A modular, lightweight lifting arm and rail-mounted inspection robot

Abstract

This application provides a modularly assembled lightweight lifting arm and rail-mounted inspection robot, relating to the field of inspection robot technology. The lifting arm includes a mounting base and a terminal base. A first drive motor is mounted on the mounting base, and N levels of connecting components are arranged between the mounting base and the terminal base. Adjacent connecting components are connected by joints. Each connecting component includes a drive arm and a connecting arm. Each joint includes a joint housing, within which a meshing drive gear and a driven gear are rotatably connected. Each level of connecting component, together with adjacent joints, the mounting base, or the terminal base, forms a parallelogram linkage mechanism. The rail-mounted inspection robot includes a main housing. A walking device capable of traveling along a track is mounted on the upper end of the main housing, and a lifting arm is mounted on the lower end of the main housing. This lifting arm and rail-mounted inspection robot allows for on-demand configuration of travel distance, reducing subsequent maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically a modular, lightweight lifting arm and rail-mounted inspection robot. Background Technology

[0002] As an important technological branch in the field of intelligent inspection, the rail-mounted inspection robot, relying on its unique suspended track running structure, integrated multi-sensor fusion perception capability and intelligent data analysis system, has become the core solution for dealing with inspection tasks in high-risk and complex environments. It is gradually replacing the traditional manual inspection method and driving the inspection mode of various industries towards automation and intelligence.

[0003] However, in applications such as monitoring the upper and lower surfaces of coal conveyor belts in coal conveyor corridors and inspecting and identifying dial readings in substation instrument cabinets, relying solely on cameras fixedly mounted on the bottom of rail-mounted inspection robots is often insufficient to effectively capture clear, comprehensive, and practically valuable video footage. To overcome this bottleneck, it is typically necessary to install an adjustable-height lifting arm under the robot and mount a camera with a pan-tilt unit at its end. This improves the flexibility and coverage of the shooting angle, effectively solving the problem of blind spots caused by fixed positions and limited viewing angles.

[0004] Currently, most common lifting boom structures adopt a fixed length design, with the lifting stroke determined at the factory. This makes it impossible to flexibly adjust according to actual site requirements (such as differences in coal conveyor belt height or instrument cabinet installation positions). When application scenarios have different requirements for the lifting stroke, it is often necessary to redesign the entire lifting boom or even replace the robot platform, resulting in long development cycles, high costs, and poor adaptability. Furthermore, to maintain stability during the lifting process, most existing lifting booms are equipped with guide rails, chutes, and other guiding structures. In harsh environments with high dust concentrations, such as coal conveyor corridors, dust can easily penetrate the mating surfaces of the guiding structures, leading to increased frictional resistance, movement jamming, and even structural damage, severely affecting the equipment's service life and operational reliability. Summary of the Invention

[0005] In view of the shortcomings of existing technologies, such as the inability to adjust the lifting stroke and the easy failure of the guide structure in dusty environments, this application provides a modular and lightweight lifting arm and rail inspection robot, which can realize the stroke configuration as needed, and reliably improve the long-term operational stability of the lifting arm under complex working conditions, and reduce the later maintenance costs.

[0006] The technical solution adopted by this invention to solve its technical problem is: A modularly assembled lightweight lifting arm includes a mounting base and a terminal base, wherein a drive assembly for lifting the terminal base is provided between the mounting base and the terminal base, characterized in that: a first drive motor is provided on the mounting base; The drive assembly includes a primary connecting component, which includes a primary drive arm and a primary connecting arm. The upstream end of the first-stage drive arm is connected to the first drive motor, and the downstream end of the first-stage drive arm is rotatably connected to the terminal base. The two ends of the primary connecting arm are rotatably connected to the mounting base and the terminal block, respectively; The primary connecting component, mounting base, and terminal block together constitute a parallelogram linkage mechanism.

[0007] Furthermore, it also includes a secondary connecting component and a joint. The joint includes a joint housing, within which a driving gear and a driven gear are rotatably connected. The downstream end of the primary drive arm is connected to the driving gear, and the downstream end of the primary connecting arm is rotatably connected to the joint housing. The upstream end of the secondary drive arm is connected to the driven gear, and the downstream end of the secondary drive arm is rotatably connected to the terminal seat. Both ends of the secondary connecting arm are rotatably connected to the joint housing and the terminal seat, respectively. The secondary connecting component, the joint, and the terminal seat together constitute a parallelogram linkage mechanism.

[0008] Furthermore, the number of stages N of the connecting component is greater than or equal to 3. The upstream end of the second-stage to (N-1)-stage driving arm is connected to the driven gear of the previous-stage joint, and the downstream end of the second-stage to (N-1)-stage driving arm is rotatably connected to the joint housing of the next-stage joint. The upstream end of the second-stage to (N-1)-stage connecting arm is rotatably connected to the joint housing of the previous-stage joint, and the downstream end of the second-stage to (N-1)-stage connecting arm is connected to the driving gear of the next-stage joint. The connecting component and the adjacent joint together form a parallelogram linkage mechanism.

[0009] Furthermore, the joint housing includes a main housing and a cover plate. The upper and lower ends of the outer side of the main housing are respectively provided with a first ear plate extending obliquely upward and outward and a second ear plate extending obliquely downward and outward. The suspended end of the first ear plate is provided with a fourth connecting shaft, and the suspended end of the second ear plate is provided with a fifth connecting shaft.

[0010] Furthermore, the displacement of the lifting arm's end is controlled by controlling the number of rotational pulses of the first drive motor. The formula for calculating the displacement of the lifting arm's end is as follows:

[0011] In the formula, N is the number of drive arms, Ln is the length of the Nth drive arm, d1 is the distance from the first drive motor to the upper side of the mounting base, d2 is the distance between the driving gear and the driven gear, d3 is the distance from the downstream end of the Nth drive arm to the lower side of the terminal block, M is the distance between the downstream hinge point of the drive arm and the downstream hinge point of the connecting arm, β is the angle between the line connecting the downstream hinge point of the drive arm and the downstream hinge point of the connecting arm and the horizontal direction, and Total_Pulse is the maximum number of rotation pulses of the first drive motor.

[0012] A rail-mounted inspection robot includes a main body, with a walking device at the upper end of the main body capable of moving along a track, and a lifting arm at the lower end of the main body, with the mounting base of the lifting arm fixedly connected to the bottom surface of the main body.

