Hanging rail inspection system

Abstract

The utility model relates to a hanging rail inspection system which comprises a rail and an inspection robot, at least a ramp section of the rail is provided with a climbing auxiliary part, the climbing auxiliary part is laid in the length direction of the ramp section, and a plurality of first limiting parts are arranged in the length direction of the climbing auxiliary part at equal intervals; the inspection robot is provided with an auxiliary rotating part and a walking device used for walking on a track, the walking device is provided with a driving wheel, the driving wheel and the auxiliary rotating part are in transmission connection and rotate synchronously, and a plurality of second limiting parts are arranged in the circumferential direction of the auxiliary rotating part at equal intervals. The first limiting piece and the second limiting piece are matched in a limiting mode. The inspection robot walks on the track through the walking device, can replace manual work to conduct operation such as inspection and the like, has good ramp walking capacity and automatic turning capacity, is stable in walking speed, and can facilitate camera shooting, photographing or other operation.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a hanging rail inspection system. Background Art

[0002] The equipment pipelines of high-altitude wind turbine cabins or coal chemical plants or petrochemical plants are dense, and there is a risk of high-temperature medium leakage. Coal chemical or petrochemical product production lines need regular or irregular inspections, and some also need real-time inspections. However, the current manual inspection is not only labor-intensive and labor-intensive, but also dangerous and management loopholes cannot be discovered in time to prevent them. The use of ground walking robots for inspections will cause obstacles due to the equipment layout, equipment height, equipment support and ground (floor) height differences. The use of hanging rail robots for walking may still cause obstacles due to equipment height or on different floors. Going up and down the stairs may require climbing and downhill avoidance, or turning with a small radius due to the dense equipment pipelines. However, most of the existing hanging rail robots use rollers and hanging rails to walk, with a small climbing angle and easy to decelerate and slip. When going downhill, the turning radius is limited due to the excessive speed of the deadweight. Utility Model Content

[0003] The utility model aims to provide a rail-hanging inspection system, which has good ramp walking ability and can keep a constant speed.

[0004] To achieve the above-mentioned purpose, the utility model discloses a rail-hanging inspection system, which includes a rail and an inspection robot, at least the ramp section of the rail is provided with a climbing auxiliary component, and the climbing auxiliary component is laid along the length direction of the ramp section, and a plurality of first limit members are evenly spaced along the length direction of the climbing auxiliary component; the inspection robot is provided with an auxiliary rotating component and a walking device for walking on the rail, the walking device is provided with a driving wheel, the driving wheel is transmission-connected to the auxiliary rotating component and rotates synchronously, a plurality of second limit members are evenly spaced in the circumferential direction of the auxiliary rotating component, and the first limit members cooperate with the second limit members in limiting positions.

[0005] After the above settings, the inspection robot walks on the track via the walking device. When the inspection robot walks to the ramp section of the track, the second limit member on the auxiliary rotating member begins to cooperate with the first limit member on the climbing auxiliary member, and the auxiliary rotating member is connected to the drive wheel transmission and rotates synchronously. As the auxiliary rotating member rotates, the first limit member and the second limit member form a meshing or quasi-meshing cooperation relationship, thereby ensuring that the inspection robot can climb the slope stably and reliably, or go downhill at a constant speed. The inspection robot has good slope walking ability.

[0006] Preferably, the auxiliary rotating part is a gear, and the second limiting part is the toothed part of the gear wheel rim; the climbing auxiliary part is a rack or a synchronous belt or a chain. When the climbing auxiliary part is a rack, the first limiting part is the toothed part on the rack, when the climbing auxiliary part is a synchronous belt, the first limiting part is the convex strip on the synchronous belt, and when the climbing auxiliary part is a chain, the first limiting part is the chain hole on the chain. A variety of implementation methods of the climbing auxiliary part are provided, each with its own advantages. For example, when the climbing auxiliary part is a rack, it is more convenient to connect it to the track. When the climbing auxiliary part is a synchronous belt, the synchronous belt generally has a certain flexibility, which can avoid the problem of gear jamming. When the climbing auxiliary part is a chain, it has both rigidity and flexibility, which can better ensure stable walking.

[0007] Preferably, the auxiliary rotating member is a wheel or a crawler transmission member, and the first limit member and the second limit member are magnetically matched with each other. Magnetic adsorption is used to reduce gear shaking and backing, and to prevent downhill acceleration, providing another different ramp walking assistance method, and this setting basically does not cause the problem of getting stuck and can climb vertically.

