Hanging rail type automatic inspection robot

Abstract

The utility model relates to the technical field of power station inspection operation and maintenance, and aims to provide a hanging rail type automatic inspection robot. According to the hanging rail type automatic inspection robot, the inspection path and the inspection sight are not limited, and all-around dead-corner-free inspection can be carried out on the offshore booster station. The hanging rail type automatic inspection robot comprises a rail assembly and an inspection robot body. The track assembly is arranged on the roof of the offshore booster station; the inspection robot is arranged on the track assembly and comprises a walking assembly, a holder assembly and a detection assembly, the walking assembly is suitable for driving the inspection robot to move in the extending direction of the track assembly, the holder assembly is connected with the walking assembly, and the detection assembly is arranged on the holder assembly. The inspection robot solves the problems that the inspection path and the inspection sight line of the inspection robot in the prior art are limited, and the inspection robot cannot inspect the offshore booster station in all directions without dead angles.

Description

Technical Field

[0001] The utility model relates to the technical field of power station inspection and operation and maintenance, in particular to a rail-mounted automatic inspection robot. Background Art

[0002] As the energy collection center for offshore wind farms, offshore substations are also key infrastructure for offshore wind power transmission and transformation. Inspection and maintenance of offshore substations are crucial for ensuring safe operation and improving profitability at offshore wind farms. However, as offshore wind farms expand further offshore, the safety risks, operational costs, and efficiency of manual inspections have become increasingly prominent, leading to a surge in demand for intelligent inspections at offshore wind farms.

[0003] Most existing offshore substations utilize inspection robots for inspection and maintenance. These robots consist of a mobile base and a main body. The main body is mounted on the base and equipped with inspection cameras for inspecting equipment and the surrounding environment. The base uses running wheels to propel the robot, inspecting various locations within the offshore substation. However, the inspection path of these robots is limited by obstacles such as movement of personnel and various equipment, and the inspection field of view can be blocked by equipment. Therefore, they cannot provide a comprehensive, no-blindsight inspection of the offshore substation. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the inspection path and inspection line of sight of the inspection robot in the prior art are limited, resulting in the inability to conduct all-round and blind-angle-free inspection of the offshore substation, thereby providing a rail-mounted automatic inspection robot whose inspection path and inspection line of sight are not restricted and can conduct all-round and blind-angle-free inspection of the offshore substation.

[0005] In order to solve the above problems, the utility model provides a rail-mounted automatic inspection robot, comprising:

[0006] A track assembly, wherein the track assembly is arranged on the roof of the offshore booster station;

[0007] The inspection robot is arranged on the track assembly, and the inspection robot includes: a walking assembly, a pan-tilt assembly and a detection assembly. The walking assembly is suitable for driving the inspection robot to move along the extension direction of the track assembly, the pan-tilt assembly is connected to the walking assembly, and the detection assembly is arranged on the pan-tilt assembly.

[0008] Optionally, the track assembly includes a track, and a rack is provided on one side of the track;

[0009] The travel assembly includes: a mounting shell, a track groove is provided on the upper portion of the mounting shell, a gear is provided in the track groove, a travel drive member is provided in the mounting shell, a driving end of the travel drive member is connected to the gear, and the gear is engaged with the rack.

[0010] Optionally, the walking assembly further comprises: a plurality of pairs of driven wheels arranged on the side walls of the track groove, and each pair of the driven wheels is slidably arranged on both sides of the bottom surface of the track.

[0011] Optionally, the track assembly further includes: an adapter and a connecting frame, the track is connected to the connecting frame via the adapter, and the top end of the connecting frame is connected to the roof.

[0012] Optionally, a lifting assembly is further included, which includes: a lifting drive and a lifting rod, the lifting drive is arranged in the mounting shell, the driving end of the lifting drive is connected to one end of the lifting rod, and the other end of the lifting rod is connected to the pan-tilt assembly.

[0013] Optionally, the gimbal assembly includes: a gimbal shell and a first side shell and a second side shell arranged on both sides of the gimbal shell, wherein the gimbal shell is provided with a rotating drive component for driving the gimbal shell to rotate, and a first rotating drive component and a second driving rotating component for respectively driving the first side shell and the second side shell to rotate.

[0014] Optionally, the detection component includes: a visible light detection module, an infrared detection module and a partial discharge detection module, the visible light detection module and the infrared detection module are respectively arranged at the bottom and top of the first side shell, and the partial discharge detection module is arranged at the bottom of the second side shell.

