In the figure, 1. hanging rail; 2. lead screw; 3. second side plate; 4. second lead screw bracket; 5. second slider; 6. slide rail; 7. inspection robot; 8. first slider; 9. first lead screw bracket; 10. first side plate; 11. positioning tube; 12. first load-bearing wheel; 13. second load-bearing wheel; 14. guide rod; 15. plug screw; 16. bottom plate; 17. cross roller bearing; 18. first copper sleeve; 19. first lead screw nut; 20. second copper sleeve; 21. second lead screw nut; 22. fourth copper sleeve; 23. third copper sleeve; 24. transmission shaft. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the present application include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0029] See also Figure 1-Figure 2A variable-pitch steering mechanism for a rail-hanging inspection robot proposed in one embodiment of the present application includes: a first support assembly, a second support assembly, an opening and closing adjustment assembly, and a main body connection assembly; wherein the first support assembly and the second support assembly are relatively distributed on the hanging rail 1, wherein the first support assembly includes a first load-bearing wheel 12 and a first side plate 10 for fixing the first load-bearing wheel 12; the second support assembly includes a second load-bearing wheel 13 and a second side plate 3 for fixing the second load-bearing wheel 13; the first load-bearing wheel 12 and the second load-bearing wheel 13 are both in contact and sliding connection with the hanging rail 1.

[0030] The steering mechanism is provided with at least two along the length direction of the hanging rail 1, and the first support assembly and the second support assembly are relatively and symmetrically provided on the hanging rail 1 in the width direction of the hanging rail 1. The length direction of the hanging rail 1 is taken as an example of the front-to-back direction, and the width direction of the hanging rail 1 is taken as an example of the left-to-right direction, and the front-to-back direction and the left-to-right direction are as follows. Figure 1 shown.

[0031] For example, the inspection robot 7 is mounted on the track of the hanging rail 1 by two steering mechanisms arranged in the front and rear directions. The two steering mechanisms are symmetrical about the center of the inspection robot 7. Figure 1 , take the setting of a steering mechanism on the hanging rail 1 as an example, wherein in the left and right directions, the first support assembly and the second support assembly are relatively and symmetrically arranged on the hanging rail 1, the first support assembly includes a first load-bearing wheel 12 and a first side plate 10 for fixing the first load-bearing wheel 12; the first load-bearing wheel 12 includes a movable end and a fixed end, wherein the movable end of the first load-bearing wheel 12 has a degree of rotational freedom and is in contact and sliding connection with the lower wing of the hanging rail 1, and its outer side presses the track of the hanging rail 1 to bear the weight of the robot on the hanging rail 1, and the fixed end of the first load-bearing wheel 12 is fixedly connected to the first side plate 10 by a nut. Figure 3 As shown. Figure 4 As shown, the second support assembly includes a second load-bearing wheel 13 and a second side plate 3 for fixing the second load-bearing wheel 13; the second load-bearing wheel 13 includes a movable end and a fixed end, wherein the movable end of the second load-bearing wheel 13 has a degree of rotational freedom and is in contact and sliding connection with the lower wing of the hanging rail 1, and its fixed end is fixedly connected to the second side plate 3 through a nut.

[0032] Therefore, under the action of gravity, the first and second load-bearing wheels 12, 13 press against the upper surface of the lower flange of the hanging rail 1. The inspection robot 7 is connected to the opening and closing adjustment assembly via the main connecting assembly. The first and second load-bearing wheels 12, 13, first and second side panels 10, 3 form a rigid structure that encloses the hanging rail 1.

[0033] The opening and closing adjustment assembly includes a screw assembly and a sliding assembly; the first side panel 10 and the second side panel 3 simultaneously generate displacements of the same distance and opposite directions on the sliding assembly through the screw assembly to adjust the distance between the first load-bearing wheel 12 and the second load-bearing wheel 13 relative to the hanging rail 1.

[0034] The opening and closing adjustment assembly includes a screw assembly and a sliding assembly. The sliding assembly and the screw assembly are respectively connected to the first side panel 10 and the second side panel 3. Under the adjustment of the screw assembly, the first side panel 10 and the second side panel 3 slide in the left and right directions along the sliding assembly, and simultaneously generate displacements of the same distance and opposite directions on the sliding assembly. That is, when the inspection robot 7 is in operation, the first support assembly and the second support assembly maintain a rigid connection with a minimum spacing, and the first load-bearing wheel 12 and the second load-bearing wheel 13 are in contact and sliding connection with the hanging rail 1, so that the inspection robot 7 cannot detach from the hanging rail 1. During loading and unloading, the inspection robot 7 maintains the maximum spacing between the first support assembly and the second support assembly through the opening and closing adjustment assembly, and the distance between the first load-bearing wheel 12 and the second load-bearing wheel 13 relative to the hanging rail 1 is greater than the lower flange of the hanging rail 1, so that the inspection robot 7 detaches from the hanging rail 1.

