A hanging rail inspection system

Abstract

The present application relates to a kind of hanging rail inspection systems, comprising: track and inspection robot;The inspection robot includes: robot main body, the auxiliary wheel group being set on the upper side of robot main body, drive wheel group and brake device;The robot main body is based on the auxiliary wheel group clamping hoist in the lower side of track, wherein auxiliary wheel group is set apart with two in the direction of travel of inspection robot;The drive wheel group is provided with the driving roller that abuts with the lower side of track;The driving roller is provided with magnetic attraction wheel part, and magnetic attraction wheel part and the radial dimension of driving roller body are different;The position of the lower side of track is partially provided with the iron condition with the width less than the width of track, and along the width direction of track, the arrangement position of iron condition corresponds with magnetic attraction wheel part;When the driving roller moves to the position of iron condition, the main body of the driving roller keeps abutting with the lower side of track, and magnetic attraction wheel part is attracted to iron condition.

Description

A rail inspection system Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a rail-mounted inspection system. Background Technology

[0002] In recent years, with the rapid development of technology, inspection robots have been widely used in many fields, especially in large-scale scenarios such as power transmission towers, power tunnels, and bridges, where they play an increasingly important role. As an unmanned remote-controlled device, inspection robots are operated without real-time human intervention, and their operational stability directly determines the inspection efficiency in these scenarios.

[0003] In practical applications, inspection robots face complex and varied track conditions due to different environmental conditions and diverse track setup requirements. For example, tracks may exhibit various variations such as curvature, ascent, and descent. Although inspection robots typically demonstrate good performance on straight tracks, their operational stability is severely affected when encountering complex tracks such as curves or ascents. For instance, when faced with vertically ascending track changes, a lack of reliable climbing ability can not only lead to jams or stalls in the inspection process but may even cause the robot to reverse along the track, failing to complete the intended inspection task, significantly reducing inspection efficiency and increasing potential safety risks. Therefore, improving the operational stability of inspection robots on complex and changing tracks has become a critical issue that urgently needs to be addressed in this field.

[0004] Meanwhile, existing inspection robots generally use braking devices to achieve their braking function. However, these braking devices have significant shortcomings in dealing with special working conditions, especially at turning points during the climbing phase, making emergency braking difficult. In such situations, the robot may not be able to stop in time, and continuing forward could lead to serious accidents such as collisions or reversals, threatening the safety of equipment and personnel. Therefore, achieving stable and reliable braking of inspection robots at turning points during the climbing phase is also an urgent problem currently facing us.

[0005] Therefore, improving the operational stability of inspection robots on complex tracks and solving the problem of reliable braking at turning points during the climbing phase are of paramount importance for ensuring the efficiency and safety of inspection work, and relevant technical personnel urgently need to explore effective solutions. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a rail inspection system.

[0007] To achieve the above-mentioned objectives, the present invention provides a rail inspection system, comprising: a rail and an inspection robot;

[0008] The inspection robot includes: a robot body, an auxiliary wheel set, a drive wheel set and a braking device set on the upper side of the robot body;

[0009] The main body of the robot is clamped and suspended below the track based on the auxiliary wheel set, wherein there are two auxiliary wheels set at intervals in the direction of travel of the inspection robot;

[0010] The drive wheel assembly is provided with drive rollers that abut against the lower side of the track;

[0011] The drive roller is provided with a magnetic chuck portion, and the radial dimension of the magnetic chuck portion is different from that of the drive roller body;

[0012] A portion of the lower side of the track is provided with iron supports that are narrower than the track width, and the arrangement of the iron supports corresponds to the magnetic chuck portion along the width direction of the track.

[0013] When the drive roller moves to the position of the iron condition, the main body of the drive roller remains in contact with the lower side of the track, and the magnetic wheel part is attracted to the iron condition.

[0014] According to one aspect of the invention, the iron condition is arranged in a region of track with varying height, and the extension length of the iron condition is greater than or equal to the extension length of the region of track with varying height.

[0015] According to one aspect of the invention, at least one magnetic chuck portion is provided along the axial direction of the drive wheel assembly.

[0016] According to one aspect of the present invention, the outer surface of the magnetic chuck portion is provided with a first fitting structure; wherein, the first fitting structure is an annular protrusion or an annular groove;

[0017] The side of the iron condition that contacts the magnetic chuck is provided with a second fitting structure that matches the first fitting structure; wherein, the second fitting structure is a linear groove or a linear annular protrusion.

[0018] According to one aspect of the invention, the braking device includes: a horizontal support and a clamping mechanism;

[0019] The horizontal support is equipped with a movable block that can reciprocate.

[0020] The clamping mechanism is supported on the movable block, and the clamping mechanism is rotatably connected to the movable block;

[0021] The clamping mechanism is provided with two opposing clamping arm assemblies, and the two clamping arm assemblies are respectively arranged on both sides of the track width direction.

[0022] According to one aspect of the invention, the clamping mechanism further includes: a mechanism mounting base, a brake driver and a transmission mechanism connected to the mechanism mounting base;

[0023] The two clamping arm assemblies are respectively connected to the transmission mechanism so that the two clamping arm assemblies can be synchronously controlled to perform opening and closing actions based on the transmission mechanism under the driving action of the brake actuator.

[0024] According to one aspect of the invention, the horizontal support is further provided with a compression spring for providing an elastic restoring force for the reciprocating movement of the movable block.

[0025] According to one aspect of the invention, the clamping mechanism further includes: a guide structure;

[0026] The guide structure is connected to the mechanism fixing seat, and the guide structure is arranged on both sides of the track width direction;

[0027] The guide structure includes: a guide rod and a guide sleeve that is rotatably sleeved on the guide rod;

[0028] The lower end of the guide rod is fixedly connected to the mechanism fixing seat;

[0029] The axial length of the guide sleeve covers the effective braking area of ​​the clamping arm assembly.

[0030] According to one aspect of the present invention, the auxiliary wheel set includes: an auxiliary wheel set support, and an auxiliary wheel structure connected to the auxiliary wheel set support;

[0031] The auxiliary wheel structure is arranged in two opposite directions for connection with the guide support of the track;

[0032] The auxiliary wheel structure includes: a first support base, a side abutment wheel, a hanging wheel, and an elastic self-positioning wheel assembly connected to the first support base;

[0033] The side abutting wheel abuts against the side of the guide support, and the hanging wheel rests against the upper side of the guide support;

[0034] Two elastic self-positioning wheel assemblies are symmetrically arranged on the first support seat;

[0035] The elastic self-positioning wheel assembly includes: a side positioning wheel, an adaptive connector for connecting the side positioning wheel, and an elastic recovery component;

[0036] The side positioning wheel abuts against the side of the guide support; wherein, the two ends of the side positioning wheel are respectively provided with radially protruding side rings, and the guide support is located between the two side rings.

[0037] The adaptive connector is connected to the first support base and is used to adapt to the fluctuations in the axial and radial positions of the side positioning wheel as it rolls along the guide support.