[0015] Optionally, the detection component also includes a sound collection module and a temperature and humidity detection module arranged at the bottom of the pan / tilt housing.

[0016] Optionally, an anti-collision component is further included, and the anti-collision component includes: a walking anti-collision module and a lifting anti-collision module arranged in the installation shell.

[0017] Optionally, the walking anti-collision module includes: a first position detector and a first distance detector, the first position detector is used to locate the position of the inspection robot on the track assembly, and the first distance detector is used to detect the distance between the inspection robot and obstacles on the path of the track assembly;

[0018] The lifting and anti-collision module includes: a second position detector and a second distance detector, the second position detector is used to locate the height position of the inspection robot, and the second distance detector is used to detect the distance between the inspection robot and obstacles in the lifting path.

[0019] The utility model has the following advantages:

[0020] 1. The utility model provides a rail-mounted automatic inspection robot, comprising: a rail assembly and an inspection robot. The rail assembly is arranged on the roof of the offshore substation. The inspection robot is arranged on the rail assembly, and the inspection robot comprises: a walking assembly, a pan-tilt assembly and a detection assembly. The walking assembly is used to drive the inspection robot to move along the extension direction of the rail assembly, the pan-tilt assembly is connected to the walking assembly, and the detection assembly is arranged on the pan-tilt assembly. When the inspection robot moves on the rail assembly, it collects and detects data on the equipment and surrounding environment of the offshore substation through the detection assembly. Since the rail assembly is arranged on the roof, it is equivalent to the inspection robot moving above the equipment for inspection, and the inspection path will not be obstructed. In addition, the inspection line of sight at a high altitude is better and is not easily blocked. Therefore, this rail-mounted automatic inspection robot can conduct all-round and no-dead-angle inspections of the offshore substation.

[0021] 2. The utility model provides a rail-mounted automatic inspection robot. The track assembly includes a track with a rack disposed on one side. The travel assembly comprises a mounting housing having a track groove formed in its upper portion, a gear disposed within the groove, and a travel drive disposed within the mounting housing. The drive end of the travel drive is connected to the gear, which meshes with the rack. The travel drive drives the gear to rotate, thereby driving the inspection robot along the track. This track connection method is simple and reliable, and the inspection robot's travel speed is adjustable.

[0022] 3. The rail-mounted automatic inspection robot provided by the present invention has a walking assembly that further includes driven wheels slidably disposed on both sides of the bottom surface of the track. The driven wheels provide a secure connection between the inspection robot and the track, ensuring stable and safe movement of the inspection robot.

[0023] 4. The rail-mounted automatic inspection robot provided by this utility model also includes a lifting assembly, which comprises a lifting drive and a lifting rod. The lifting drive is disposed within a mounting housing, with the driving end of the lifting drive connected to one end of the lifting rod, and the other end of the lifting rod connected to the pan / tilt assembly. By configuring the lifting assembly, the position of the detection assembly can be changed, allowing detection at different heights, providing more comprehensive detection information.

[0024] 5. The utility model provides a rail-mounted automatic inspection robot, the detection components of which include: a visible light detection module, an infrared detection module, and a partial discharge detection module. The visible light detection module and the infrared detection module are respectively arranged at the bottom and top of the first side shell. The visible light detection module is used to collect visible light images and video data of the power station, and the infrared detection module is used to collect thermal imaging images and video data of the power station. The partial discharge detection module is arranged at the bottom of the second side shell, and is used to detect discharge information of live equipment. The detection component also includes a sound collection module and a temperature and humidity detection module arranged at the bottom of the pan-tilt housing. The sound collection module is used to collect sounds from power station equipment and realize real-time voice intercom function with the monitoring background. The temperature and humidity detection module is used to collect temperature and humidity data inside the power station room. This rail-mounted automatic inspection robot realizes the collection of multi-source data such as visible light, infrared, partial discharge, sound, temperature and humidity of the power station, and realizes all-round, multi-angle, and multi-means status monitoring of the power station.

[0025] 6. The rail-mounted automatic inspection robot provided by this utility model comprises a pan-tilt assembly comprising a pan-tilt housing and first and second side housings disposed on either side of the pan-tilt housing. The pan-tilt housing houses a rotary drive element for rotating the pan-tilt housing, as well as first and second rotary drive elements for rotating the first and second side housings, respectively. This pan-tilt assembly enables multi-angle and omnidirectional inspection of each detection module in the inspection assembly, resulting in improved inspection results.