[0008] Preferably, the climbing auxiliary component is installed at the bottom of the track, the climbing auxiliary component is flush with the bottom surface of the track or 0-0.5 mm below the bottom surface of the track, and the bottom of the track is provided with a first installation groove for installing the climbing auxiliary component. With this arrangement, the climbing auxiliary component and the auxiliary rotating component are less likely to interfere with the walking device. In addition, when the climbing auxiliary component is not provided on the horizontal section of the track, the first installation groove can provide a clearance for the auxiliary rotating component.

[0009] Preferably, the top of the track is provided with a second mounting groove for hanging connection, and the second mounting groove extends along the length direction of the track. After such arrangement, when the track is hung and connected, any position can be used as a connection node, which facilitates the installation of the track.

[0010] Preferably, the track is further provided with at least one third mounting groove, in which a power supply busbar is provided, and the inspection robot is provided with a sliding contact head corresponding to and matching the power supply busbar. With such a configuration, it is more convenient for the inspection robot to obtain power, and reliable operation of the inspection robot is ensured.

[0011] Preferably, the inspection robot also includes a frame, a posture adjustment device, a controller and at least one visual detection element, the walking device and the auxiliary rotating part are both arranged at the upper end of the frame, the posture adjustment device is arranged at the lower end of the frame, the posture adjustment device includes a posture adjustment mechanism and a mounting table, the posture adjustment mechanism drives the mounting table to adjust the position and posture, and at least a visual detection element is arranged on the mounting table; the controller connects the walking device, the posture adjustment mechanism and the visual detection element. While the robot is walking on the track, it cooperates with the operation of the visual detection element to perform inspections along the laying direction of the hanging rail, thereby replacing manual inspections. By setting up the posture adjustment device, the position and posture of some visual detection elements can be adjusted, and the inspection range is larger, so that the on-site situation can be observed at a close distance, which is conducive to the relevant personnel to grasp the on-site situation more accurately.

[0012] Preferably, the track is in an I-shape, the walking device includes at least one set of walking mechanisms, each of the walking mechanisms includes two sets of walking components, one set of walking components is placed on one side of the track, and the other set of walking components is placed on the other side of the track, the walking components include walking wheels and guide wheels, the walking wheels walk on the lower wing plate surface of the track, and the guide wheels press against the lower wing plate edge of the track; at least one of the walking wheels is a driving wheel. After such a setting, the robot can walk steadily on the track without falling.

[0013] Preferably, the walking assembly also includes a support wheel, the support wheel presses against the lower wing plate of the track, and the support wheel cooperates with the walking wheel to clamp the lower wing plate of the track; the frame is provided with a buffer assembly corresponding to the support wheel one by one, and the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member, the mounting seat is provided with a guide hole corresponding to and adapted to the guide rod one by one, one end of the guide rod passes through the guide hole and is connected to the frame, the other end of the guide rod is provided with an end cap that cooperates with the guide hole, and the mounting seat can slide along the length direction of the guide rod; the elastic member presses between the frame and the mounting seat. By providing support wheels, the robot can walk more stably. By providing a buffer assembly, the problem of walking stuck can be avoided.

[0014] Preferably, at least one connecting frame is further included, and at least one of the walking mechanisms is provided with a corresponding connecting frame, and the walking components of the same walking mechanism are symmetrically provided on both sides of the connecting frame, and the connecting frame is rotatably connected to the frame. The two groups of walking components are rotatably connected to the frame through the connecting frame, and when encountering a track turn, under the restriction of the guide wheel, the walking wheel, the support wheel, and the auxiliary rotating member automatically turn. In this arrangement, when the walking component encounters a turning track, it can automatically turn without deceleration under the constraint of the guide wheel, and can be suitable for tracks with a small turning radius.

[0015] The utility model has the following beneficial effects:

[0016] 1. The inspection robot can adaptively climb slopes without deceleration and descend slopes at a constant speed without being affected by gravity. It can even climb vertically and shuttle between floors, which not only expands the scope of use but also increases the efficiency.

[0017] 2. The inspection robot walks on the track and can turn automatically without slowing down, which is more suitable for narrow spaces and has a wider range of applications.

[0018] 3. The inspection robot has good turning and climbing capabilities, and can walk at a steady speed, which is conducive to video recording, photography or other inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the utility model.

[0020] Figure 2 It is a schematic diagram of another viewing angle of the present invention.

[0021] Figure 3 for Figure 2 Enlarged schematic diagram of part A in the middle.