[0038] The elastic restoring element is used to connect the adaptive connector and the first support base, and is used to provide elastic restoring force to the adaptive connector.

[0039] According to one aspect of the invention, at least one drive wheel assembly is provided, and the drive wheel assembly is connected to an auxiliary wheel assembly;

[0040] The drive wheel assembly further includes: a swing frame for supporting the drive rollers, a swing elastic support for providing elastic support, and a main drive for driving the drive rollers;

[0041] One end of the swing frame is rotatably connected to the drive roller, and the other end is rotatably connected to the first support base;

[0042] The swing elastic support is connected to the swing frame and the first support seat respectively, and is used to provide elastic support for the swing frame so that the drive roller abuts against the lower side of the track;

[0043] The main driver is fixed on the swing frame, and the main driver is connected to the drive roller transmission.

[0044] The track is an I-beam aluminum profile track or a rectangular aluminum profile track.

[0045] According to one aspect of the present invention, the method of using a magnetic roller in conjunction with iron conditions can effectively achieve contact stability between the drive roller and a special part of the track, and can also effectively increase the contact friction between the remaining part of the drive roller and the track based on the magnetic attraction force. This makes the operation of this method more stable and reliable during the climbing phase.

[0046] According to one aspect of the present invention, this solution can further increase the reliability of the contact position by flexibly setting the roughness between the surface of the magnetic pulley and the iron surface (e.g., adjusting its surface roughness, setting patterns, etc.). Compared with the traditional chain and sprocket structure, this solution has more flexible adaptability, which makes it more beneficial to improve the stability of operation. In particular, it can fully eliminate the jamming caused by misalignment of traditional chain and sprocket.

[0047] According to one aspect of the present invention, the method of using magnetic chucks in conjunction with iron conditions can also be applied to sections of the track that are completely vertical, so that the present invention still has stable and reliable operation capability in the vertical state.

[0048] According to one aspect of the present invention, the clamping arm assembly, based on its elongated shape, can be adapted to brake at various positions on the track, thus enabling the inspection robot of this invention to have the same braking performance at all positions along the track extension direction, resulting in superior braking stability.

[0049] According to one aspect of the present invention, the starting and ending points of the iron condition are set on the horizontal portion of the track, thereby enabling the drive roller to engage with the iron condition in advance, making the scheme more stable when entering areas with varying heights, and effectively improving the climbing stability and reliability of the scheme.

[0050] According to one aspect of the present invention, the braking device of this solution has flexible adaptability at the horizontal turning position of the track, so that this solution can fully meet the adaptability to different changes in the track. Attached Figure Description

[0051] Figure 1 is a structural diagram of a rail inspection system according to an embodiment of the present invention;

[0052] Figure 2 is a bottom view of a rail inspection system according to an embodiment of the present invention;

[0053] Figure 3 is a structural diagram of an inspection robot according to one embodiment of the present invention;

[0054] Figure 4 is a top view of an inspection robot according to one embodiment of the present invention;

[0055] Figure 5 is a structural diagram of the combination of the auxiliary wheel set and the drive wheel set according to one embodiment of the present invention;

[0056] Figure 6 is a structural diagram of a drive wheel assembly according to one embodiment of the present invention;

[0057] Figure 7 is a structural diagram of a braking device according to one embodiment of the present invention;

[0058] Figure 8 is a front view of a braking device according to an embodiment of the present invention;

[0059] Figure 9 is an internal structural diagram of a braking device according to one embodiment of the present invention;

[0060] Figure 10 is a diagram showing the posture of the braking device of the present invention in the curved section of the track;

[0061] Figure 11 is a diagram showing the released state of the brake device of the present invention;

[0062] Figure 12 is a cross-sectional view of the guide structure of the present invention;

[0063] Figure 13 shows the posture of the robot body as the track of the present invention bends upward from horizontal;

[0064] Figure 14 shows the posture of the robot body as the track of the present invention bends from vertical to horizontal.

[0065] Figure 15 is a structural diagram of an auxiliary wheel assembly according to one embodiment of the present invention.

[0066] In the diagram, 1-track, 2-inspection robot, 21-robot body, 22-auxiliary wheel set, 23-drive wheel set, 24-brake device, 231-drive roller, 2311-magnetic wheel part, 1a-iron condition, 2311a-first fitting structure, 232-swing frame, 233-swing elastic support, 234-main driver, 232a-first connecting ear, 232b-second connecting ear, 221-auxiliary wheel set bracket, 222a-first support seat, 232c-avoidance structure, 241-horizontal support, 242-clamping mechanism, 2411-moving block, 2412-compression spring, 2413-slide rod, 2414-slide rod connector, 242a-clamping arm assembly, 242a1-clamping arm body, 242a2-damping Block, 242b-mechanism fixing seat, 242c-brake actuator, 242d-transmission mechanism, 242b1-front baffle, 242b2-rear baffle, 242c1-drive body, 242c2-swing arm, 242e-guide structure, 242e1-guide rod, 242e2-guide sleeve, 242e21-rubber damping ring, 242e11-one-way rotation structure, 222-auxiliary wheel structure, 222b-side abutment wheel, 222c-hanging wheel, 222d-elastic self-positioning wheel assembly, 222a1-support seat part, 222a2-shaft part, 222d1-side positioning wheel, 222d2-adaptive connector, 222d3-elastic return component, 222d21-first hinge seat, 222d22-second hinge seat. Detailed Implementation

[0067] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments will be further described below in conjunction with the accompanying drawings.

[0068] In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0069] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

[0070] As shown in Figures 1, 2, 3 and 4, according to one embodiment of the present invention, a rail-mounted inspection system includes: a rail 1 and an inspection robot 2; wherein, the rail 1 is the supporting structure and the basis for the operation of the inspection robot 2. Since the rail 1 can be installed at the top of the space, the inspection robot 2 can be directly hoisted on the rail 1 to realize the function of moving along the extension direction of the rail 1. In this embodiment, the inspection robot 2 includes: a robot body 21, an auxiliary wheel set 22, a drive wheel set 23, and a braking device 24 disposed on the upper side of the robot body 21; wherein, the robot body 21 is clamped and suspended below the track 1 based on the auxiliary wheel set 22, wherein two auxiliary wheel sets 22 are spaced apart in the traveling direction of the inspection robot 2; the braking device 24 is located between the two auxiliary wheel sets 22. Preferably, the braking device 24 can be arranged in the middle position of the robot body 21, thereby enabling the braking position of the inspection robot 2 to be in the middle of the robot body 21, which facilitates a better braking effect during its movement. In particular, for the track 1 with curved, climbing, and descending sections, the arrangement of the braking device 24 can achieve multi-point uniform support between the braking device 24 and other structures when braking in special areas of the track 1, which is more beneficial for maintaining stable and reliable parking, and effectively avoids the disadvantage of unstable parking caused by the biased setting of the braking device 24. Furthermore, by setting a braking device 24 between the two auxiliary wheel sets 22, the space on the robot body 21 can be utilized more effectively, making the structure of this solution more compact.