[0013] Furthermore, the walking device includes a mounting plate, on which a drive assembly and a braking guide assembly are provided; The drive assembly includes a drive wheel set, a driven wheel set, and a second drive motor. The drive wheel set includes a drive base with one end rotatably connected to a mounting plate. A first drive shaft and a second drive shaft are rotatably mounted on the drive base. The second drive motor is connected to the first drive shaft. A drive wheel is provided at the upper end of the second drive shaft and is connected to the first drive shaft via a transmission mechanism. The driven wheel set includes a driven base with one end rotatably connected to a mounting plate and a driven shaft rotatably mounted on the driven base. A driven wheel is provided on the driven shaft. A first tension spring is provided between the drive base and the driven base. The braking guide assembly includes a slewing bracket, on which guide wheels and load-bearing wheels are provided on both sides of the track. The load-bearing wheels are hooked onto the lower flange of the track. At least one load-bearing wheel of the braking guide assembly is connected to an electromagnetic brake. A protective wheel is provided on the outer side of the slewing bracket below the track.

[0014] Furthermore, it also includes a meter-counting assembly, which includes a fixed shaft, a swing plate rotatably mounted on the suspended end of the fixed shaft, an encoder and a meter-counting wheel mounted on the swing plate, a sleeve and a tightening bolt for fixing the sleeve mounted on the fixed shaft, one end of a second tension spring connected to the swing plate, and the other end of the second tension spring connected to the tightening bolt, and the meter-counting wheel is pressed tightly against the track under the force of the second tension spring.

[0015] Furthermore, the main housing is equipped with a wireless charging receiver and a limit switch, and the charging bracket on the track is equipped with a wireless charging transmitter and a trigger baffle. When the limit switch contacts the trigger baffle, the wireless charging receiver aligns with the wireless charging transmitter and triggers the wireless charging function.

[0016] Furthermore, an RFID reader is installed on the main body, and multiple RFID tags containing location information are installed on the track. When the robot walks directly under the RFID tag, the RFID reader reads the tag information in real time and corrects the robot's position.

[0017] The beneficial effects of this invention are: 1. The modular, lightweight lifting arm provided in this application consists of standard modules such as a mounting base, drive arm, connecting arm, joint, and terminal block. It can be quickly assembled into single-arm, double-arm, triple-arm, or even multi-level lifting arm structures according to the specific requirements of different application scenarios for lifting stroke. The end-effector camera can achieve a wider range and more flexible vertical displacement, significantly improving the integrity and accuracy of inspection data while reducing customized development costs.

[0018] 2. This application provides a modular, lightweight lifting boom. Its drive arm and connecting arm are made of hollow aluminum alloy rectangular tubing, which is lightweight and high-strength. Symmetrical openings at both ends facilitate rapid assembly and wiring. Combined with a parallelogram linkage frame and a master-slave synchronous reverse gear meshing structure within the joint, it ensures that the terminal base always maintains vertical lifting, avoiding swaying and shaking. This meets the stable imaging requirements in vibrating environments such as coal conveying corridors, improving the stability of inspection image acquisition.

[0019] 3. The modularly assembled lightweight lifting arm provided in this application embodiment can realize closed-loop control of motor position, initial position limit detection and power failure braking function, effectively preventing the lifting arm from falling unexpectedly after power failure and ensuring the safety of equipment and personnel; at the same time, combined with high-precision encoder feedback, it can achieve millimeter-level positioning accuracy to meet the needs of fine inspection.

[0020] 4. The modularly assembled lightweight lifting arm provided in this application is based on geometric relationships to derive a general formula between the end displacement of a multi-stage lifting arm and the number of motor pulses. The lifting stroke is precisely controlled by controlling the number of motor rotation pulses. It is applicable to lifting arm structures of any number of stages, without the need to repeatedly develop control logic for different stages. The control program is easy to implement and can be easily embedded into the robot's main control system to achieve precise vertical displacement adjustment. Attached Figure Description

[0021] Figure 1 A schematic diagram of a single-arm lifting boom; Figure 2 This is a schematic diagram of a double-arm lifting boom. Figure 3 This is a schematic diagram of a three-arm lifting boom; Figure 4 This is a schematic diagram of the installation structure of the connecting arm in a single-arm lifting boom; Figure 5 This is a schematic diagram of the installation structure of the first-stage drive arm in a double-arm lifting boom. Figure 6 This is an exploded view of the joint; Figure 7 This is a schematic diagram of the lifting control of a dual-arm lifting boom; Figure 8 A three-dimensional structural diagram of a rail-mounted inspection robot provided in an embodiment of this application; Figure 9 for Figure 8 A magnified structural diagram of part A in the middle; Figure 10 A side view of a rail-mounted inspection robot provided in an embodiment of this application; Figure 11 A three-dimensional structural diagram of the walking device of a rail-mounted inspection robot. Figure 1 ; Figure 12 A top view of the walking mechanism of a rail-mounted inspection robot; Figure 13 for Figure 12 AA section view in the middle; Figure 14 for Figure 12 BB section view in the middle; Figure 15 for Figure 12 CC section view in the middle; Figure 16 A three-dimensional structural diagram of the walking device of a rail-mounted inspection robot. Figure 2 ; Figure 17 for Figure 16 A magnified structural diagram of section D; Figure 18 This is an exploded view of the walking device.

[0022] In the diagram: 11. Mounting base; 111. First mounting base; 112. Vertical plate; 113. First connecting shaft; 12. Terminal seat; 121. Second mounting base; 122. First support plate; 1221. Second connecting shaft; 123. Second support plate; 1231. Third connecting shaft; 13. First drive motor; 141. Drive arm; 142. Connecting arm; 15. Joint; 151. Main housing; 1511. Connecting plate; 152. Cover plate; 153. Drive gear; 154. Driven gear; 155. First ear plate; 1551. Fourth connecting shaft; 156. Second ear plate; 1561. Fifth connecting shaft; 161. Limit switch; 162. Baffle plate; 2. Main housing; 21. Wireless charging receiver; 22. Limit switch; 23. Alarm; 24. Ultrasonic obstacle avoidance sensor; 31. Mounting plate; 311. First support shaft; 312. Second support shaft; 32. Drive pulley assembly; 321. Drive base; 3211. Connecting cylinder; 322. First rotating shaft on the drive side; 3221. Drive pulley; 323. Second rotating shaft on the drive side; 3231. Driven pulley; 324. Drive wheel; 325. Bearing housing; 3251. Mounting flange; 326. First end cover; 327. Flange connecting seat; 328. Dust cover; 3291. Limit block; 3292. Stop block; 33. Driven pulley assembly; 331. Driven base; 332. Driven side rotating shaft; 333. Driven wheel; 334. First copper sleeve; 335. Mounting cylinder; 336, Second end cover; 34, Second drive motor; 35, Brake guide assembly; 351, Rotary bracket; 352, Load-bearing wheel; 3521, Axle; 353, Guide wheel; 354, Electromagnetic brake; 355, Shaft end protective shell; 356, Second copper sleeve; 3571, Protective wheel; 3572, Mounting bracket; 36, First tension spring; 37, Metering assembly; 371, Cantilever rod; 372, Fixed shaft; 373, Clamping fixing seat; 374, Swing plate; 375, Second tension spring; 376, Sleeve; 3761, Tightening bolt; 377, Hook screw; 378, Encoder; 379, Metering wheel; 4. Track; 41. Charging bracket; 411. Wireless charging transmitter; 412. Trigger baffle. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The described embodiments are merely a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the protection scope of this application.