[0022] Figure 4 This is a schematic diagram of the layout of the walking device.

[0023] Figure 5 It is a connection diagram of the walking device and the auxiliary rotating parts.

[0024] Figure 6 for Figure 5 Enlarged schematic diagram of part B in the middle.

[0025] Figure 7 It is a connection diagram of the walking mechanism and the connecting frame.

[0026] Figure 8 A schematic diagram of the cross section of the track.

[0027] Fig. 9 It is a schematic diagram of the cooperation between the climbing auxiliary part and the auxiliary rotating part when the climbing auxiliary part is a chain.

[0028] Fig.10 It is a schematic diagram of the cooperation between the climbing auxiliary part and the auxiliary rotating part when the climbing auxiliary part is a rack.

[0029] Fig.11 It is a schematic diagram of the coordination between the climbing auxiliary part and the auxiliary rotating part when the climbing auxiliary part is a synchronous belt.

[0030] Fig.12 It is a schematic diagram of the cooperation between the climbing auxiliary part and the auxiliary rotating part when the first limiting part and the second limiting part are magnetically engaged with each other.

[0031] Fig.13Schematic diagram of track wheel composed of auxiliary rotating parts.

[0032] Main component symbols:

[0033] Track 10, second mounting groove 11, lower wing plate 13, third mounting groove 14, power supply busbar 15, first mounting groove 16, climbing auxiliary member 17, first stopper 171;

[0034] Frame 20, buffer assembly 21, mounting seat 211, guide rod 212, elastic member 213, end cap 214, sliding contact 22, bearing seat 23;

[0035] Walking device 30, walking mechanism 31, walking assembly 32, walking wheel 321, guide wheel 322, support wheel 323, connecting frame 33, rotating shaft 331;

[0036] Telescopic assembly 41, mechanical arm 42, mounting platform 43;

[0037] Visible light camera 51, depth camera 52, infrared camera 53;

[0038] Auxiliary rotating member 60 , second limiting member 61 , pulley 62 , crawler track 63 . DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0040] like Figures 1 to 13 As shown, the utility model discloses a rail-hanging inspection system, which includes a rail 10 and an inspection robot. In this case, an I-shaped rail 10 is used as an example for explanation. A second mounting groove 11 is provided on the top of the rail 10 for convenient hanging connection. The second mounting groove 11 extends along the length direction of the rail 10. When the rail 10 is hung and connected, the second mounting groove 11 at any position can be used as a connection node, which facilitates the installation of the rail 10. In this case, the inspection robot includes a frame 20, a walking device 30, a posture adjustment device, a visual detection element and a controller.

[0041] The walking device 30 is arranged at the upper end of the frame 20 and is used for walking on the hanging rail. The walking device 30 includes at least one set of walking mechanisms 31. In this case, two sets of walking mechanisms 31 are used as an example for explanation. The two sets of walking mechanisms 31 can ensure the stability of the robot's walking and balance the overall weight of the robot. Each set of walking mechanisms 31 includes two sets of walking components 32, one set of walking components 32 is placed on one side of the track 10, and the other set of walking components 32 is placed on the other side of the track 10. The walking components 32 include walking wheels 321, guide wheels 322 and support wheels 323. The walking wheels 321 walk on the lower wing plate 13 of the track 10, and the guide wheels 322 press against the edge of the lower wing plate 13 of the track 10. Each walking component 32 can be provided with multiple guide wheels 322. The support wheels 323 press against the lower wing plate 13 of the track 10 outside the track 10, and the support wheels 323 cooperate with the walking wheels 321 to clamp the lower wing plate 13 of the track 10. After such configuration, the walking device 30 can be limited relative to the track 10, that is, the walking device 30 can only move along the length direction of the track 10, and the walking device 30 will not fall. By setting the support wheels 323, the robot can also walk more stably.

[0042] In order to make the walking device 30 turn better, each walking mechanism 31 is equipped with a connecting frame 33, and the two walking components 32 of the same walking mechanism 31 are symmetrically installed on both sides of the connecting frame 33. A rotating shaft 331 is set in the middle of the bottom of the connecting frame 33. The rotating shaft 331 is installed in the bearing hole of the bearing seat 23 of the frame 20. The mounting frame 33 is rotatably connected relative to the frame 20, so that the walking mechanism 31 can rotate. In this way, when the walking mechanism 31 encounters a curve, it can adaptively reduce the curve without deceleration. Of course, it is not necessary for all walking mechanisms 31 to be equipped with a connecting frame 33, and it is sufficient to ensure that at least one walking mechanism of the walking device can rotate.