[0071] In this embodiment, the drive wheel assembly 23 is provided with a drive roller 231 that abuts against the lower side of the track 1; wherein, the drive roller 231 is provided with a magnetic suction wheel portion 2311, and the radial dimensions of the magnetic suction wheel portion 2311 and the main body of the drive roller 231 are different; furthermore, a portion of the lower side of the track 1 is provided with an iron condition 1a with a width smaller than the width of the track 1, and the arrangement position of the iron condition 1a corresponds to the magnetic suction wheel portion 2311 along the width direction of the track 1; in this embodiment, when the drive roller 231 moves to the position of the iron condition 1a, the main body of the drive roller 231 remains abutting against the lower side of the track 1, and the magnetic suction wheel portion 2311 is attracted to the iron condition 1a.

[0072] Through the above settings, this solution uses a combination of magnetic rollers and iron conditions to effectively achieve contact stability between the drive roller 231 and a special part of the track 1. On the other hand, it can also effectively increase the contact friction between the remaining parts of the drive roller 231 and the track 1 based on magnetic attraction, thus making the operation of this solution more stable and reliable during the climbing phase. In addition, by flexibly setting the roughness between the surface of the magnetic roller 2311 and the surface of the iron condition 1a (e.g., adjusting its surface roughness, setting patterns, etc.), adsorption can be achieved while further increasing the reliability of the contact position. Compared with the traditional chain and sprocket structure, this solution has more flexible adaptability, which makes this solution more beneficial to improving the stability of operation. In particular, it can completely eliminate the jamming caused by misalignment of traditional chain and sprocket.

[0073] Furthermore, this solution, which uses a combination of magnetic chucks and iron conditions, can also be applied to sections of tracks that are completely vertical, ensuring stable and reliable operation even in vertical conditions.

[0074] As shown in Figures 5 and 6, in this embodiment, the drive roller 231 body is made of rubber wheels. Specifically, the drive roller 231 can be composed of two (or other numbers) rubber wheels coaxially connected to form the body of the drive roller 231. Thus, the magnetic suction wheel portion 2311 is arranged coaxially with the body of the drive roller 231.

[0075] In this embodiment, the magnetic chuck portion 2311 can be made of a single piece of magnetic material, or it can be made by splicing and fixing multiple arc-shaped magnetic components together. If the magnetic chuck portion 2311 is made by splicing and fixing multiple arc-shaped magnetic components together, a frame structure can be provided, and then the corresponding arc-shaped magnetic components are sequentially fixed to the outside of the frame structure to form the desired magnetic chuck portion 2311. In this embodiment, the frame structure can be a plastic frame or an aluminum alloy frame to ensure structural strength while avoiding interference with the magnetism of the arc-shaped magnetic components. Specifically, corresponding fitting grooves can be provided on the outer surface of the frame structure, and the arc-shaped magnetic components are fitted and fixed in the fitting grooves on the outside of the frame structure to complete the fabrication of the entire magnetic chuck portion 2311.

[0076] In this embodiment, the magnetic chuck portion 2311 is coaxially arranged with the rubber wheel, and along the axial direction of the drive roller 231, the magnetic chuck portion 2311 can be located at the middle position of the drive roller 231. Of course, the magnetic chuck portion 2311 can also be provided at both ends of the drive roller 231 along the axial direction, thereby allowing multiple magnetic chuck portions 2311 to be provided on the drive roller 231.

[0077] In this embodiment, the radial dimension of the magnetic roller portion 2311 is smaller than that of the rubber wheel. Therefore, a certain groove is created between the magnetic roller portion 2311 and the rubber wheel in the radial direction, preventing the magnetic roller portion 2311 from contacting the lower side of the track 1, but allowing it to engage with the iron condition 1a set on the lower side of the track 1. This strengthens the connection between the drive roller 231 and the track 1 when the solution reaches the position where the iron condition 1a is located, resulting in more reliable contact stability for the drive roller 231 at specific positions on the track 1 (such as uphill or downhill sections), thus improving the overall operational stability of the solution. Specifically, on one hand, the attraction force increases the friction between the rubber wheel and the track 1; on the other hand, the attraction between the magnetic roller portion 2311 and the iron condition 1a provides an anti-slip effect, effectively enhancing the overall contact stability of the drive roller 231. Of course, in other configurations, the radial dimension of the magnetic chuck portion 2311 can be larger than that of the rubber wheel. Therefore, to facilitate contact between the rubber wheel and the track 1, a receiving groove can be provided on the lower side of the track 1 to allow the magnetic chuck portion 2311 to extend into it. The corresponding iron condition 1a is then arranged at the bottom of the receiving groove to achieve the same effect as described above. However, to reduce the complexity of the structural design, it is preferable to use a configuration where the radial dimension of the magnetic chuck portion 2311 is smaller than that of the rubber wheel.

[0078] In this embodiment, a certain gap can be provided between the magnetic roller portion 2311 and the rubber roller to enable the installation of other additional structures and to ensure the smooth introduction of the iron condition 1a and the drive roller 231.

[0079] According to another embodiment of the present invention, a plurality of linear grooves are provided at intervals along the circumferential direction on the outer surface of the magnetic chuck portion 2311, and the length direction of the linear grooves is consistent with the axial direction of the magnetic chuck portion 2311. When the magnetic chuck portion 2311 is made of a single piece of magnetic material, the linear grooves are directly provided on the outer surface of the magnetic chuck portion 2311. When the magnetic chuck portion 2311 is made by splicing and fixing multiple arc-shaped magnetic components together, the linear grooves can be provided on the skeleton structure between the arc-shaped magnetic components. In this embodiment, along the circumferential direction of the magnetic chuck portion 2311, the two opposite edges of the linear grooves are linear straight edges. Furthermore, anti-slip areas can be randomly or regularly provided on the side of the iron condition 1a, formed by arranging a plurality of linear anti-slip grooves at intervals. The length direction of the linear anti-slip grooves is perpendicular to the length direction of the iron condition 1a, and the width of the linear anti-slip grooves is smaller than the width of the linear grooves. Furthermore, the two opposite edges of the linear anti-slip grooves are linear straight edges. Therefore, when a linear groove appears in the anti-slip area, the edge of the linear groove can randomly come into contact with the edge of the linear anti-slip groove, which is more beneficial for enhancing the reliability of the inspection robot's climbing process. In this embodiment, the linear groove and the linear anti-slip groove can be set as rectangular grooves, trapezoidal grooves, or triangular grooves.

[0080] As shown in Figure 6, according to one embodiment of the present invention, the outer surface of the rubber wheel of the drive roller 231 may be provided with an anti-slip structure, wherein the anti-slip structure may be configured as a pattern formed by protrusions and / or grooves. This effectively improves the anti-slip performance of the drive roller 231 and ensures the contact stability between the drive roller 231 and the track 1.