[0024] To facilitate understanding of the specific embodiments of this application, a coordinate system is now defined as follows: Figure 2 As shown, the left and right directions are horizontal, the front and back directions are vertical, and the up and down directions are vertical.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, a modularly assembleable lightweight lifting arm includes a mounting base 11 and a terminal base 12. A first drive motor 13 is mounted on the mounting base 11. A drive assembly for driving the lifting movement of the terminal base 12 is provided between the mounting base 11 and the terminal base 12. The drive assembly includes N levels of connecting components, each level including a drive arm 141 and a connecting arm 142. That is, the drive assembly includes N levels of drive arms 141 and N levels of connecting arms 142.

[0026] To facilitate understanding of the specific embodiments of this application, upstream and downstream directions are now defined along the power transmission direction, with the direction closer to the first drive motor 13 being upstream and the direction farther from the first drive motor 13 being downstream.

[0027] When N=1, the upstream end of the first-stage drive arm 141 is detachably connected and fixed to the power output end of the first drive motor 13, and the downstream end of the first-stage drive arm 141 is detachably rotatably connected to the terminal base 12; the upstream end of the first-stage connecting arm 142 is detachably rotatably connected to the mounting base 11, and the downstream end of the first-stage connecting arm 142 is detachably rotatably connected to the terminal base 12. The first-stage drive arm 141, the first-stage connecting arm 142, the mounting base 11, and the terminal base 12 together constitute a parallelogram linkage mechanism. That is, as shown... Figure 1 As shown, the connection point between the primary drive arm 141 and the first drive motor 13 is A1; the connection point between the primary drive arm 141 and the terminal base 12 is A2; the connection point between the primary connecting arm 142 and the terminal base 12 is A3; and the connection point between the primary connecting arm 142 and the mounting base 11 is A4. Connecting points A1, A2, A3, and A4 sequentially forms a geometrically constrained parallelogram. This mechanism maintains the stability of the terminal base 12 during movement, effectively preventing camera pitch shake caused by linkage deformation or joint 15 clearance.

[0028] When N=2, the two connecting components are connected via joint 15. Joint 15 includes a joint housing, within which a driving gear 153 and a driven gear 154 are rotatably connected, achieving precise reversal of motion directions through meshing. The central axis of the driving gear 153 extends through the side wall of the joint housing to one side, and the central axis of the driven gear 154 extends through the side wall of the joint housing to the other side.

[0029] The upstream end of the first-stage drive arm 141 is detachably connected and fixed to the power output end of the first drive motor 13, and the downstream end of the first-stage drive arm 141 is detachably connected and fixed to the central shaft of the drive gear 153 of the joint 15. The upstream end of the first-stage connecting arm 142 is detachably rotatably connected to the mounting base 11, and the downstream end of the first-stage connecting arm 142 is detachably rotatably connected to the joint housing of the joint 15. The mounting base 11, the first-stage connecting assembly, and the joint 15 together constitute a first-stage parallelogram linkage mechanism. The upstream end of the second-stage drive arm 141 is detachably connected and fixed to the central shaft of the driven gear 154 of the joint 15, and the downstream end of the second-stage drive arm 141 is detachably rotatably connected to the terminal base 12. The upstream end of the second-stage connecting arm 142 is detachably rotatably connected to the joint housing of the joint 15, and the downstream end of the second-stage connecting arm 142 is detachably rotatably connected to the terminal base 12. The joint 15, the secondary connecting assembly, and the terminal base 12 together constitute a two-stage parallelogram linkage mechanism. During the vertical lifting process, the two sets of parallelograms deform synchronously and scale proportionally, and the displacement trajectory of the terminal base 12 substrate is strictly perpendicular to the horizontal plane.

[0030] Thus, the primary drive arm 141, joint 15 drive gear 153, joint 15 driven gear 154, and secondary drive arm 141 constitute the main power transmission chain, while the primary connecting arm 142, joint housing, and secondary connecting arm 142 constitute the auxiliary structural support chain. The two work together to ensure that the terminal base 12 maintains rigid coupling with the camera throughout the entire lifting process, avoiding vibration caused by the accumulation of micro-gap in the multi-stage joints 15, and significantly improving the stability of image acquisition and operational reliability.

[0031] When N≥3, two adjacent connecting components are connected by joint 15.

[0032] The upstream end of the first-stage drive arm 141 is detachably connected and fixed to the power output end of the first drive motor 13, and the downstream end of the first-stage drive arm 141 is detachably connected and fixed to the central shaft of the drive gear 153 of the first-stage joint 15; the upstream end of the first-stage connecting arm 142 is detachably rotatably connected to the mounting base 11, and the downstream end of the first-stage connecting arm 142 is detachably rotatably connected to the joint housing of the first-stage joint 15.

[0033] The upstream end of the second-stage to (N-1)-stage drive arm 141 is detachably connected and fixed to the central shaft of the driven gear 154 of the previous-stage joint 15, and the downstream end of the second-stage to (N-1)-stage drive arm 141 is detachably rotatably connected to the joint housing of the next-stage joint 15; the upstream end of the second-stage to (N-1)-stage connecting arm 142 is detachably rotatably connected to the joint housing of the previous-stage joint 15, and the downstream end of the second-stage to (N-1)-stage connecting arm 142 is detachably connected and fixed to the central shaft of the drive gear 153 of the next-stage joint 15.

[0034] The upstream end of the N-stage drive arm 141 is detachably connected and fixed to the central shaft of the driven gear 154 of the last-stage joint 15, and the downstream end of the N-stage drive arm 141 is detachably rotatably connected to the terminal base 12. The upstream end of the N-stage connecting arm 142 is detachably rotatably connected to the joint housing of the last-stage joint 15, and the downstream end of the N-stage connecting arm 142 is detachably rotatably connected to the terminal base 12. Thus, each connecting component, together with the adjacent joint 15, mounting base 11, or terminal base 12, forms an independent parallelogram subunit, with progressively higher levels. The subunits are connected in a chain in space and kinematically strictly follow a synchronous and reverse meshing relationship to ensure the vertical displacement accuracy of the terminal base 12 substrate.