[0043] In this case, at least one walking wheel 321 is required to be a driving wheel, and the driving wheel is connected to the motor, and the operation of the driving wheel is controlled by the controller, that is, the motor is connected to the controller, so that the robot can walk on the track 10. Each driving wheel can be independently configured with a motor, or multiple driving wheels can share one motor.

[0044] In order to prevent the vehicle from getting stuck during walking, such as when there are obstacles on the track 10 or steps or deformation caused by thermal expansion and contraction at the docking position or the track 10 has a slope, a buffer assembly 21 is configured for each support wheel 323. The buffer assembly 21 includes a mounting seat 211, two guide rods 212 and two elastic members 213. The mounting seat 211 is provided with guide holes corresponding to and matching the guide rods 212. One end of the guide rod 212 passes through the guide hole and is threadedly connected to the connecting frame 33 (when the connecting frame 33 is not provided, it is connected to the frame 20). The other end of the guide rod 212 is provided with an end cap 214 that is limitedly matched with the guide hole. The mounting seat 211 can slide along the length direction of the guide rod 212. The elastic member 213 is a spring, which is sleeved on the guide rod 212, and the elastic member 213 is pressed between the connecting frame 33 (when there is no connecting frame 33, it is the frame 20) and the mounting seat 211.

[0045] The posture adjustment device is arranged on the frame 20, and the posture adjustment device includes a posture adjustment mechanism and a mounting platform 43. Preferably, the posture adjustment mechanism includes a mechanical arm 42 and a telescopic component 41. The telescopic component 41 is installed at the bottom of the frame 20 to avoid interfering with the walking device 30. The telescopic component 41 can adopt a scissor-type lifting platform, or a linear moving module based on a motor. These are all existing technologies and will not be repeated here. The telescopic component 41 drives the mechanical arm 42 to rise and fall, and the mechanical arm 42 drives the mounting platform 43 to adjust the position and posture. The telescopic component 41 and the mechanical arm 42 are both connected to the controller. By setting the mechanical arm 42, the posture adjustment flexibility can be made higher, and the setting of the telescopic component 41 can make the range of motion of the mounting platform 43 larger.

[0046] The visual detection element is used for the element of video or photo feedback on the scene. The visual detection element is connected to the controller for image feedback. The visual detection element can be a visible light camera 51, a depth camera 52, an infrared camera 53, etc., which can be increased or decreased according to the actual application occasion. Setting up multiple types of cameras at the same time can meet the effective inspection and control coordination in complex environments. For example, during the day, the visible light camera 51 will be more advantageous. The setting of the depth camera 52 can be more conducive to the controller to control the telescopic control rod to move into place. The infrared camera 53 can perform thermal imaging and has a certain sensing ability for temperature anomalies. When someone enters, it can also control the robot to stop and avoid in time. In order to ensure the detection range, a visual detection element needs to be set at least on the mounting table 43. In this case, the visible light camera 51 is set at the end of the telescopic component 41 that is not connected to the frame 20, and the depth camera 52 and the infrared camera 53 are set on the mounting table 43.

[0047] During routine inspections, the controller controls the running device 30 to run, and the robot walks along the direction of the rail laying while filming or taking pictures. The controller can remotely send the collected video or image to the control center or the mobile terminal of relevant personnel, and the relevant personnel can remotely monitor the on-site status. When it is necessary to enlarge and image a certain component, a certain device or a certain place, the posture adjustment device can be controlled to move so that the camera is closer to the shooting point.

[0048] In order to make the walking range of the robot more controllable, at least one supporting wheel 323 can be designed as a pedometer wheel, which is connected to a controller. The pedometer wheel can facilitate the robot to quickly reach a specified position by counting steps.

[0049] In addition, in order to ensure the endurance of the robot, the utility model is designed as follows: a third mounting groove 14 is provided on both sides of the track 10, a power supply busbar 15 is provided in the third mounting groove 14, and a sliding contact 22 corresponding to and matching the power supply busbar 15 is provided on the frame 20, and the sliding contact 22 is connected to the controller. The power supply busbar 15 and the sliding contact 22 are prior art, and their structures are not repeated. The controller takes power from the power supply busbar 15 through the sliding contact 22, and the robot takes power more conveniently, which can ensure the reliable operation of the robot. Of course, the robot can also be built-in with a battery, or the robot can be powered by both a battery and a busbar. When the robot has a built-in battery, wireless charging can also be adopted, and a battery energy detection element and an electric energy (battery wave) receiver are set on the robot, and the battery energy detection element is connected to the controller. When the energy drops to a limited value, the controller sends a charging instruction to the robot, and the robot returns to the wireless charging pile position of the track to receive the electromagnetic waves emitted by the charging pile until the battery energy reaches the peak.