[0035] One end of the main connecting component is connected to the sliding component, and the other end is connected to the inspection robot 7. The main connecting component is used to connect the inspection robot 7 to enable the inspection robot 7 to run on the hanging rail 1, wherein one end of the main connecting component is connected to the sliding component, and the other end is connected to the inspection robot 7.

[0036] In some embodiments, the screw assembly includes a guide positioning member, a screw member and a support member; wherein the screw member and the guide positioning member pass through the first side plate 10 and the second side plate 3 respectively, and the two ends of the screw member are respectively arranged on symmetrically arranged support members; the screw member is rotatably connected to the first side plate 10 and the second side plate 3 respectively; the first side plate 10 and the second side plate 3 are translated and positioned along the guide positioning member; the sliding assembly is located between the symmetrically arranged support members.

[0037] The first side plate 10 and the second side plate 3 both move in the left-right direction to adjust the distance between the first load-bearing wheel 12 and the second load-bearing wheel 13 relative to the lower flange of the hanging rail 1. The screw member includes a screw 2, which passes through the first side plate 10 and the second side plate 3 and is rotatably and slidably connected to the first side plate 10 and the second side plate 3. The ends of the screw 2 are respectively mounted on the support member. The screw 2 extends in the left-right direction and sequentially passes through the first screw nut 19 and the second screw nut 21 respectively provided on the first side plate 10 and the second side plate 3 to penetrate the first side plate 10 and the second side plate 3. The ends of the screw 2 are respectively mounted on the support member using copper sleeves.

[0038] like Figure 5As shown, the screw 2 is a double-threaded screw, that is, the screw 2 is fully threaded and one end is forward-rotating and the other end is reverse-rotating. It passes through the first screw nut 19 and the second screw nut 21 in sequence and passes through the first side plate 10 and the second side plate 3; the support member is a screw bracket, and the first screw bracket 9 is arranged on the right side of the first side plate 10, and the second screw bracket 4 is arranged on the left side of the second side plate 3, and the third copper sleeve 23 and the fourth copper sleeve 22 are fixed on the first screw bracket 9 and the second screw bracket 4 respectively. Figure 5 As shown, the left and right ends of the lead screw 2 are axially positioned with the third copper sleeve 23 and the fourth copper sleeve 22, respectively. The lead screw 2 has one degree of rotational freedom and is always located at the center of the sliding assembly. The first side plate 10 and the second side plate 3 rotate with the lead screw 2 and translate along the slide rail 6. The ends of the lead screw 2 rotate in different directions, so the first side plate 10 and the second side plate 3 translate in opposite directions, that is, they simultaneously move away from the hanging rail 1 or simultaneously move toward the hanging rail 1.

[0039] When installing the screw 2, keep the first side plate 10 and the second side plate 3 stationary and rotate the screw 2 to allow the thread to screw into the first screw nut 19 and the second screw nut 21. At this time, the left support and the right support are symmetrical about the center of the screw 2. After the first side plate 10 and the second side plate 3 are connected to the first slider 8 and the second slider 5 and placed in the slide rail 6, the first screw bracket 9 and the second screw bracket 4 are installed, wherein the first screw bracket 9 and the second screw bracket 4 face the shoulder of the screw 2 to generate axial positioning, and the screw 2 is always located in the center of the slide rail 6. Therefore, the first support assembly and the second support assembly are always symmetrical about the hanging rail 1.

[0040] The sliding assembly includes a first slider 8, a second slider 5, and a slide rail 6, which are respectively connected to the first side plate 10 and the second side plate 3; the first slider 8 and the second slider 5 slide on the slide rail 6; and support members are respectively provided at both ends of the slide rail 6 in the length direction. The first slider 8 and the second slider 5 are respectively provided on the slide rail 6 and move along the slide rail 6, and the first slider 8 and the second slider 5 have translational freedom. The bottoms of the first slider 8 and the second slider 5 are respectively fixedly connected to the first side plate 10 and the second side plate 3, and the first slider 8 and the second slider 5 move on the slide rail 6 to drive the first side plate 10 and the second side plate 3 to move. Therefore, during the rotation of the lead screw 2, the first slider 8 and the second slider 5 produce displacements of equal size and opposite directions on the slide rail 6.

[0041] The support members are respectively provided at both ends of the length direction of the slide rail 6, wherein the length direction of the slide rail 6 is consistent with the left-right direction. That is, the first screw support 9 and the second screw support 4 are symmetrically arranged at the left and right ends of the slide rail 6, and the difference between the first screw support 9 and the second screw support 4 and the center of the screw 2 remains constant. For example, when the inspection robot 7 is loading and unloading, the first slider 8 and the second slider 5 are away from the hanging rail 1. When the first slider 8 contacts the first screw support 9 and the second slider 5 contacts the second screw support 4, the first side plate 10 and the second side plate 3 reach the maximum distance in the left-right direction, and the inspection robot 7 can detach from the track of the hanging rail 1.