[0081] Referring to Figures 4 and 6, according to one embodiment of the present invention, a first fitting structure 2311a is provided on the outer surface of the magnetic chuck portion 2311; wherein, the first fitting structure 2311a is an annular protrusion or an annular groove; in this embodiment, the first fitting structure 2311a can be made of the same material as the magnetic chuck portion 2311, or it can be made of a non-magnetic material (such as rubber or nylon). Furthermore, the outer surface of the first fitting structure 2311a can be set as a rough surface. Specifically, this can be based on controlling the surface roughness of the first fitting structure 2311a, or by providing protrusions and / or depressions on the surface of the first fitting structure 2311a to increase its surface friction, thereby sufficiently enhancing the contact friction between the magnetic chuck portion 2311 and the iron condition 1a, making the contact reliability of this solution more advantageous. In this embodiment, the cross-sectional shape of the first fitting structure 2311a can be set as a triangle, rectangle, trapezoid, etc. Based on different shape settings, the surface area of ​​the first fitting structure 2311a can be effectively controlled. Thus, the contact stability between the drive roller 231 and the iron condition 1a can be flexibly adjusted as needed, thereby ensuring the stability of its operation and the reliability of its posture when the solution travels to a special position on the track 1.

[0082] In this embodiment, a second fitting structure matching the first fitting structure 2311a is provided on the side of the iron condition 1a that contacts the magnetic chuck portion 2311. The second fitting structure is a linear groove or a linear annular protrusion. The cross-sectional shape of the second fitting structure is consistent with the cross-sectional shape of the first fitting structure 2311a. Similarly, the inner surface of the second fitting structure can be set as a rough surface, thereby further increasing the contact friction with the first fitting structure 2311a, thereby improving the contact stability and reliability of this solution with the track 1. In this embodiment, to avoid contact vibration between the rough surface of the first interlocking structure 2311a and the rough surface of the second interlocking structure, the roughness of the two rough surfaces can be set to be different, or the hardness of the rough surfaces of the first interlocking structure 2311a and the second interlocking structure can be adjusted to have a difference. For example, when the first interlocking structure 2311a is made of rubber or nylon, the second interlocking structure can be integrally processed based on the material of the iron condition 1a itself. When the first interlocking structure 2311a is made of the same material as the magnetic chuck part 2311, the second interlocking structure can be formed with rubber or nylon at the corresponding position on the iron condition 1a. This makes the contact process between them smoother while increasing the friction between them, which is more beneficial to ensuring the overall connection stability.

[0083] In this embodiment, multiple first fitting structures 2311a can be provided on the outer surface of the magnetic chuck portion 2311 along the axial direction of the magnetic chuck portion 2311. Correspondingly, multiple second fitting structures are provided on the iron condition 1a. This allows the solution to further increase the contact area and corresponding contact friction between the magnetic chuck portion 2311 and the iron condition 1a, making it easier to adapt to changes in special positions on the track 1, and giving the solution better operational stability and reliability.

[0084] Referring to Figures 5 and 6, according to one embodiment of the present invention, the drive wheel assembly 23 further includes: a swing frame 232 for supporting the drive roller 231, a swing elastic support 233 for providing elastic support, and a main drive 234 for driving the drive roller 231. In this embodiment, the swing frame 232 can be a sheet metal structure, with two opposing first connecting ears 232a at one end. The drive roller 231 can then be directly mounted between the two first connecting ears 232a based on its shaft, thus achieving the rotational mounting of the drive roller 231. To facilitate reliable contact with the lower side of the track 1, the first connecting ears 232a can be arranged to extend upwards, so that the drive roller 231 is mounted with an upward offset relative to the swing frame 232. This effectively reduces the size of the swing frame 232 and avoids interference with other structures.

[0085] In this embodiment, the other end of the swing frame 232 is provided with two opposing second connecting ears 232b. These second connecting ears 232b can be used to mount the swing shaft for the swing frame 232, making it easier to connect the swing frame 232 to other structures. In this embodiment, the second connecting ears 232b extend downwards to ensure a compact overall structure of the swing frame 232, making installation easier. Specifically, the swing frame 232 can be connected to the bottom of the auxiliary wheel bracket 221 in the auxiliary wheel set 22 based on the swing shaft provided on the second connecting ears 232b. This allows the drive roller 231 to be conveniently arranged on the underside of the track 1.

[0086] In this embodiment, the swing elastic support 233 includes a support rod and a swing support spring sleeved on the support rod. The lower end of the support rod is fixedly connected to the auxiliary wheel bracket 221 (e.g., by riveting, welding, or threaded connection), while the upper end of the support rod is provided with a swing limiting protrusion. Based on this swing limiting protrusion, the extreme position of the swing frame 232 can be limited. The opposite ends of the swing support spring abut against the swing frame 232 and the first support seat 222a, respectively. Thus, based on the elastic support of the swing support spring on the swing frame 232, the drive roller 231 can be reliably abutted against the lower side of the track 1.

[0087] In this embodiment, to facilitate the passage of the support rod, a clearance structure 232c is provided at the corresponding position of the swing frame 232. The clearance structure 232c can be configured as an elongated hole or an open groove that passes through the body of the swing frame 232, so as to ensure that the support rod passes through the swing frame 232 while effectively avoiding interference between the swing frame 232 and the support rod during the swinging process.

[0088] In this embodiment, an upwardly extending mounting plate is provided on one side of the swing frame 232 along the width direction of the track 1. Thus, the main drive 234 can be mounted on one side of the mounting plate based on a locking connector, achieving a fixed installation with the swing frame 232. Furthermore, to ensure the driving action of the main drive 234 on the drive roller 231, a transmission structure can be provided between the main drive 234 and the drive roller 231. This transmission structure can be a gear structure, specifically two meshing gears. One gear is mounted on the output shaft of the main drive 234, and the other gear is directly coaxially mounted on the drive roller 231. This not only ensures the compactness of the structure but also fully utilizes the precision of the gear transmission to guarantee the operational stability and reliability of this solution.

[0089] Furthermore, to ensure the structural compactness of the drive roller 231, a corresponding gear can be installed at the interval between the magnetic chuck part 2311 and the rubber wheel.

[0090] In this embodiment, the transmission structure can also adopt a belt drive structure, which is a common structure and will not be described in detail here.

[0091] As shown in Figure 2, according to one embodiment of the present invention, the iron condition 1a is arranged in the region of the track 1 where the height changes, and the extension length of the iron condition 1a is greater than or equal to the extension length of the region of the track 1 where the height changes. In this embodiment, the iron condition 1a can be fixed to the lower side of the track 1 using a threaded connector; of course, it can also be installed by means of bonding, riveting, etc.

[0092] In this embodiment, the starting and ending points of the iron condition 1a are set on the horizontal part of the track 1. As a result, the drive roller 231 can engage with the iron condition 1a in advance, making the scheme more stable when entering the area of ​​height change, and effectively improving the climbing stability and reliability of the scheme.