[0035] This modular design supports flexible expansion from single-arm to multi-arm, and all connecting components and joints 15 use standardized interfaces for easy replacement and functional expansion.

[0036] In one specific embodiment, the mounting base 11 in this embodiment includes a first mounting base plate 111. A vertical plate 112 is detachably fixed to the lower side of the first mounting base plate 111. The first drive motor 13 is bolted to the vertical plate 112, and the axis of the first drive motor 13 is perpendicular to the vertical plate 112. For example, the first drive motor 13 includes a servo motor and a harmonic reducer. The servo motor is connected to the input end of the harmonic reducer, which is mounted on one side of the vertical plate 112 (according to...). Figure 2 (The coordinate system shown is the rear side). The output flange of the harmonic reducer extends through the vertical plate 112 to the other side (front side) of the vertical plate 112 and is fixedly connected to the upstream end of the first-stage drive arm 141 by screws. A first connecting shaft 113 is fixedly installed on the vertical plate 112. The first connecting shaft 113 is used to hinge with the first-stage connecting arm 142, and the axis of the first connecting shaft 113 is parallel to the axis of the output flange of the harmonic reducer. For example, the first connecting shaft 113 is fixedly connected to the vertical plate 112 by a flange connection, and the first-stage connecting arm 142 is rotatably connected to the first connecting shaft 113 by a bearing assembly.

[0037] In one specific embodiment, the terminal base 12 in this embodiment includes a second mounting base 121. A first support plate 122 and a second support plate 123 extending upwards perpendicularly to the second mounting base 121 are disposed on the upper side of the second mounting base 121. A second connecting shaft 1221 is disposed on the first support plate 122, and a third connecting shaft 1231 is disposed on the second support plate 123. For example, the second connecting shaft 1221 and the third connecting shaft 1231 are connected and fixed by a flange connection. When N=1, the downstream end of the N-stage connecting arm 142 is rotatably connected to the second connecting shaft 1221 via a bearing assembly, and the downstream end of the N-stage driving arm 141 is rotatably connected to the third connecting shaft 1231 via a bearing assembly; when N≥2, the downstream end of the N-stage driving arm 141 is rotatably connected to the second connecting shaft 1221 via a bearing assembly, and the downstream end of the N-stage connecting arm 142 is rotatably connected to the third connecting shaft 1231 via a bearing assembly.

[0038] As one specific implementation method, such as Figure 5 and Figure 6 As shown, the joint housing in this embodiment includes a main housing 151 and a cover plate 152, which together form a mounting cavity for accommodating the drive gear 153 and the driven gear 154. The drive gear 153 is located in the upper part of the mounting cavity, and both ends of the central shaft of the drive gear 153 are rotatably connected to the main housing 151 and the cover plate 152 respectively through bearing assemblies. The driven gear 154 is located in the lower part of the mounting cavity, and both ends of the central shaft of the driven gear 154 are rotatably connected to the main housing 151 and the cover plate 152 respectively through bearing assemblies. A connecting plate 1511 is provided on the outer side of the main housing 151 (with the side closer to the mounting base 11 in the horizontal direction as the inner side), and a first ear plate 155 and a second ear plate 156 are provided at the upper and lower ends of the connecting plate 1511 respectively. The suspended end of the first ear plate 155 extends obliquely outward and upward, and the end of the first ear plate 155 facing the main housing 151 is fixedly connected to the upper end of the connecting plate 1511 by bolts. The suspended end of the second ear plate 156 extends obliquely outward and downward, and the end of the second ear plate 156 facing the main housing 151 is fixedly connected to the lower end of the connecting plate 1511 by bolts. A fourth connecting shaft 1551 is fixedly provided at the suspended end of the first ear plate 155, and the fourth connecting shaft 1551 extends in the same direction as the central axis of the driving gear 153. A fifth connecting shaft 1561 is fixedly provided at the suspended end of the second ear plate 156, and the fifth connecting shaft 1561 extends in the same direction as the central axis of the driven gear 154. For example, the fourth connecting shaft 1551 and the fifth connecting shaft 1561 are both connected and fixed by flange connection.

[0039] Furthermore, such as Figure 4 and Figure 5 As shown, both the drive arm 141 and the connecting arm 142 comprise hollow rectangular tubes. Connectors are provided at both ends of the rectangular tubes. One end of the connector facing the rectangular tube is inserted into the rectangular tube and secured with bolts. The other end of the connector is a connecting end, equipped with a connection structure adapted to the target connector. Preferably, the rectangular tube is made of aluminum alloy.

[0040] Furthermore, the rectangular tube has wire holes at both ends. The wire holes are used to lead out the control cable of the first drive motor 13 and the signal line of the encoder 378, ensuring that the cable runs in an orderly manner inside the arm body and avoiding external entanglement and wear.

[0041] Furthermore, such as Figure 1 As shown, a limit switch 161 is provided on the lower side of the first mounting base 111 of the mounting base 11, and a baffle 162 that cooperates with the limit switch 161 is provided on the first-stage connecting arm 142. When the first-stage connecting arm 142 is in a horizontal state, the baffle 162 contacts the limit switch 161 and triggers a limit signal for initializing position calibration and travel boundary judgment.

[0042] like Figure 7 As shown, taking a double-arm lifting arm as an example, the control method is explained. Let d1 be the distance from the axis of the first drive motor 13 to the upper side of the mounting base 11, d2 be the distance between the driving gear 153 and the driven gear 154 of the joint 15, a camera be fixedly mounted on the lower side of the terminal base 12, d3 be the distance from the second connecting shaft 1221 of the terminal base 12 to the bottom surface of the terminal base 12, M be the distance between the driving gear 153 and the fourth connecting shaft 1551 of the joint 15, and β be the angle between the line connecting the axis of the first connecting shaft 113 and the axis of the first drive motor 13 (i.e., the line connecting points A1 and A4) and the horizontal direction. The angle between the line connecting the driving gear 153 and the fourth connecting shaft 1551 of the joint 15 and the horizontal direction is equal to the angle between the line connecting the axis of the first connecting shaft 113 and the axis of the first drive motor 13 and the horizontal direction, and is always β. That is, the five values ​​d1, d2, d3, M, and β are all constants (i.e., fixed values). It is also a fixed value.

[0043] When the first-stage drive arm 141 rotates by an angle α, the first-stage drive arm 141 and the second-stage drive arm 141 will rotate synchronously in opposite directions by an angle α under the action of the meshing gear of the joint 15.