[0042] Among them, the guide positioning member passes through the first side plate 10 and the second side plate 3 respectively, and the first side plate 10 and the second side plate 3 are translated and positioned along the guide positioning member. The guide positioning member includes a guide rod 14 and a positioning tube 11. The guide rod 14 passes through the first side plate 10 and the second side plate 3 respectively, and the positioning tube 11 is sleeved on the outside of the guide rod 14 and is located between the first side plate 10 and the second side plate 3.

[0043] The first side plate 10 and the second side plate 3 are driven by the first slider 8 and the second slider 5 respectively to move in the left and right directions, but the first side plate 10 and the second side plate 3 cannot be extremely close to each other, and a certain distance needs to be maintained in the left and right directions to enable the first load-bearing wheel 12 and the second load-bearing wheel 13 to slide on the hanging rail 1. In this embodiment, a guide positioning member is used to guide and position the first side plate 10 and the second side plate 3 for translation, which includes a guide rod 14 and a positioning tube 11. The first side plate 10 and the second side plate 3 are respectively provided with a first copper sleeve 18 and a second copper sleeve 20. Figure 3-Figure 4 As shown, the guide rod 14 extends in the left-right direction and passes through the first copper sleeve 18 and the second copper sleeve 20, respectively, to penetrate the first side panel 10 and the second side panel 3. The left and right ends of the guide rod 14 include threaded structures. After the first side panel 10 and the second side panel 3 reach a minimum spacing, nuts are adapted to the threads at both ends of the guide rod 14 and tightened to prevent the first side panel 10 and the second side panel 3 from sliding away from the hanging rail 1. Simultaneously, a positioning tube 11 is sleeved on the outside of the guide rod 14 and located between the first side panel 10 and the second side panel 3, limiting the minimum spacing between the first side panel 10 and the second side panel 3 in the left-right direction. Therefore, the guide rod 14 plays a guiding and stabilizing role during the translation of the first side panel 10 and the second side panel 3.

[0044] In some embodiments, the main connecting assembly includes a transmission assembly and a bearing assembly, wherein the bearing assembly is sleeved on one end of the transmission assembly and connected to the transmission assembly; the inspection robot 7 is sleeved on the bearing assembly and connected to the bearing assembly.

[0045] The transmission assembly includes a transmission shaft and a base plate 16; the base plate 16 is connected to the sliding assembly, and one end of the transmission shaft is fixed on the base plate 16. Figure 6 As shown, base plate 16 is fixedly connected to the bottom of slide rail 6, and the drive shaft is fixedly connected to base plate 16 via screws 15. The bearing component, exemplified by a cross-roller bearing 17, is mounted on the outside of one end of the drive shaft and fixedly connected to the drive shaft. Inspection robot 7 is mounted on the outside of cross-roller bearing 17 and fixedly connected to it. Therefore, the inner ring of cross-roller bearing 17 has an interference fit with drive shaft 24, and the outer ring of cross-roller bearing 17 is connected to the main body of inspection robot 7. The main body connection assembly has rotational freedom relative to the robot body.

[0046] According to a second aspect of the present application, a variable-pitch steering method for a rail-mounted inspection robot is proposed, wherein the steering mechanism in any of the above embodiments is used for steering. The steering method includes:

[0047] When the inspection robot 7 is in operation, the first support assembly and the second support assembly are rigidly connected with each other at a minimum distance, and the first load-bearing wheel 12 and the second load-bearing wheel 13 are in contact and sliding connection with the hanging rail 1, so that the inspection robot 7 cannot be separated from the hanging rail 1;

[0048] During loading and unloading, the inspection robot 7 maintains the maximum distance between the first support assembly and the second support assembly by opening and closing the adjustment assembly, and the distance between the first load-bearing wheel 12 and the second load-bearing wheel 13 relative to the hanging rail 1 is greater than the lower flange of the hanging rail 1, so that the inspection robot 7 can detach from the hanging rail 1.

[0049] Specifically, when the inspection robot 7 is in operation, the positioning tube 11 is connected to the guide rod 14 together with the first copper sleeve 18 and the second copper sleeve 20. The positioning tube 11 limits the displacement of the left support and the right support toward the hanging rail 1. There is a threaded structure at both ends of the guide rod 14. After the first side plate 10 and the second side plate 3 reach the minimum spacing, the nuts at both ends of the guide rod 14 are tightened. At this time, the degree of freedom of the first side plate 10 and the second side plate 3 is zero. Therefore, the first support assembly and the second support assembly maintain a rigid connection with the minimum spacing, enveloping the hanging rail 1, so that the hanging rail 1 robot cannot detach or disassemble from the track of the hanging rail 1. At this time, the hanging rail 1 robot is in working condition.