[0050] In addition, in order to improve the inspection robot's ability to walk on a ramp and allow the inspection robot to stop on a ramp, the utility model also has the following designs:

[0051] The ramp section of the track 10 is provided with a climbing auxiliary component 17, and the climbing auxiliary component 17 is laid along the length direction of the ramp section. It is best that the horizontal section connecting the top and bottom of the ramp section on the track 10 is also laid with a climbing auxiliary component 17 of not less than the length of the walking device, so that the inspection robot can smoothly and completely pass through the ramp section. Preferably, the climbing auxiliary component 17 is installed at the bottom of the track 10, and the bottom of the track 10 is provided with a first installation groove 16 for installing the climbing auxiliary component 17. After such a setting, the climbing auxiliary component 17 and the auxiliary rotating component 60 are less likely to interfere with the walking device 30. In addition, when the climbing auxiliary component 17 is not provided in the horizontal section of the track 10, the first installation groove 16 can provide avoidance for the auxiliary rotating component 60. The shape and specification of the mounting groove 16 are determined according to the shape and specification of the climbing aid 17. Taking the chain as an example, the chain is selected with ears. The width of the mounting groove 16 should not only be adapted to the width of the chain to ensure that the chain ears can be connected to the track 10, but the depth of the mounting groove 16 should be adapted to the height of the chain and be flush with the bottom surface of the track or slightly lower by about 0 to 0.5 mm.

[0052] A number of first limit members 171 are evenly spaced in the length direction of the climbing auxiliary member 17. An auxiliary rotating member 60 is provided on the inspection robot, and the auxiliary rotating member 60 is connected to any one or more driving wheels and rotates synchronously. In this case, taking the auxiliary transmission member 60 as an example of a wheel member, one end of the wheel shaft of the auxiliary rotating member 60 is connected to a driving wheel through a gear, and the other end of the wheel shaft of the auxiliary rotating member 60 is connected to a walking wheel 321 through a gear. A number of second limit members 61 are evenly spaced in the circumference of the auxiliary rotating member 60, and the first limit member 171 is matched with the second limit member 61. Preferably, the wheel diameters of the driving wheel and the auxiliary rotating member 60 are matched. After such a setting, the step distances of the driving wheel and the auxiliary rotating member 60 are relatively consistent, and the inspection robot can walk at a relatively constant speed regardless of whether it walks on a slope. When the auxiliary rotating member 60 is a separate wheel member, multiple auxiliary rotating members 60 can be provided.

[0053] Preferably, the auxiliary rotating member 60 is a gear, and the second limiting member 61 is the toothed portion of the gear wheel rim. The climbing auxiliary member 17 is a chain, and the first limiting member 171 is a chain hole on the chain. Figure 5 With this arrangement, the climbing aid 17 can have both rigidity and flexibility, which can better ensure stable walking.

[0054] like Fig.10 As shown, as an alternative, the auxiliary rotating member 60 is a gear, and the second limiting member 61 is the toothed portion of the gear wheel rim. The climbing auxiliary member 17 is a rack, and the first limiting member 171 is the toothed portion on the rack. With this arrangement, the installation of the climbing auxiliary member 17 is simpler and requires less work.

[0055] like Fig.11As shown, as an alternative method 2, the auxiliary rotating member 60 is a gear, and the second limiting member 61 is the toothed portion of the gear wheel rim. The climbing auxiliary member 17 is a synchronous belt, and the first limiting member 171 is a convex strip on the synchronous belt. Synchronous belts generally have a certain degree of flexibility, which can avoid the problem of gear jamming.

[0056] like Fig.12 As shown, as an alternative method three, the first limit member 171 and the second limit member 61 cooperate with each other by magnetic attraction. For example, the first limit member 171 is set as an iron sheet, and the second limit member 61 is set as a magnet. Magnetic attraction is used to supplement uphill power and stop retreat, and prevent downhill acceleration, providing another different means of assisting slope walking, and this setting basically will not cause the problem of getting stuck.