[0093] In this embodiment, in order to avoid rigid contact between the end of the iron condition 1a and the magnetic chuck portion 2311, guide ramps can be provided at the starting end and the ending end of the iron condition 1a to improve the smoothness and stability of the attraction process between the iron condition 1a and the magnetic chuck portion 2311 based on the transition effect of the guide ramps.

[0094] Referring to Figures 7, 8, and 9, according to one embodiment of the present invention, the braking device 24 includes a horizontal support 241 and a clamping mechanism 242. In this embodiment, the horizontal support 241 is provided with a reciprocating movable block 2411. The clamping mechanism 242 is supported on the movable block 2411 and is rotatably connected to the movable block 2411. Therefore, the braking device 24 of this embodiment can have a reliable braking effect even at turning positions, resulting in superior braking stability (see Figure 10).

[0095] In this embodiment, the horizontal support 241 is also provided with a compression spring 2412 for providing elastic restoring force for the reciprocating movement of the movable block 2411; wherein, the compression spring 2412 is respectively provided on opposite sides of the movable block 2411, thereby allowing the movable block 2411 to be elastically restricted to the middle position in the initial state, and then after the track 1 turns, the movable block 2411 can be driven to return to the initial middle position based on the compression spring 2412, so that this solution can fully guarantee the adaptability of the braking device 24 to the track 1.

[0096] In this embodiment, the horizontal support 241 is also provided with a slide rod 2413 and a slide rod connector 2414; wherein, two slide rods 2413 are arranged in parallel and spaced apart, and the ends of the slide rods 2413 are fixedly connected to the ends of the slide rod connectors 2414, so that the slide rods 2413 and the slide rod connectors 2414 form a rectangular frame, and the movable block 2411 is slidably connected to the slide rods 2413, and the compression springs 2412 are sleeved on the slide rods 2413 and respectively provided at the opposite ends of the movable block 2411, thereby allowing the movable block 2411 to be elastically restricted to the middle position.

[0097] Referring to Figures 7, 8, and 9, according to one embodiment of the present invention, the clamping mechanism 242 is provided with two opposing clamping arm assemblies 242a, which are respectively arranged on both sides of the track 1 in the width direction. In this embodiment, the clamping arm assembly 242a includes: a clamping arm body 242a1 and a damping block 242a2, wherein the clamping arm body 242a1 is a long strip structure, and the damping block 242a2 is a rectangular block. In this embodiment, the damping block 242a2 is fixed to the side of the clamping arm body 242a1 facing the track 1. Thus, driving the two clamping arm bodies 242a1 to move in a direction closer to each other until the damping block 242a2 contacts the side of the track 1 achieves a braking effect (see Figure 8), and driving the two clamping arm bodies 242a1 to move in a direction further away from each other disengages the damping block 242a2 from the side of the track 1 achieves brake release (see Figure 11). In this embodiment, the damping block 242a2 is fixed to the clamping arm body 242a1 by means of adhesive bonding or locking connection to ensure reliable and stable installation.

[0098] As shown in Figures 7, 8, and 9, according to one embodiment of the present invention, the clamping mechanism 242 further includes: a mechanism fixing seat 242b, a brake driver 242c and a transmission mechanism 242d connected to the mechanism fixing seat 242b; wherein, the two clamping arm assemblies 242a are respectively connected to the transmission mechanism 242d, so as to synchronously control the two clamping arm assemblies 242a to perform opening and closing actions based on the transmission mechanism 242d under the driving action of the brake driver 242c.

[0099] In this embodiment, the mechanism mounting base 242b includes a front baffle 242b1 and a rear baffle 242b2; wherein the front baffle 242b1 is a rectangular metal plate and the rear baffle 242b2 is an L-shaped metal plate; in this embodiment, the vertical portions of the front baffle 242b1 and the rear baffle 242b2 are parallel and spaced apart, and the front baffle 242b1 and the rear baffle 242b2 can be fixedly installed to each other by using threaded connectors, so as to form a space for installing the transmission mechanism 242d.

[0100] Furthermore, the transmission mechanism 242d is implemented using multiple meshing gears, for example, four gears; and rotating bearings are provided on the front baffle 242b1 and the rear baffle 242b2 corresponding to the arrangement positions of the multiple gears, and the gears achieve stable transmission between the front baffle 242b1 and the rear baffle 242b2 based on their rotation shafts. In this embodiment, the lower ends of the two clamping arm bodies 242a1 are respectively connected to the two outermost gears of the transmission mechanism 242d, thereby driving the opening and closing of the two clamping arm bodies 242a1 by rotating one of the gears driven by the brake actuator 242c.

[0101] In this embodiment, the brake actuator 242c includes a drive body 242c1 and a swing arm 242c2. The drive body 242c1 can be an electric cylinder or a pneumatic cylinder. Specifically, the fixed end of the drive body 242c1 is movably connected to the horizontal portion of the rear baffle 242b2, while the telescopic end of the drive body 242c1 is connected to the lower end of the swing arm 242c2. The upper end of the swing arm 242c2 is connected to the shaft end of a gear in the transmission mechanism 242d. Thus, the opening and closing of the two clamping arm assemblies 242a can be controlled based on the telescopic movement of the drive body 242c1, thereby realizing the braking and release functions.

[0102] As shown in Figures 7, 8 and 9, according to one embodiment of the present invention, the clamping mechanism 242 further includes a guide structure 242e; wherein the guide structure 242e is connected to the mechanism fixing seat 242b, and the guide structure 242e is arranged on both sides of the track 1 in the width direction. In this embodiment, the guide structure 242e includes a guide rod 242e1 and a guide sleeve 242e2 rotatably sleeved on the guide rod 242e1. Specifically, the lower end of the guide rod 242e1 is fixedly connected to the mechanism fixing seat 242b. The lower end of the guide rod 242e1 may be provided with a through hole that runs radially through its body. Thus, the guide rod 242e1 can be locked to the side of the front baffle 242b1 by passing a locking connector through the through hole at the lower end of the guide rod 242e1. This allows the guide structure 242e to be positioned in front of the clamping arm assembly 242a, enabling the inspection robot 2 to more easily and conveniently adapt to changes in the track 1 under the action of the guide structure 242e during turning. This allows the clamping mechanism 242 to stably and reliably clamp the track 1 in different areas, resulting in superior braking performance.

[0103] In this embodiment, the axial length of the guide sleeve 242e2 covers the effective braking area of ​​the clamping arm assembly 242a, effectively ensuring the applicability of the guide structure 242e in different areas of the track 1. Specifically, when the track 1 turns from horizontal to vertical, the position where the guide structure 242e can contact the track 1 is lower; when the track 1 turns from vertical to horizontal, the position where the guide structure 242e can contact the track 1 is higher, making the guiding applicability of the braking device 24 more flexible. Similarly, the clamping arm assembly 242a, based on its elongated shape, still has the effect of braking at various positions on the track 1.