[0044] Assuming the first-stage drive arm 141 has a length of L1 and the second-stage drive arm 141 has a length of L2, then the vertical displacement of the camera at the end of the lifting arm is:

[0045] According to the mechanical structure design of the lifting arm, when the primary drive arm 141 rotates to a horizontal position, the primary connecting arm 142 will also remain horizontal through the interlocking action of the parallelogram structure. The baffle 162 on its upper side contacts the limit switch 161, triggering the initial position judgment; at this time, α = 0°. When the primary drive arm 141 rotates to a vertical position, the lifting arm stroke is at its maximum value, α = 90°, and the corresponding number of rotation pulses of the first drive motor 13 is also at its maximum, denoted as Total_Pulse. Assuming the control variable for the rotation pulses of the first drive motor 13 is pulse, the rotation angles of the primary drive arm 141 and the secondary drive arm 141 are:

[0046] Therefore, the vertical displacement of the end-effector camera of the dual-arm lifting arm is:

[0047] Similarly, the vertical displacement of the end-effector camera of a single-arm lifting arm is:

[0048] like Figure 7 As shown, the vertical displacement of the end camera of the three-arm lifting arm is:

[0049] Wherein, L1 is the length of the first-stage drive arm 141, L2 is the length of the second-stage drive arm 141, and L3 is the length of the third-stage drive arm 141.

[0050] Therefore, the general formula for the vertical displacement of the end-effector camera of a multi-arm lifting arm is:

[0051] Where N represents the number of drive arms 141 in the multi-arm lifting boom, and Ln represents the length of the N-stage drive arm 141. Thus, by controlling the rotation pulse number of the first drive motor 13, the actual displacement of the lifting boom can be obtained.

[0052] like Figure 8 As shown, a rail-mounted inspection robot includes a main body 2. The upper end of the main body 2 is provided with a walking device that can walk along a track 4. The lower end of the main body 2 is provided with a modularly assembled lightweight lifting arm. The first mounting base 111 of the mounting base 11 of the modularly assembled lightweight lifting arm is fixedly connected to the bottom surface of the main body 2 by bolts.

[0053] As a specific implementation method, the modularly assembled lightweight lifting arm described in this embodiment adopts a double-arm lifting arm, the specific structure of which has been described in detail above and will not be repeated here.

[0054] like Figure 11 and Figure 12 As shown, the walking device includes a mounting plate 31, which is the top plate of the main housing 2. A drive assembly is mounted on the mounting plate 31, and braking guide assemblies 35 are respectively located on both sides of the drive assembly. The drive assembly drives the robot to move along the track 4, and the braking guide assemblies 35 provide lateral constraints and emergency braking functions during the robot's movement, ensuring stable operation and high-precision positioning capabilities in the complex track 4 environment.

[0055] like Figure 12 , Figure 13 and Figure 15 As shown, the drive assembly includes an active wheel set 32, a driven wheel set 33, and a second drive motor 34 for driving the drive wheel 324 of the active wheel set 32 ​​to rotate. Under the action of a first elastic element, the drive wheel 324 of the active wheel set 32 ​​and the driven wheel 333 of the driven wheel set 33 together grip the middle vertical sidewall of the H-shaped track 4. When the drive wheel 324 rotates under the action of the second drive motor 34, the friction between the drive wheel 324 and the track 4 drives the robot to move smoothly forward or backward along the track 4.

[0056] The drive wheel assembly 32 includes a drive base 321. A downwardly extending connecting cylinder 3211 is fixedly disposed at one end of the drive base 321. The connecting cylinder 3211 penetrates the mounting plate 31 and is rotatably connected to the mounting plate 31 via a bearing assembly. The drive base 321 has an installation space, within which a drive-side first rotating shaft 322 is arranged coaxially with the connecting cylinder 3211, and the drive-side first rotating shaft 322 is rotatably connected to the drive base 321 via a bearing assembly. A second drive motor 34 is fixedly disposed at the bottom of the connecting cylinder 3211, and the power output shaft of the second drive motor 34 is connected and fixedly fixed to the lower end of the drive-side first rotating shaft 322. A drive-side second rotating shaft 323 is disposed at the end of the installation space away from the connecting cylinder 3211, and the drive-side second rotating shaft 323 is rotatably connected to the drive base 321 via a bearing assembly. The upper end of the second drive shaft 323 extends above the drive base 321 and is connected and fixed to the drive wheel 324. The first drive shaft 322 and the second drive shaft 323 are connected by a transmission mechanism.

[0057] As a specific implementation, the transmission mechanism described in this embodiment adopts a synchronous belt transmission structure. The first rotating shaft 322 on the drive side is provided with a driving pulley 3221, and the second rotating shaft 323 on the drive side is provided with a driven pulley 3231. The driving pulley 3221 and the driven pulley 3231 are connected by a synchronous belt (not shown in the figure).

[0058] As one specific implementation method, such as Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown, the mounting plate 31 in this embodiment is provided with mounting holes, and a bearing seat 325 is provided in the mounting holes. The upper end of the bearing seat 325 is inserted into the mounting holes from bottom to top and is fixedly connected to the mounting plate 31 by a flange connection. The lower end of the connecting cylinder 3211 is fixedly provided with a first end cap 326 by bolts. Two bearings are provided between the connecting cylinder 3211 and the bearing seat 325. The inner wall of the bearing seat 325, the outer wall of the connecting cylinder 3211, and the first end cap 326 together form an axial limiting structure for the two bearings. The second drive motor 34 is fixedly provided on the lower side of the first end cap 326 by a flange connecting seat 327. The power output shaft of the second drive motor 34 is inserted into the lower end of the first rotating shaft 322 on the drive side and the power is transmitted by a key connection. Here, the power output shaft of the second drive motor 34 can also be connected to the lower end of the first rotating shaft 322 on the drive side by a coupling to achieve power transmission.

[0059] Furthermore, a removable dust cover 328 is fixedly mounted on the bottom surface of the drive base 321, and the dust cover 328 has a through hole for accommodating the connecting cylinder 3211. The edge of the dust cover 328 curves downward to form a dustproof skirt, and the bearing seat 325 is located inside the dust cover 328. By providing the dust cover 328, dust, oil, and other foreign objects can be effectively prevented from entering the bearing assembly, significantly extending the bearing's service life and reducing maintenance frequency.

[0060] Furthermore, such as Figure 17 and Figure 18 As shown, a limiting block 3291 is provided on one side of the first end cap 326, and the limiting block 3291 is fixedly connected to the first end cap 326 by screws. A mounting flange 3251 is provided at the lower end of the bearing seat 3255, and stops 3292 are respectively provided on both sides of the limiting block 3291 on the mounting flange 3251, and the stops 3292 are fixedly connected to the mounting flange 3251 by screws. This limiting structure can effectively constrain the rotation angle of the drive base 321 relative to the mounting plate 31.