[0057] like Fig.13 As shown in the figure, as an alternative mode 4, the auxiliary rotating member 60 is a crawler transmission member, including at least two pulleys 62 and a crawler 63, the crawler 63 connects the two pulleys 62, and magnetic strips are arranged at intervals on the crawler 63, and the magnetic strips are the second limiter 61. The climbing auxiliary member 17 is a whole iron plate or the guide rail 10 is made of iron. In this case, the first limiter 171 does not need to be set separately. The magnetic strips on the crawler 63 are adsorbed on the iron surface, so that the climbing ability is stronger and has vertical climbing ability.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A rail inspection system, characterized in that: It includes a track and an inspection robot, at least the ramp section of the track is provided with a climbing auxiliary part, and the climbing auxiliary part is laid along the length direction of the ramp section, and a plurality of first limiting parts are evenly spaced along the length direction of the climbing auxiliary part; the inspection robot is provided with an auxiliary rotating part and a walking device for walking on the track, the walking device is provided with a driving wheel, the driving wheel is transmission-connected with the auxiliary rotating part and rotates synchronously, a plurality of second limiting parts are evenly spaced in the circumferential direction of the auxiliary rotating part, and the first limiting parts cooperate with the second limiting parts.

2. The rail inspection system according to claim 1, characterized in that: The auxiliary rotating part is a gear, and the second limiting part is the tooth portion of the gear wheel rim; the climbing auxiliary part is a rack or a synchronous belt or a chain. When the climbing auxiliary part is a rack, the first limiting part is the tooth portion on the rack; when the climbing auxiliary part is a synchronous belt, the first limiting part is the convex strip on the synchronous belt; when the climbing auxiliary part is a chain, the first limiting part is the chain hole on the chain.

3. The rail inspection system according to claim 1, characterized in that: The auxiliary rotating member is a wheel or a track transmission member, and the first limiting member and the second limiting member are magnetically matched with each other.

4. The rail inspection system according to claim 1, characterized in that: The climbing auxiliary component is installed at the bottom of the track. The climbing auxiliary component is flush with the bottom surface of the track or 0-0.5 mm lower than the bottom surface of the track. The bottom of the track is provided with a first installation groove for installing the climbing auxiliary component.

5. The rail inspection system according to claim 4, characterized in that: A second mounting groove is provided on the top of the track for facilitating hanging connection, and the second mounting groove extends along the length direction of the track.

6. The rail inspection system according to claim 1, characterized in that: At least one third installation groove is also provided on the track, a power supply busbar is provided in the installation groove, and a sliding contact head corresponding to and cooperating with the power supply busbar is provided on the inspection robot.

7. The rail inspection system according to claim 1, characterized in that: The inspection robot also includes a frame, a posture adjustment device, a controller and at least one visual detection element. The walking device and the auxiliary rotating part are both arranged at the upper end of the frame, and the posture adjustment device is arranged at the lower end of the frame. The posture adjustment device includes a posture adjustment mechanism and a mounting platform. The posture adjustment mechanism drives the mounting platform to adjust the position and posture, and at least a visual detection element is arranged on the mounting platform; the controller is connected to the walking device, the posture adjustment mechanism and the visual detection element.

8. The rail inspection system according to claim 7, characterized in that: The track is I-shaped, and the walking device includes at least one group of walking mechanisms, each of which includes two groups of walking components, one group of walking components is placed on one side of the track, and the other group of walking components is placed on the other side of the track. The walking components include walking wheels and guide wheels. The walking wheels run on the lower wing plate surface of the track, and the guide wheels press against the edge of the lower wing plate of the track; at least one of the walking wheels is a driving wheel.

9. The rail inspection system according to claim 8, characterized in that: The walking assembly also includes a support wheel, which presses against the lower wing plate of the track, and the support wheel and the walking wheel can clamp the lower wing plate of the track; a buffer assembly corresponding to the support wheel is provided on the frame, and the buffer assembly includes a mounting seat, at least one guide rod and at least one elastic member, and the mounting seat is provided with a guide hole corresponding to and matching the guide rod, one end of the guide rod passes through the guide hole and is connected to the frame, and the other end of the guide rod is provided with an end cap that is limited by the guide hole, and the mounting seat can slide along the length direction of the guide rod; the elastic member presses between the frame and the mounting seat.

10. The rail inspection system according to claim 8 or 9, characterized in that: It also includes at least one connecting frame, and at least one of the walking mechanisms is provided with a corresponding connecting frame, and the walking components of the same walking mechanism are symmetrically arranged on both sides of the connecting frame, and the connecting frame is rotatably connected to the frame.

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