[0104] In this embodiment, the guide sleeve 242e2 can be connected to the guide rod 242e1 based on a rotary bearing. The rotary bearing can be either a ball bearing or a needle roller bearing.

[0105] In this embodiment, to facilitate the guiding function of the guide structure 242e at the turning position of the track 1, the guide sleeve 242e2 is configured to be in contact with the side of the track 1, or it may be configured to have a small gap (such as a gap of less than 5mm) to avoid friction of the guide structure 242e when the track 1 turns.

[0106] In another embodiment, the rotating bearing between the guide sleeve 242e2 and the guide rod 242e1 can also be optionally configured as a one-way bearing. Thus, the outer surface of the guide sleeve 242e2 can be configured as multiple parts, including: a first conical annular surface, a middle cylindrical surface and a second conical annular surface from top to bottom. The radial dimension of the first conical annular surface gradually decreases from top to bottom, and the radial dimension of the second conical annular surface gradually increases. When the track 1 is a horizontal track, the middle cylindrical surface is opposite to the side of the track 1. When the track 1 bends upward from horizontal, as the track bends and the robot body 21 changes its upward posture, the side of the track 1 gradually approaches the second conical annular surface of the guide sleeve 242e2. This results in a position where the guide sleeve 242e2 contacts the track 1 in the bent part of the track 1. At this position, a dynamic locking effect can be generated to prevent the robot body 21 from falling back, especially when braking is required. This dynamic locking effect can suppress the lag in the braking process of the clamping mechanism 242. In this embodiment, to increase the contact area between the track 1 and the second conical annular surface, a chamfered surface can be optionally provided on the lower edge of the side of the guide support portion 11 of the track 1 to achieve a certain contact area during the contact process. Similarly, as the track 1 bends from vertical to horizontal, with the bending of the track and the change in the orientation of the robot body 21, the side position of the track 1 gradually approaches the first conical annular surface of the guide sleeve 242e2. This results in a contact position between the guide sleeve 242e2 and the track 1 in the bent portion of the track 1. At this position, a dynamic locking effect can be generated based on the action of a one-way bearing to prevent the robot body 21 from falling back. Especially when braking is required, this dynamic locking effect can suppress the lag in the braking process of the clamping mechanism 242. In this embodiment, to increase the contact area between the track 1 and the first conical annular surface, a chamfered surface can be optionally provided on the upper edge of the side of the guide support portion 11 of the track 1 to achieve a certain contact area during the contact process.

[0107] In this embodiment, the guide sleeve 242e2 can be configured as a rigid middle part and a rubber part nested outside the rigid middle part. Thus, based on the rubber part increasing the frictional force at the contact position and the rubber part adapting to produce corresponding elastic changes, it can not only effectively increase the contact area at the corresponding position, but also effectively avoid rigid contact between them.

[0108] As shown in Figure 12, according to another embodiment of the present invention, the guide sleeve 242e2 can be directly sleeved on the guide rod 242e1, and the guide sleeve 242e2 can be rotatably connected to the guide rod 242e1 while also allowing the guide sleeve 242e2 to slide along the axial direction of the guide rod 242e1. Rubber damping rings 242e21 are fixedly connected to the upper and lower ends of the guide sleeve 242e2, respectively, while one-way rotation structures 242e11 are provided at the upper and lower ends of the guide rod 242e1. In this embodiment, the one-way rotation structure 242e11 is fixedly sleeved on the guide rod 242e1, and includes: a one-way bearing and a friction ring sleeved on the outside of the one-way bearing. The inner ring of the one-way bearing is fixedly connected to the guide rod 242e1 (e.g., with an interference fit), and the outer ring is used to nest the friction ring. Furthermore, the friction ring is fixedly connected to the outer ring of the one-way bearing (e.g., with an interference fit), thereby enabling the one-way rotation of the one-way bearing by driving the friction ring. Furthermore, the friction ring has an annular friction portion on the side facing the rubber damping ring 242e21, thereby allowing the rubber damping ring 242e21 to contact the annular friction portion to achieve a co-rotation. In this embodiment, the interval between the two opposing unidirectional rotating structures 242e11 is greater than the overall length of the guide sleeve 242e2, thereby giving the guide sleeve 242e2 a certain axial movement space. Therefore, the outer surface of the guide sleeve 242e2 can be configured with multiple parts, including: a first conical annular surface from top to bottom, a middle cylindrical surface, and a second conical annular surface. The configuration of the outer surface of the guide sleeve 242e2 is consistent with the aforementioned configuration and will not be repeated here. Furthermore, as the track 1 bends upwards from horizontal, the side of the track 1 gradually approaches the second conical annular surface of the guide sleeve 242e2 as the track bends and the robot body 21 changes its orientation upwards (see Figure 13). This results in continuous contact positions between the guide sleeve 242e2 and the track 1 in the curved portion. Depending on the contact area, the lower rubber damping ring 242e21 can exhibit different degrees of compression, thus achieving the connection between the guide sleeve 242e2 and the one-way rotation structure 242e11. This allows for dynamic locking at different positions, based on the one-way bearing, to prevent the robot body 21 from regressing. Especially when braking is required, this dynamic locking can suppress the lag in the braking process of the clamping mechanism 242. In this embodiment, to increase the contact area between the track 1 and the second conical annular surface, a chamfered surface can be optionally provided on the lower edge of the side of the guide support portion 11 of the track 1 to ensure a certain contact area during the contact process.Similarly, as track 1 bends from vertical to horizontal, the side of track 1 gradually approaches the first conical annular surface of guide sleeve 242e2 as the track bends and the robot body 21 changes orientation (see Figure 14). This results in continuous contact positions between guide sleeve 242e2 and track 1 in the bent portion of track 1. Furthermore, the rubber damping ring 242e21 above can exhibit different degrees of compression depending on the contact portion, thus achieving connection between guide sleeve 242e2 and unidirectional rotation structure 242e11. This allows for dynamic locking at corresponding positions, based on the action of the unidirectional bearing, to prevent the robot body 21 from reversing. Especially when braking is required, this dynamic locking effect can suppress the hysteresis of the clamping mechanism 242's braking process. In this embodiment, to increase the contact area between track 1 and the first conical annular surface, a chamfered surface can be optionally provided on the upper edge of the side of the guide support portion 11 of track 1 to achieve a certain contact area during the contact process.

[0109] In this embodiment, the guide sleeve 242e2 can be configured as a rigid middle part and a rubber part nested outside the rigid middle part. Thus, based on the rubber part increasing the frictional force at the contact position and the rubber part adapting to produce corresponding elastic changes, it can not only effectively increase the contact area at the corresponding position, but also effectively avoid rigid contact between them.

[0110] In another embodiment, the lower end of the guide rod 242e1 can be rotatably connected to the mechanism fixing seat 242b, and a torsion spring is sleeved on the mounting shaft to press the guide rod 242e1 tightly against the side of the track 1. This not only ensures tight contact between them, but also allows for control of the contact strength of the guide rod 242e1 by setting torsion springs with different elasticities, so that it still has the corresponding function even when in close contact.