[0061] like Figure 13 As shown, the driven wheel assembly 33 includes a driven base 331. One end of the driven base 331 is rotatably connected to the mounting plate 31. The other end of the driven base 331 is provided with a driven side rotating shaft 332. The driven side rotating shaft 332 is rotatably connected to the driven base 331 through a bearing assembly. A detachable driven wheel 333 is fixedly provided at the upper end of the driven side rotating shaft 332.

[0062] In one specific embodiment, a detachable first support shaft 311 is fixedly mounted on the mounting plate 31. Exemplarily, the first support shaft 311 is fixedly connected to the mounting plate 31 via a flange connection. The driven base 331 is rotatably connected to the first support shaft 311, and a first copper sleeve 334 is provided between the first support shaft 311 and the driven base 331. The first copper sleeve 334 is used to reduce the frictional resistance between the first support shaft 311 and the driven base 331, improve rotational smoothness, and reduce operating noise.

[0063] Furthermore, such as Figure 13 As shown, a detachable mounting cylinder 335 is fixedly mounted on the driven base 331. The lower end of the driven side rotating shaft 332 is inserted into the mounting cylinder 335 and is rotatably connected to the mounting cylinder 335 through a bearing assembly.

[0064] In one specific embodiment, the driven base 331 in this embodiment is provided with a mounting through hole for accommodating the mounting cylinder 335. The mounting cylinder 335 is located within the mounting through hole and is connected and fixed to the driven base 331 via a flange connection. A detachable second end cap 336 is bolted to the upper end of the mounting cylinder 335. The inner wall of the mounting cylinder 335, the outer wall rotating on the driven side, and the second end cap 336 together form an axial limiting structure for the bearing.

[0065] By setting up the mounting cylinder 335, the mounting cylinder 335, end cover, driven side rotating shaft 332 and driven wheel 333 can form an independent module, which is convenient for individual disassembly, replacement or upgrade in the later stage, improving the overall maintenance efficiency and modularity level of the machine.

[0066] like Figure 12As shown, the first elastic element is a first tension spring 36 disposed between the drive base 321 and the driven base 331. The two ends of the first tension spring 36 are respectively connected to the pre-set lugs on the drive base 321 and the driven base 331 via hooks. The first tension spring 36 enables the drive wheel 324 and the driven wheel 333 to fit tightly against the side wall of the H-shaped track 4, providing a continuous and stable radial clamping force. This ensures that the drive wheel 324 and the driven wheel 333 always have sufficient and balanced friction under different working conditions, thereby effectively preventing slippage, freewheeling, or track climbing. It can also dynamically compensate for wheel set posture deviation caused by track 4 joints, micro-deformation, and installation tolerances during robot movement.

[0067] In one specific embodiment, the drive base 321, at the end furthest from the connecting cylinder 3211, is provided with a first ear plate 155, and the driven base 331, at the end furthest from the first support shaft 311, is provided with a second ear plate 156. A first connecting shaft 113 is provided on the first ear plate 155, with one end of the first connecting shaft 113 facing the first ear plate 155 fixedly connected to the first ear plate 155 by a fastener, and the other end of the first connecting shaft 113 provided with a first hanging hole. A second connecting shaft 1221 is provided on the second ear plate 156, with one end of the second connecting shaft 1221 facing the second ear plate 156 fixedly connected to the second ear plate 156 by a fastener, and the other end of the second connecting shaft 1221 provided with a second hanging hole. One end of the first tension spring 36 is hooked onto the first hanging hole, and the other end is hooked onto the second hanging hole.

[0068] like Figure 10 , Figure 11 , Figure 12 and Figure 14 As shown, the braking guide assembly 35 includes a rotating bracket 351 rotatably connected to the mounting plate 31. The rotating bracket 351 is located below the track 4 and spans the track 4 longitudinally. Load-bearing wheels 352 are respectively arranged on both sides of the track 4 on the rotating bracket 351. The load-bearing wheels 352 are hooked onto the lower flange of the track 4 to support the weight of the robot body. Guide wheels 353 are respectively arranged on both sides of each load-bearing wheel 352 on the rotating bracket 351, and the guide wheels 353 roll in contact with the lower flange of the track 4, forming a longitudinal constraint. At least one of the two braking guide assemblies 35 has its load-bearing wheel 352 axle 3521 connected to an electromagnetic brake 354 to achieve an emergency braking function that engages upon power failure.

[0069] In one specific embodiment, the axle 3521 of the load-bearing wheel 352 on the right side of the brake guide unit 35 is connected to the electromagnetic brake 354. The electromagnetic brake 354 is detachably fixed to the rotary support 351. The outer end of the axle 3521 of the load-bearing wheel 352 (with the end facing the track 4 as the inner end) is coaxially connected to the output shaft of the electromagnetic brake 354 to ensure synchronous and delay-free braking response. Shaft end protective shells 355 are respectively provided at both ends of the rotary support 351 on the left side of the brake guide unit 35. The outer end of the axle 3521 of the load-bearing wheel 352 is covered by the shaft end protective shells 355 to prevent foreign object intrusion and mechanical damage.

[0070] In one specific embodiment, the rotary support 351 in this embodiment includes a web plate, and two ends of the web plate are respectively provided with wing plates extending upward perpendicularly to the web plate. The web plate and the wing plates together form a U-shaped structure with an upward-facing opening. The opening end of the U-shaped structure is adapted to the lower flange of the track 4, so that the rotary support 351 can be stably mounted under the track 4. A detachable second support shaft 312 is fixedly provided on the mounting plate 31. For example, the second support shaft 312 is fixedly connected to the mounting plate 31 by a flange connection. A through hole is opened in the middle of the web plate, and the second support shaft 312 passes through the through hole and is rotatably connected to the web plate by a second copper sleeve 356, so as to realize the flexible deflection of the rotary support 351 around the second support shaft 312. The upper end of the wing plate is provided with an axle 3521. The outer end of the axle 3521 (with the end facing the track 4 as the inner end) is rotatably connected to the wing plate through a bearing assembly, while the inner end of the axle 3521 is fixedly connected to the load-bearing wheel 352. Two guide wheels 353 are provided on the wing plate below the load-bearing wheel 352, and the guide wheels 353 are located below the load-bearing wheel 352.

[0071] Preferably, the wing plate is fixedly connected to the web plate in a detachable manner.

[0072] In one specific embodiment, the inner side of the wing plate (with the side opposite to the two wing plates as the inner side) is provided with a slot for accommodating the web plate. The web plate is inserted into the slot of the corresponding wing plate and fixedly connected to the wing plate by bolts.