[0026] 7. The utility model provides a rail-mounted automatic inspection robot, wherein the walking anti-collision module includes: a first position detector and a first distance detector. The first position detector is used to locate the position of the inspection robot on the track assembly, and the first distance detector is used to detect the distance between the inspection robot and obstacles on the path of the track assembly, thereby determining whether the inspection robot will collide with the obstacle. The lifting anti-collision module includes: a second position detector and a second distance detector. The second position detector is used to locate the height position of the inspection robot, and the second distance detector is used to detect the distance between the inspection robot and obstacles in the lifting path, thereby determining whether the inspection robot will collide with the obstacle during the lifting process. This anti-collision component can detect the position information of the inspection robot in real time to prevent the inspection robot from colliding and being damaged during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram of the connection between the inspection robot and the track in the utility model rail-mounted automatic inspection robot;

[0029] Figure 2 This is a side view of the connection between the inspection robot and the track in the utility model rail-mounted automatic inspection robot;

[0030] Figure 3 This is a cross-sectional view of the connection between the inspection robot and the track in the utility model of the rail-mounted automatic inspection robot;

[0031] Figure 4 This is a schematic diagram of the inspection robot in the utility model rail-mounted automatic inspection robot;

[0032] Figure 5 This is a schematic diagram of the utility model rail-mounted automatic inspection robot from another perspective;

[0033] Figure 6 This is a schematic diagram of the track assembly of the utility model rail-mounted automatic inspection robot;

[0034] Figure 7 This is a schematic diagram of the track in the utility model rail-mounted automatic inspection robot.

[0035] Description of reference numerals:

[0036] 1. Track assembly, 11. Track, 111. Rack, 112. Busbar, 12. Adapter, 121. Square steel tube, 122. Adapter angle iron, 13. Connecting frame, 131. Horizontal connecting rod, 132. Vertical connecting rod, 133. Latch, 134. Angle iron;

[0037] 2. Inspection robot, 21. Walking assembly, 211. Mounting shell, 212. Gear, 213. Driven wheel, 22. Pan / tilt assembly, 221. Pan / tilt shell, 222. First side shell, 223. Second side shell, 23. Detection assembly, 241. Lifting rod. DETAILED DESCRIPTION

[0038] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0039] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0041] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] like Figures 1 to 3 The figure shows a preferred embodiment of the present invention's rail-mounted automated inspection robot. This robot is suitable for installation in offshore substations and other power stations for inspection and maintenance. Furthermore, its inspection path and field of view are not restricted, enabling comprehensive, accurate inspections of offshore substations. This robot provides comprehensive, accurate inspection information, and enhanced inspection effectiveness.

[0043] The above-mentioned rail-mounted automatic inspection robot includes: a track assembly 1 and an inspection robot 2. The track assembly 1 is installed on the roof of the offshore substation. The inspection robot 2 is installed on the track assembly 1 and includes: a walking assembly 21, a pan-tilt assembly 22, and a detection assembly 23. The walking assembly 21 is used to drive the inspection robot 2 to move along the extension direction of the track assembly 1. The pan-tilt assembly 22 is connected to the walking assembly 21, and the detection assembly 23 is installed on the pan-tilt assembly 22. When the inspection robot 2 moves on the track assembly 1, it collects and detects data on the equipment and surrounding environment of the offshore substation through the detection assembly 23. Since the track assembly 1 is installed on the roof, it is equivalent to the inspection robot 2 moving above the equipment for inspection. The inspection path will not be obstructed, and the inspection robot 2 can move smoothly. In addition, the inspection robot 2 has a better line of sight when inspecting at a high altitude and is not easily blocked. Therefore, this rail-mounted automatic inspection robot 2 can conduct all-round inspections of the offshore substation without blind spots.

[0044] like Figure 7 As shown, the track assembly 1 includes a track 11. The track 11 is arranged around the entire offshore booster station. The entire track 11 can be divided into multiple sections and subsequently spliced together. Moreover, according to the actual installation direction, the track 11 is composed of straight segments and curved segments. Specifically, the track 11 is an I-shaped track 11. A rack 111 is provided on one side of the track 11, which is connected to the walking assembly 21 through the rack 111. A busbar 112 is provided on the other side, which is connected to the inspection robot 2 by carrier communication, facilitating interactive communication between the inspection robot 2 and the background system.