[0111] As shown in Figure 15, according to one embodiment of the present invention, the auxiliary wheel set 22 includes: an auxiliary wheel set bracket 221, and an auxiliary wheel structure 222 connected to the auxiliary wheel set bracket 221; wherein, two auxiliary wheel structures 222 are arranged opposite each other for connection with the guide support portion 11 of the track 1; in this embodiment, the auxiliary wheel structure 222 includes: a first support base 222a, a side abutting wheel 222b, a hanging wheel 222c, and an elastic self-positioning wheel assembly 222d connected to the first support base 222a; wherein, the side abutting wheel 222b abuts against the side of the guide support portion 11, and the hanging wheel 222c rests on the upper side of the guide support portion 11; furthermore, two elastic self-positioning wheel assemblies 222d are symmetrically arranged on the first support base 222a.

[0112] In this embodiment, the auxiliary wheel bracket 221 includes: a bracket base plate, and two opposing support arms disposed on the bracket base plate; wherein, the auxiliary wheel structure 222 is rotatably supported on the support arms; specifically, the first support seat 222a includes: a support seat portion 222a1 and a shaft portion 222a2; wherein, the support seat portion 222a1 can be configured as a plate-like structure, and one end of the shaft portion 222a2 is fixedly connected perpendicularly to the support seat portion 222a1, and the other end can pass through the support arm to achieve a rotatable connection with the support arm; furthermore, to ensure the rotational flexibility of the shaft portion 222a2 and the support arm, a rotary bearing can be installed at the connection position. Further, the abutment wheel 222b and the hanging wheel 222c can be installed on the side of the support seat portion 222a1 facing the track 1.

[0113] In this embodiment, the elastic self-positioning wheel assembly 222d includes: a side positioning wheel 222d1, an adaptive connector 222d2 for connecting the side positioning wheel 222d1, and an elastic recovery member 222d3; wherein the side positioning wheel 222d1 abuts against the side of the guide support portion 11; wherein the axial ends of the side positioning wheel 222d1 are respectively provided with radially protruding side rings, and the guide support portion 11 is located between the two side rings. In this embodiment, the side protruding ring and the side positioning wheel 222d1 are integrated, or an annular rubber pad is provided on the side of the side protruding ring facing the guide support 11. Based on the fact that the annular rubber pad is provided at the contact point with the guide support 11, the rigidity of the contact position can be effectively reduced, while the side protruding ring can also contact the guide support 11 under pressure. Therefore, at the turning position of the track 1, when the side positioning wheel 222d1 bends with the guide support 11, the side protruding rings on both sides of the axial direction of the side positioning wheel 222d1 can be pressed and contacted with the upper and lower sides of the guide support 11 at two opposite positions. This can effectively increase the friction between the side positioning wheel 222d1 and the guide support 11 at the turning position, which is more beneficial for improving the running stability at the turning position.

[0114] Furthermore, a torsion spring structure can be further provided on the shaft portion 222a2. Based on the connection between the torsion spring structure and the shaft portion 222a2 and the support arm on the bracket base plate, the side protrusions of the side positioning wheel 222d1 have relatively pressing contact positions at different locations on the guide support portion 11, making the contact with the guide support portion 11 more stable. Moreover, at the turning positions of the track 1, the change in curvature increases the elastic force of the torsion spring structure to further ensure the reliability of the connection. In this embodiment, the torsion spring structure can provide elastic pressure in either a counterclockwise or clockwise direction, thereby enabling the side protrusions at both ends of the side positioning wheel 222d1 to abut against different positions on the upper and lower sides of the guide support portion 11.

[0115] In this embodiment, the side of the convex ring facing the guide support 11 has a circular annular surface portion and a conical annular surface portion. The circular annular surface portion and the conical annular surface portion are arranged sequentially along the direction towards the outer edge of the side convex ring. Thus, the contact with the horizontal position of the track 1 can be achieved based on the circular annular surface portion, while the conical annular surface portion can be used for large-area contact at the turning position of the track 1, which is more beneficial to improving the operational stability of this solution.

[0116] In this embodiment, the adaptive connector 222d2 is connected to the first support 222a to adaptively adjust the axial and radial position fluctuations of the side positioning wheel 222d1 as it rolls along the guide support 11. Specifically, the adaptive connector 222d2 includes a first hinge seat 222d21 and a second hinge seat 222d22. One end of the first hinge seat 222d21 is hinged to the mounting position on the first support 222a, and one end of the second hinge seat 222d22 is hinged to the other end of the first hinge seat 222d21. The other end of the second hinge seat 222d22 is used to mount the side positioning wheel 222d1. In this embodiment, the side positioning wheel 222d1 and the second hinge seat 222d22 can be mounted by a rotatable connection to achieve adaptive adjustment of the side positioning wheel 222d1's posture to match the bending changes of the guide support 11, thus improving the operational flexibility and stability of this solution. In this embodiment, the hinge axis of the first hinge seat 222d21 and the first support seat 222a and the hinge axis of the first hinge seat 222d21 and the second hinge seat 222d22 are arranged perpendicularly, thereby achieving the adaptive effect of the adaptive connector 222d2 for undulation changes.

[0117] In this embodiment, the elastic return member 222d3 is used to connect the adaptive connector 222d2 and the first support 222a, and to provide elastic return force to the adaptive connector 222d2. Specifically, one end of the elastic return member 222d3 is connected to the second hinge 222d22, and the other end is connected to the end of the shaft portion 222a2 away from the support portion 222a1, thereby realizing the elastic pressing action on the side positioning wheel 222d1.

[0118] In this embodiment, the auxiliary wheel bracket 221 of the auxiliary wheel set 22 is rotatably connected to the robot body 21 to ensure that the inspection robot 2 can turn on the curved part of the track 1.

[0119] As shown in Figure 1, according to one embodiment of the present invention, at least one drive wheel assembly 23 is provided, and the drive wheel assembly 23 is connected to the auxiliary wheel assembly 22. In this embodiment, the drive wheel assembly 23 can be rotatably connected to the first support base 222a based on the swing frame 232, so as to realize the flexible setting of the installation position of the drive wheel assembly 23.

[0120] According to one embodiment of the present invention, the track 1 is an I-beam aluminum profile track (see Figure 3) or a rectangular aluminum profile track (see Figure 10).

[0121] As shown in Figure 1, according to one embodiment of the present invention, the robot body 21 includes: a main body shell, a control unit disposed within the main body shell, and a power supply device for controlling the functions of the control unit. In this embodiment, the auxiliary wheel set 22, the drive wheel set 23, and the braking device 24 are all mounted on the main body shell, and the control unit is connected to the drive wheel set 23 to realize the operation control of the inspection robot 2. Furthermore, to facilitate communication between the inspection robot 2 and the outside world, a wireless communication component can be further disposed within the main body shell, and the wireless communication component is connected to the control unit to realize communication between the inspection robot 2 and the outside world, thereby achieving the effect of controlled operation.