[0073] Furthermore, such as Figure 11 and 12As shown, a protective wheel 3571 is provided on the outer side of the rotary support 351 (with the side opposite to the two rotary supports 351 as the inner side). The protective wheel 3571 is located below the track 4, and the distance between the axis of the protective wheel 3571 and the bottom surface of the track 4 is greater than the radius of the protective wheel 3571. By providing the protective wheel 3571, the main body 2 of the robot can be protected, preventing the top of the main body 2 from touching the bottom plane of the track 4 in cases of center of gravity shift or sudden braking.

[0074] In one specific embodiment, a mounting bracket 3572 is provided on the outer side of the web of the rotary bracket 351 (with the opposite side of the two rotary brackets 351 as the inner side). The mounting bracket 3572 includes a connecting plate 1511, which is fixedly connected to the web by bolts. Both ends of the connecting plate 1511 are respectively provided with side plates extending obliquely upward. The protective wheel 3571 is located between the two side plates. Both ends of the mounting shaft of the protective wheel 3571 are respectively connected to the side plates, and the protective wheel 3571 is rotatably mounted on the mounting shaft.

[0075] Furthermore, such as Figure 8 and Figure 9 As shown, the walking device also includes a metering unit 37, which is used to measure the actual distance the robot walks along the track 4.

[0076] The metering unit 37 includes a mounting frame. A swing plate 374 is mounted on the mounting bracket 3572. One end of the swing plate 374 is rotatably connected to the mounting frame, and a detachable encoder 378 is fixedly mounted on the other end of the swing plate 374. A metering wheel 379 is fixedly mounted on the output shaft of the encoder 378. A second elastic element is provided between the swing plate 374 and the mounting frame. This second elastic element applies an upward swinging force to the swing plate 374, ensuring that the metering wheel 379 remains in close contact with the lower flange of the track 4, thus ensuring the continuity and accuracy of the travel distance measurement. The metering wheel 379 is made of highly wear-resistant rubber with anti-slip textures on its surface to enhance the robot's track gripping stability during track operation.

[0077] In one specific embodiment, the meter-counting unit 37 described in this embodiment is located on the right side of the walking device. The mounting frame includes a cantilever rod 371, one end of which facing the walking device is fixedly connected to a rotating bracket 351 located on the right side by screws; the other end of which facing away from the walking device is provided with a fixed shaft 372. The fixed shaft 372 is perpendicular to the cantilever rod 371, and the end of the fixed shaft 372 facing the cantilever rod 371 is fixedly connected to the cantilever rod 371 by a clamping fixing seat 373. The other end of the fixed shaft 372 facing away from the cantilever rod 371 is rotatably connected to the swing plate 374 by a bearing assembly. The second elastic element is a second tension spring 375 disposed between the swing plate 374 and the fixed shaft 372. One end of the second tension spring 375 is connected to the end of the swing plate 374 away from the fixed shaft 372, and the other end of the second tension spring 375 is connected to the fixed shaft 372.

[0078] Furthermore, a sleeve 376 is fitted onto the fixed shaft 372, and the sleeve 376 is connected and fixed to the fixed shaft 372 by a tightening bolt 3761. A hook screw 377 is provided at one end of the swing plate 374 near the encoder 378. One end of the second tension spring 375 is connected to the hook screw 377, and the other end of the second tension spring 375 is hooked onto the tightening bolt 3761. This design allows for adjustment of the preload of the second tension spring 375 by adjusting the sleeve 376, making the preload adjustment of the second tension spring 375 more convenient and reliable, while also facilitating assembly and subsequent maintenance.

[0079] Furthermore, such as Figure 10 As shown, a wireless charging receiver 21 is installed on the main housing 2. A detachable charging bracket 41 is fixedly installed on the track 4. The charging bracket 41 includes a top plate, which is fixedly connected to the upper flange of the track 4 by screws. A vertical plate extending downward perpendicularly from the top plate is provided on one side of the top plate, and a wireless charging transmitter 411 is provided on the vertical plate. A limit switch 22 is provided on the main housing 2, and a trigger baffle 412 is provided on the vertical plate of the charging bracket 41. When the limit switch 22 contacts the trigger baffle 412, the wireless charging receiver 21 on the main housing 2 and the wireless charging transmitter 411 on the charging bracket 41 are precisely aligned, triggering the wireless charging function. The system starts the charging process and monitors the charging status in real time.

[0080] Furthermore, an RFID card reader (not shown in the figure) is also provided on the main box body 2. The scanning end of the RFID card reader faces upward. A plurality of RFID tags (not shown in the figure) are arranged on the upper flange surface of the track 4 along the inspection path for cooperation with the RFID card reader on the main box body 2. When the robot walks directly below the RFID tag, the RFID card reader reads the tag information in real time and performs robot position correction, thereby achieving multi-point millimeter-level positioning correction, significantly improving the spatial position perception accuracy and task execution reliability of the robot in the long-distance coal conveying corridor.

[0081] Furthermore, alarm devices 23 and ultrasonic obstacle avoidance sensors 24 are provided at both ends of the main box body 2 along the moving direction (the left and right ends according to the coordinate system shown). They face the robot's forward and backward directions respectively. When the robot is moving forward normally, the alarm device 23 on the forward side flashes green to indicate the operating state, and the ultrasonic obstacle avoidance sensor 24 on the forward side detects obstacles within the range of 0.3 - 3 meters in the forward direction in real time. Once an obstacle is detected, the alarm device 23 immediately switches to red flashing and synchronously triggers an audible and visual alarm, and at the same time sends a deceleration or emergency braking instruction to the main control system. In the backward condition, the alarm device 23 on the backward side flashes green, and the ultrasonic sensor on the backward side starts monitoring. When an obstacle is encountered, it triggers a red alarm and a linkage response. Figure 1 Furthermore, a CO sensor (not shown in the figure), an H2S sensor (not shown in the figure), a smoke sensor (not shown in the figure), and a temperature and humidity sensor (not shown in the figure) are also provided on the main box body 2. The detection windows of each sensor face the internal space of the coal conveying corridor for real-time monitoring of the environmental data in the coal conveying corridor.

[0082] Based on the embodiments provided in this application, other embodiments obtained by those skilled in the art through means such as combining, splitting, and reorganizing the embodiments of this application do not exceed the protection scope of this application.

[0083] The above specific implementation manners have elaborated on the purpose, technical solutions, and beneficial effects of the embodiments of this application. The above are only the specific implementation manners of the embodiments of this application and are not used to limit the protection scope of the embodiments of this application. That is, any modifications, equivalent replacements, improvements, etc. made on the basis of the embodiments of this application shall be included within the protection scope of the embodiments of this application.