[0045] Further, such as Figure 6 As shown, the track assembly 1 also includes: an adapter 12 and a connecting frame 13. The track 11 is connected to the connecting frame 13 via the adapter 12, and the top of the connecting frame 13 is connected to the roof. Specifically, the adapter 12 includes: a square steel tube 121 and two adapter angle irons 122. The adapter angle irons 122 are composed of a rectangular base plate and two trapezoidal side plates. The base plate is provided with multiple connection holes, and the side plates are provided with oblong holes. The two adapter angle irons 122 are arranged at both ends of the square steel tube 121, and the two adapter angle irons 122 are arranged perpendicular to each other, that is, the length directions of the two base plates are perpendicular to each other. The adapter angle irons 122 are connected to the square steel tube 121 through the oblong holes on the side plates. The adapter angle iron 122 at the bottom end of the square steel tube 121 is connected to the track 11, and the adapter angle iron 122 at the top end of the square steel tube 121 is connected to the connecting frame 13.

[0046] The connecting frame 13 comprises a transverse connecting rod 131 and two sets of vertical connecting rods 132. The transverse connecting rod 131 is perpendicular to the length of the track 11, and the two sets of vertical connecting rods 132 are located at either end of the transverse connecting rod 131. Each set of vertical connecting rods 132 comprises two vertical rods connected by a latch 133. The bottom end of the lower vertical rod is fixedly connected to the transverse connecting rod 131 via an angle iron 134. The top end of the upper vertical rod is connected to the roof. The connection between the track 11 and the roof is completed through the adapter 12 and the connecting frame 13.

[0047] Further, such as Figure 4 、 Figure 5 As shown, the walking assembly 21 includes a mounting housing 211 having a track groove formed in its upper portion, within which a gear 212 is disposed. The track 11 is positioned within the track groove, such that the gear 212 meshes with the rack 111 on the track 11. Rotating the gear 212 thus drives the inspection robot 2 along the track 11.

[0048] The walking assembly 21 also includes multiple pairs of driven wheels 213 mounted on the sidewalls of the track groove, with each pair of driven wheels 213 slidingly mounted on either side of the bottom surface of the track 11. Specifically, in this embodiment, two pairs of driven wheels 213 are mounted on each sidewall of the track 11 groove, with each pair of driven wheels 213 spaced apart. The driven wheels 213 provide a secure connection between the inspection robot 2 and the track 11, ensuring a smooth and stable sliding motion without tilting.

[0049] A travel drive member is provided in the mounting housing 211, and the driving end of the travel drive member is connected to the gear 212 to drive the gear 212 to rotate. Specifically, the travel drive member includes a travel motor and a travel reducer, the travel motor is connected to the travel reducer, and the travel reducer is connected to the gear 212. Starting the travel motor can drive the gear 212 to rotate. As the gear 212 and the rack 111 rotate, the inspection robot 2 can move along the track 11. During the movement of the inspection robot 2, the driven wheel 213 also rotates synchronously. In addition, the moving direction of the inspection robot 2 can be controlled by controlling the output direction of the travel motor, and the moving speed of the inspection robot 2 can be controlled by controlling the output speed of the travel reducer.

[0050] In other embodiments, the gear 212 can also be replaced by a pulley, and the rack 111 does not need to be provided on the track 11. The pulley is driven to rotate by a travel drive member so as to travel on the track 11.

[0051] The rail-mounted automatic inspection robot also includes a lifting assembly, which includes a lifting drive and a lifting rod 241. The lifting drive is disposed within the mounting housing 211, with the driving end of the lifting drive connected to one end of the lifting rod 241, and the other end of the lifting rod 241 connected to the pan-tilt assembly 22. Specifically, the lifting drive also includes a lifting motor and a lifting reducer. The lifting motor is connected to the lifting reducer, which is connected to the lifting rod 241. The lifting motor controls the lifting rod 241 to drive the pan-tilt assembly 22 up and down, thereby adjusting the inspection height of the inspection robot 2.

[0052] Furthermore, the rail-mounted automated inspection robot 2 also includes a collision avoidance assembly, comprising a traveling collision avoidance module and a lifting collision avoidance module, housed within the mounting housing 211. The traveling collision avoidance module prevents collisions while the inspection robot 2 moves along the track 11, while the lifting collision avoidance module prevents collisions while the pan / tilt assembly 22 is raised or lowered. Because some equipment in an offshore booster station may temporarily move into the inspection robot 2's path, the collision avoidance assembly prevents collisions between the inspection robot 2 and these obstacles.