[0050] When the inspection robot 7 is loading and unloading, the first slider 8 and the second slider 5 produce displacements of the same size and opposite directions during the rotation of the screw 2. The difference in distances between the first side plate 10 and the second side plate 3 and the hanging rail 1 remains unchanged. By rotating the screw 2, the first side plate 10 and the second side plate 3 can be moved along the slide rail 6, and translated from the minimum spacing to the maximum spacing. The first support assembly and the second support assembly maintain the maximum spacing, so that the distance between the first load-bearing wheel 12 and the second load-bearing wheel 13 relative to the hanging rail 1 is greater than the lower flange of the hanging rail 1, so that the inspection robot 7 can be detached from the hanging rail 1. The steering mechanism can realize the transition between the opening and closing positions when working on the track and disassembly work, and the left support and the right support always remain symmetrical about the center.

[0051] It should be noted that, in the description of this application, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0052] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0053] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0054] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A variable-pitch steering mechanism for a rail-mounted inspection robot, characterized in that: include: A first support assembly and a second support assembly are relatively distributed on the hanging rail; the first support assembly includes a first load-bearing wheel and a first side plate for fixing the first load-bearing wheel; the second support assembly includes a second load-bearing wheel and a second side plate for fixing the second load-bearing wheel; the first load-bearing wheel and the second load-bearing wheel are both in contact and sliding connection with the hanging rail; An opening and closing adjustment assembly, comprising a screw assembly and a sliding assembly; the first side plate and the second side plate are simultaneously displaced on the sliding assembly by the screw assembly at the same distance and in opposite directions to adjust the distance between the first load-bearing wheel and the second load-bearing wheel relative to the hanging rail; as well as The main body connecting component has one end connected to the sliding component and the other end connected to the inspection robot.

2. The steering mechanism according to claim 1, characterized in that: The screw assembly includes a guide positioning member, a screw member and a support member; wherein the screw member and the guide positioning member pass through the first side plate and the second side plate respectively, and the two ends of the screw member are respectively arranged on the symmetrically arranged support members; the screw member is rotatably connected to the first side plate and the second side plate respectively; the first side plate and the second side plate are translated and positioned along the guide positioning member; the sliding assembly is located between the symmetrically arranged support members.

3. The steering mechanism according to claim 2, characterized in that: The guide positioning member includes a guide rod and a positioning tube. The guide rod passes through the first side plate and the second side plate respectively. The positioning tube is sleeved on the outside of the guide rod and is located between the first side plate and the second side plate.

4. The steering mechanism according to claim 2 or 3, characterized in that: The lead screw member includes a lead screw, which passes through the first side plate and the second side plate respectively and is rotatably and slidingly connected to the first side plate and the second side plate; both ends of the lead screw are respectively arranged on the support member.

5. The steering mechanism according to claim 4, characterized in that: The sliding assembly includes a first slider and a second slider connected to the first side plate and the second side plate respectively, and a slide rail; the first slider and the second slider slide on the slide rail respectively; and the support members are respectively arranged at both ends of the slide rail in the length direction.

6. The steering mechanism according to claim 5, characterized in that: The end face of the support member is axially positioned against the shoulder of the lead screw, and the lead screw is always located at the center of the sliding assembly.

7. The steering mechanism according to claim 4, characterized in that: The main connecting assembly includes a transmission assembly and a bearing assembly, wherein the bearing assembly is sleeved on one end of the transmission assembly and connected to the transmission assembly; the inspection robot is sleeved on the bearing assembly and connected to the bearing assembly.

8. The steering mechanism according to claim 7, characterized in that: The transmission assembly includes a transmission shaft and a base plate; the base plate is connected to the sliding assembly, and one end of the transmission shaft is fixed on the base plate.

9. A variable-pitch steering method for a rail-mounted inspection robot, characterized in that: Steering is performed using the steering mechanism described in any one of claims 1 to 8.

10. The method according to claim 9, characterized in that include: When the inspection robot is in operation, the first support assembly and the second support assembly are rigidly connected with each other at a minimum distance, and the first load-bearing wheel and the second load-bearing wheel are both in contact and sliding connection with the hanging rail, so that the inspection robot cannot fall off the hanging rail; During loading and unloading, the inspection robot maintains the maximum distance between the first support assembly and the second support assembly by opening and closing the adjustment assembly, and the distance between the first load-bearing wheel and the second load-bearing wheel relative to the hanging rail is greater than the lower flange of the hanging rail, so that the inspection robot can detach from the hanging rail.

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