[0084] ​

Claims

1. A modularly assembled lightweight lifting arm, comprising a mounting base (11) and a terminal base (12), wherein a drive assembly for lifting the terminal base (12) is provided between the mounting base (11) and the terminal base (12), characterized in that: The mounting base (11) is provided with a first drive motor (13); The drive assembly includes a primary connecting component, which includes a primary drive arm (141) and a primary connecting arm (142). The upstream end of the first-stage drive arm (141) is connected to the first drive motor (13), and the downstream end of the first-stage drive arm (141) is rotatably connected to the terminal base (12). The two ends of the primary connecting arm (142) are rotatably connected to the mounting base (11) and the terminal base (12), respectively; The primary connecting component, mounting base (11), and terminal base (12) together constitute a parallelogram linkage mechanism.

2. The modularly assembled lightweight lifting arm according to claim 1, characterized in that: It also includes a secondary connecting component and a joint (15). The joint (15) includes a joint housing. A driving gear (153) and a driven gear (154) are rotatably connected inside the joint housing. The downstream end of the primary driving arm (141) is connected to the driving gear (153). The downstream end of the primary connecting arm (142) is rotatably connected to the joint housing. The upstream end of the secondary driving arm (141) is connected to the driven gear (154). The downstream end of the secondary driving arm (141) is rotatably connected to the terminal seat (12). The two ends of the secondary connecting arm (142) are rotatably connected to the joint housing and the terminal seat (12) respectively. The secondary connecting component, the joint (15), and the terminal seat (12) together constitute a parallelogram linkage mechanism.

3. The modularly assembled lightweight lifting arm according to claim 2, characterized in that: The number of stages N of the connecting components is greater than or equal to 3. The upstream end of the second-stage to (N-1)-stage drive arm (141) is connected to the driven gear (154) of the previous-stage joint (15), and the downstream end of the second-stage to (N-1)-stage drive arm (141) is rotatably connected to the joint shell of the next-stage joint (15). The upstream end of the second-stage to (N-1)-stage connecting arm (142) is rotatably connected to the joint shell of the previous-stage joint (15), and the downstream end of the second-stage to (N-1)-stage connecting arm (142) is connected to the driving gear (153) of the next-stage joint (15). The connecting components and the adjacent joints (15) together form a parallelogram linkage mechanism.

4. A modularly assembled lightweight lifting arm according to claim 2, characterized in that: The joint shell includes a main shell (151) and a cover plate (152). The upper and lower ends of the outer side of the main shell (151) are respectively provided with a first ear plate (155) extending obliquely upward and outward and a second ear plate (156) extending obliquely downward and outward. The suspended end of the first ear plate (155) is provided with a fourth connecting shaft (1551), and the suspended end of the second ear plate (156) is provided with a fifth connecting shaft (1561).

5. A modularly assembled lightweight lifting arm according to claim 3, characterized in that: The displacement of the lifting arm end is controlled by controlling the number of rotation pulses of the first drive motor (13). The formula for calculating the displacement of the lifting arm end is as follows: In the formula, N is the number of drive arms (141), Ln is the length of the Nth drive arm (141), d1 is the distance from the first drive motor (13) to the upper side of the mounting base (11), d2 is the distance between the drive gear (153) and the driven gear (154), d3 is the distance from the downstream end of the Nth drive arm (141) to the lower side of the terminal seat (12), M is the distance between the downstream hinge point of the drive arm and the downstream hinge point of the connecting arm, β is the angle between the line connecting the downstream hinge point of the drive arm and the downstream hinge point of the connecting arm and the horizontal direction, and Total_Pulse is the maximum number of rotation pulses of the first drive motor (13).

6. A rail-mounted inspection robot, comprising a main housing (2), wherein the upper end of the main housing (2) is provided with a walking device capable of walking along a track (4), characterized in that: The lower end of the main housing (2) is provided with a lifting arm as described in any one of claims 1-5, and the mounting base (11) of the lifting arm is fixedly connected to the bottom surface of the main housing (2).

7. A rail-mounted inspection robot according to claim 6, characterized in that: The walking device includes a mounting plate (31), on which a drive assembly and a braking guide assembly (35) are provided. The drive assembly includes a drive wheel assembly (32), a driven wheel assembly (33), and a second drive motor (34). The drive wheel assembly (32) includes a drive base (321) with one end rotatably connected to the mounting plate (31). A first drive shaft (322) and a second drive shaft (323) are rotatably mounted on the drive base (321). The second drive motor (34) is connected to the first drive shaft (322), and the upper end of the second drive shaft (323) is... The part is provided with a drive wheel (324) and is connected to the first rotating shaft (322) on the drive side through a transmission mechanism. The driven wheel set (33) includes a driven base (331) rotatably connected to the mounting plate (31) at one end and a driven side rotating shaft (332) rotatably disposed on the driven base (331). A driven wheel (333) is provided on the driven side rotating shaft (332). A first tension spring (36) is provided between the drive base (321) and the driven base (331). The braking guide assembly (35) includes a rotating bracket (351). The rotating bracket (351) is provided with guide wheels (353) and load-bearing wheels (352) on both sides of the track (4). The load-bearing wheels (352) are hooked on the lower flange of the track (4). At least one load-bearing wheel (352) of the braking guide assembly (35) is connected to an electromagnetic brake (354). A protective wheel (3571) is provided on the outer side of the rotating bracket (351) below the track (4).

8. A rail-mounted inspection robot according to claim 7, characterized in that: It also includes a meter counting unit (37), which includes a fixed shaft (372). A swing plate (374) is rotatably mounted on the suspended end of the fixed shaft (372). An encoder (378) and a meter counting wheel (379) are mounted on the swing plate (374). A sleeve (376) and a tightening bolt (3761) for fixing the sleeve (376) are mounted on the fixed shaft (372). One end of a second tension spring (375) is connected to the swing plate (374), and the other end of the second tension spring (375) is connected to the tightening bolt (3761). Under the force of the second tension spring (375), the meter counting wheel (379) is in close contact with the track (4).

9. A rail-mounted inspection robot according to claim 7, characterized in that: The main housing (2) is equipped with a wireless charging receiver (21) and a limit switch (22). The charging bracket (41) on the track (4) is equipped with a wireless charging transmitter (411) and a trigger baffle (412). When the limit switch (22) contacts the trigger baffle (412), the wireless charging receiver (21) aligns with the wireless charging transmitter (411) and triggers the wireless charging function.

10. A rail-mounted inspection robot according to claim 7, characterized in that: An RFID reader is installed on the main body (2), and multiple RFID tags containing location information are installed on the track (4). When the robot walks directly under the RFID tag, the RFID reader reads the tag information in real time and corrects the robot's position.

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