[0053] Specifically, the walking collision avoidance module includes a first position detector and a first distance detector. The first position detector is used to locate the position of the inspection robot 2 on the track assembly 1, that is, to locate the specific position of the inspection robot 2 on the track 11. The first distance detector is used to detect the distance between the inspection robot 2 and obstacles in the path of the track assembly 1. A collision distance can be pre-set for the first distance detector. When the inspection robot 2 moves on the track 11, the first distance detector detects an obstacle ahead and the distance to the inspection robot 2 reaches the set collision distance, and then controls the inspection robot 2 to stop moving. The inspection robot 2 can only resume inspection after the staff removes the obstacle near the inspection robot 2 based on the positioning information of the first position detector.

[0054] The lifting anti-collision module has a similar structure to the walking anti-collision module and operates in a similar manner. The lifting anti-collision module includes a second position detector and a second distance detector. The second position detector is used to locate the height position of the inspection robot 2, and the second distance detector is used to detect the distance between the inspection robot 2 and obstacles in the lifting path. The second distance detector is used to detect the distance between the inspection robot 2 and obstacles during the lifting process. A collision distance can be pre-set for the second distance detector. When the inspection robot 2 is lifting or lowering, the second distance detector detects that there is an obstacle above or below and that the distance to the inspection robot 2 reaches the set collision distance, and then controls the inspection robot 2 to stop moving. The staff removes the obstacles near the inspection robot 2 based on the positioning information of the second position detector before the inspection robot 2 can continue its inspection.

[0055] Furthermore, the pan / tilt assembly 22 includes a pan / tilt housing 221 and first and second side housings 222 and 223 disposed on either side of the housing 221. Within the pan / tilt housing 221 are located a rotary drive element that drives the pan / tilt housing 221, as well as a first rotary drive element and a second drive rotatable element that respectively drive the first and second side housings 222 and 223. Specifically, the rotary drive element is a rotary drive motor, and the pan / tilt housing 221 is connected to the lifting rod 241 via a slip ring. This means that the rotary drive motor can drive the pan / tilt housing 221 to rotate 360° around the axis of the lifting rod 241. However, due to the slip ring, the rotation of the pan / tilt housing 221 does not cause the lifting rod 241 and the mounting housing 211 to rotate together. The first and second drive rotatable elements are also motors connected to a rotating shaft that is connected to the first and second housings for synchronous rotation. The first and second drive rotatable elements can respectively drive the first and second side housings 222 and 223 to rotate.

[0056] The detection assembly 23 includes a visible light detection module, an infrared detection module, and a partial discharge detection module. The visible light detection module and the infrared detection module are respectively located at the bottom and top of the first side shell 222. The visible light detection module is used to collect visible light images and video data of the power station. In this embodiment, the visible light detection module is preferably a visible light camera. The infrared detection module is used to collect thermal imaging images and video data of the power station. In this embodiment, the infrared detection module is preferably an infrared imager. The partial discharge detection module is located at the bottom of the second side shell 223 and is used to detect discharge information from energized equipment. In this embodiment, the partial discharge detection module is preferably a partial discharge detector. Furthermore, because the first and second side shells 222 and 223 are rotatable, the detection angles of the visible light detection module, infrared detection module, and partial discharge detection module can be changed at any time.

[0057] Furthermore, the detection component 23 also includes a sound collection module and a temperature and humidity detection module, located at the bottom of the pan / tilt housing 221. The sound collection module is used to collect sounds from power station equipment and enable real-time voice communication with the monitoring backend. The sound collection module includes a microphone and a speaker. The temperature and humidity detection module is used to collect temperature and humidity data within the power station. In this embodiment, the temperature and humidity detection module is preferably a temperature and humidity sensor. By configuring multiple detection modules, the detection component 23 collects multi-source data from the power station, including visible light, infrared, partial discharge, sound, temperature and humidity, enabling comprehensive, multi-angle, and multi-method status monitoring of the power station.

[0058] The working process of the rail-mounted automatic inspection robot provided in this embodiment is described as follows:

[0059] First, track 11 is laid out within the offshore booster station according to the planned inspection route and connected to the roof via adapters 12 and connectors. Multiple inspection robots 2 are then installed on track 11, with the gears 212 in the robot's walking assembly 21 meshing with the rack 111 of track 11. Driven wheels 213 are slidably positioned on both sides of the track's bottom surface.