[0122] The above description is merely an example of a specific solution of the present invention. For any devices and structures not described in detail herein, it should be understood that they are implemented using common devices and methods already available in the art.

[0123] The above description is merely one embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rail inspection system, characterized in that, include: Track (1) and inspection robot (2); the inspection robot (2) includes: robot body (21), auxiliary wheel set (22), drive wheel set (23) and brake device (24) arranged on the upper side of robot body (21); the robot body (21) is clamped and suspended below track (1) based on the auxiliary wheel set (22), wherein the auxiliary wheel set (22) is arranged in two spaced intervals in the traveling direction of inspection robot (2); the drive wheel set (23) is provided with drive roller (231) abutting against the lower side of track (1); the drive roller (231) is provided with magnetic suction wheel part (2311), and the radial dimension of the magnetic suction wheel part (2311) and the drive roller (231) body is... The dimensions are different; a portion of the lower side of the track (1) is provided with an iron condition (1a) with a width smaller than that of the track (1), and the arrangement position of the iron condition (1a) corresponds to the magnetic suction wheel part (2311) along the width direction of the track (1); when the drive roller (231) moves to the position of the iron condition (1a), the main body of the drive roller (231) remains against the lower side of the track (1), and the magnetic suction wheel part (2311) is attracted to the iron condition (1a); the braking device (24) includes: a horizontal support (241) and a clamping mechanism (242); the horizontal support (241) is provided with a movable block (2411) that can reciprocate; the clamping mechanism (242) is supported on the movable block. The clamping mechanism (242) is rotatably connected to the movable block (2411); the clamping mechanism (242) is provided with two opposing clamping arm assemblies (242a), and the two clamping arm assemblies (242a) are respectively arranged on both sides of the width direction of the track (1); the clamping mechanism (242) further includes: a mechanism fixing seat (242b), a brake driver (242c) and a transmission mechanism (242d) connected to the mechanism fixing seat (242b), and a guide structure (242e); the guide structure (242e) is connected to the mechanism fixing seat (242b), and the guide structure (242e) is respectively arranged on both sides of the width direction of the track (1); the guide structure The structure (242e) includes: a guide rod (242e1) and a guide sleeve (242e2) rotatably sleeved on the guide rod (242e1); the lower end of the guide rod (242e1) is fixedly connected to the mechanism fixing seat (242b); the axial length of the guide sleeve (242e2) covers the effective braking area of ​​the clamping arm assembly (242a); the guide sleeve (242e2) and the guide rod (242e1) are connected by a one-way bearing; the guide sleeve (242e2) includes: a first conical annular surface, an intermediate cylindrical surface and a second conical annular surface from top to bottom; the radial dimension of the first conical annular surface gradually decreases from top to bottom, and the radial dimension of the second conical annular surface gradually increases.

2. The rail inspection system according to claim 1, characterized in that, The iron condition (1a) is arranged in the region of the track (1) where the height changes, and the extension length of the iron condition (1a) is greater than or equal to the extension length of the region of the track (1) where the height changes.

3. The rail inspection system according to claim 2, characterized in that, At least one magnetic chuck portion (2311) is provided along the axial direction of the drive wheel assembly (23).

4. The rail inspection system according to claim 3, characterized in that, The outer surface of the magnetic chuck portion (2311) is provided with a first fitting structure (2311a); wherein the first fitting structure (2311a) is an annular protrusion or an annular groove; the side of the iron condition (1a) that contacts the magnetic chuck portion (2311) is provided with a second fitting structure that matches the first fitting structure (2311a); wherein the second fitting structure is a linear groove or a linear annular protrusion.

5. The rail inspection system according to claim 4, characterized in that, The two clamping arm assemblies (242a) are respectively connected to the transmission mechanism (242d) so as to synchronously control the two clamping arm assemblies (242a) to perform opening and closing actions based on the transmission mechanism (242d) under the driving action of the brake actuator (242c).

6. The rail inspection system according to claim 5, characterized in that, The horizontal support (241) is also provided with a compression spring (2412) for providing elastic restoring force for the reciprocating movement of the movable block (2411).

7. The rail inspection system according to claim 6, characterized in that, The auxiliary wheel assembly (22) includes: an auxiliary wheel assembly bracket (221), and an auxiliary wheel structure (222) connected to the auxiliary wheel assembly bracket (221); two auxiliary wheel structures (222) are arranged opposite each other for connection with the guide support part (11) of the track (1); the auxiliary wheel structure (222) includes: a first support base (222a), a side abutment wheel (222b), a hanging wheel (222c), and an elastic self-positioning wheel assembly (222d) connected to the first support base (222a); the side abutment wheel (222b) abuts against the side of the guide support part (11), and the hanging wheel (222c) rests on the upper side of the guide support part (11); two elastic self-positioning wheel assemblies (222d) are symmetrically arranged on the first support base (222a); the elastic self-positioning wheel assembly (222d) includes: a side abutment wheel (222b), a hanging wheel (222c), a hanging wheel (222c), a hanging wheel (222c), a hanging wheel (222b ...b), a hanging wheel (222c), a hanging wheel (222b), a hanging wheel ( Positioning wheel (222d1), adaptive connector (222d2) for connecting the side positioning wheel (222d1), elastic recovery member (222d3); the side positioning wheel (222d1) abuts against the side of the guide support (11); wherein, the two ends of the axial direction of the side positioning wheel (222d1) are respectively provided with radially protruding side rings, and the guide support (11) is located between the two side rings; the adaptive connector (222d2) is connected to the first support seat (222a) for adapting to the fluctuations in the axial and radial positions of the side positioning wheel (222d1) during the rolling process along the guide support (11); the elastic recovery member (222d3) is used to connect the adaptive connector (222d2) and the first support seat (222a) for providing elastic recovery force to the adaptive connector (222d2).

8. The rail inspection system according to claim 7, characterized in that, At least one drive wheel assembly (23) is provided, and the drive wheel assembly (23) is connected to the auxiliary wheel assembly (22); the drive wheel assembly (23) further includes: a swing frame (232) for supporting the drive roller (231), a swing elastic support (233) for providing elastic support, and a main driver (234) for driving the drive roller (231); one end of the swing frame (232) is rotatably connected to the drive roller (231), and the other end is rotatably connected to the auxiliary wheel assembly bracket (221); the swing elastic support (233) is connected to the swing frame (232) and the auxiliary wheel assembly bracket (221) respectively, and is used to provide elastic support to the swing frame (232) so that the drive roller (231) abuts against the lower side of the track (1); the main driver (234) is fixed on the swing frame (232), and the main driver (234) is connected to the drive roller (231) in a transmission connection; the track (1) is an I-beam aluminum profile track or a rectangular aluminum profile track.

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