[0060] After that, the walking drive component can be started to drive the gear 212 to rotate, and then the inspection robot 2 starts to move along the track 11, and simultaneously collects various information through the visible light detection module, infrared detection module, partial discharge detection module, sound collection module and temperature and humidity detection module in the detection component 23. During the collection process, the height position of the pan-tilt assembly 22 can be changed by the lifting component to change the detection height. The pan-tilt assembly 22 can also be driven to rotate by the rotating drive component to change the detection direction. The first side shell 222 and the second side shell 223 can also be driven to rotate by the first rotating drive component and the second driving rotating component to change the pitch angle detected by the visible light detection module, the infrared detection module and the partial discharge detection module. The data information collected during the inspection process can be uploaded to the background through the busbar 112 of the track 11 in the form of carrier communication.

[0061] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A rail-mounted automatic inspection robot, characterized in that: include: A track assembly (1), the track assembly (1) being arranged on the roof of an offshore booster station, the track assembly (1) comprising a track (11), a rack (111) being arranged on one side of the track (11); A patrol robot (2) is provided on the track assembly (1), the patrol robot (2) comprising: a walking assembly (21), a pan-tilt assembly (22) and a detection assembly (23), the walking assembly (21) being suitable for driving the patrol robot (2) to move along the extension direction of the track assembly (1), the pan-tilt assembly (22) being connected to the walking assembly (21), the detection assembly (23) being provided on the pan-tilt assembly (22), the walking assembly (21) comprising: a mounting shell (211), the upper portion of the mounting shell (211) having a track groove, a gear (212) being provided in the track groove, a walking drive member being provided in the mounting shell (211), a driving end of the walking drive member being connected to the gear (212), and the gear (212) being meshed with the rack (111).

2. The rail-mounted automatic inspection robot according to claim 1, characterized in that: The walking assembly (21) further comprises: a plurality of pairs of driven wheels (213) arranged on the side walls of the track groove, and each pair of driven wheels (213) is slidably arranged on both sides of the bottom surface of the track (11).

3. The rail-mounted automatic inspection robot according to claim 1, characterized in that: The track assembly (1) further comprises: an adapter (12) and a connecting frame (13); the track (11) is connected to the connecting frame (13) via the adapter (12); and the top end of the connecting frame (13) is connected to the roof.

4. The rail-mounted automatic inspection robot according to claim 1, characterized in that: The invention also includes a lifting assembly, which includes: a lifting drive member and a lifting rod (241). The lifting drive member is arranged in the installation shell (211), the driving end of the lifting drive member is connected to one end of the lifting rod (241), and the other end of the lifting rod (241) is connected to the pan / tilt head assembly (22).

5. The rail-mounted automatic inspection robot according to claim 1, characterized in that: The pan / tilt assembly (22) comprises: a pan / tilt shell (221) and a first side shell (222) and a second side shell (223) arranged on both sides of the pan / tilt shell (221); a rotating driving member for driving the pan / tilt shell (221) to rotate, and a first rotating driving member and a second driving rotating member for respectively driving the first side shell (222) and the second side shell (223) to rotate are arranged in the pan / tilt shell (221).

6. The rail-mounted automatic inspection robot according to claim 5, characterized in that: The detection assembly (23) comprises: a visible light detection module, an infrared detection module and a partial discharge detection module; the visible light detection module and the infrared detection module are respectively arranged at the bottom and top of the first side shell (222); and the partial discharge detection module is arranged at the bottom of the second side shell (223).

7. The rail-mounted automatic inspection robot according to claim 6, characterized in that: The detection component (23) also includes a sound collection module and a temperature and humidity detection module arranged at the bottom of the pan / tilt housing (221).

8. The rail-mounted automatic inspection robot according to claim 1, characterized in that: It also includes an anti-collision component, which includes a walking anti-collision module and a lifting anti-collision module arranged in the installation shell (211).

9. The rail-mounted automatic inspection robot according to claim 8, characterized in that: The walking anti-collision module comprises: a first position detector and a first distance detector, wherein the first position detector is used to locate the position of the inspection robot (2) on the track assembly (1), and the first distance detector is used to detect the distance between the inspection robot (2) and obstacles on the path of the track assembly (1); The lifting anti-collision module comprises: a second position detector and a second distance detector, wherein the second position detector is used to locate the height position of the inspection robot (2), and the second distance detector is used to detect the distance between the inspection robot (2) and obstacles in the lifting path.

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