Rail type inspection robot walking mechanism

Abstract

The utility model relates to the technical field of intelligent transportation, in particular to a track type inspection robot walking mechanism, in the track type inspection robot walking mechanism, two guide wheel assemblies are arranged on a rack at intervals in the extending direction of a track and can be close to or far away from each other, and the guide wheel assemblies are used for walking along the track; the lifting piece is movably restrained on the rack in the extending direction perpendicular to the track; the driving wheel and the bearing part of the guide wheel assembly are arranged on the upper side and the lower side of the track; the transmission part is arranged between the lifting part and at least one guide wheel assembly, and the transmission part is arranged to drive the two guide wheel assemblies to be close to each other under the driving action of the lifting part when the driving wheel is away from the bearing part in the vertical direction; the elastic piece is used for making the two guide wheel assemblies away from each other. According to the arrangement, the deformation quantity of the elastic piece is smaller and the resistance is reduced when encountering an upward bent track, so that the endurance is favorably improved; and meanwhile, the service life of the driving wheel and the bearing part is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent transportation, in particular to a track-type inspection robot walking mechanism. Background Art

[0002] With the development of intelligent coal mines, belt inspection robots are widely used in the industry. Belt lanes are responsible for transporting coal from the bottom of the mine to the surface. Belt lane tracks are long, steep, and have varying angles. Therefore, the traveling mechanism of belt inspection robots must not only be able to adapt to the steep and multi-angle tracks but also be energy-efficient to extend the robot's battery life.

[0003] Existing walking mechanism solutions (for example, application publication number CN113815655A, named rail-mounted drive device and drive system, rail-mounted robot and robot system) are mostly in which the load-bearing wheels are above the track, and the distance between the two sets of load-bearing wheels is fixed. The driving wheels under the track are pressed against the track by compression springs to improve the stability of the connection between the walking mechanism and the track.

[0004] However, when passing through a downward-curving track, the driving wheel moves upward and the distance between the load-bearing wheels becomes closer. Therefore, the adjusting nut must be screwed upward to adjust the spring height to ensure the driving wheel's pressure on the track. The height of the adjusting nut at this time is the final height, which means that the driving wheel compression spring must always be maintained at the required height when passing through the downward-curving track. However, when passing through an upward-curving track, the driving wheel needs to move downward and the distance between the load-bearing wheels becomes farther. At this time, the spring compression increases, and the resistance caused by the excess pressure will cause power consumption waste, seriously affecting the robot's overall endurance. At the same time, excessive pressure when passing through an upward-curving track will also reduce the service life of the load-bearing wheels and the driving wheel. Utility Model Content

[0005] The purpose of the utility model is to provide a track-type inspection robot walking mechanism to solve the problems in the prior art that when passing through an upward curved track, the spring pressure is too large, resulting in poor robot endurance and a short service life of the rollers in contact with the track.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A track-type inspection robot walking mechanism, comprising:

[0008] frame;

[0009] Two guide wheel assemblies, the two guide wheel assemblies are spaced apart on the frame along the extension direction of the track and can move closer to or farther away from each other, and the guide wheel assemblies are used to travel along the track;

[0010] a lifting member, movably constrained to the frame along an extension direction perpendicular to the rail;

[0011] A driving wheel is provided on the lifting member, and the load-bearing parts of the driving wheel and the guide wheel assembly are provided on the upper and lower sides of the track;

[0012] a transmission member disposed between the lifting member and at least one of the guide wheel assemblies, the transmission member being arranged to drive the two guide wheel assemblies toward each other when the driving wheel moves away from the load-bearing portion in a vertical direction;

[0013] The elastic member is used to keep the two guide wheel assemblies away from each other.

[0014] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the transmission members are provided with at least two, and the at least two transmission members are divided into two groups. The two groups of transmission members are respectively connected to the two guide wheel assemblies, and are both connected to the lifting member. The transmission member is arranged so that when the driving wheel moves away from the load-bearing part in the vertical direction, it can drive the two guide wheel assemblies to move synchronously to approach each other.

[0015] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the guide wheel assembly includes a guide member, the frame has a slide rail extending along the length direction, the guide portion of the guide member slides in cooperation with the slide rail, the transmission member is rod-shaped, and the extension direction forms an acute angle with the extension direction of the slide rail, one end of the transmission member is hinged to the lifting member, and the other end is hinged to the guide member.

[0016] As an optional technical solution for the walking mechanism of a track-type inspection robot, two slide rails are provided, and the two slide rails are spaced apart along the width direction. Each end of the guide member has a guide part, and the two guide parts respectively slide in conjunction with the two slide rails.

[0017] As an optional technical solution for the walking mechanism of a track-type inspection robot, the elastic member is arranged between the frame and the lifting member, and is used to apply elastic force to the lifting member to make the lifting member approach the load-bearing part, and drive the two guide wheel assemblies away from each other through the transmission member.

[0018] As an optional technical solution for the walking mechanism of a track-type inspection robot, the lifting member is provided with a lifting hole, and the walking mechanism of the track-type inspection robot also includes a guide rod and an adjusting nut. The guide rod is passed through the lifting hole and can slide relative to the lifting member. The lower end of the guide rod abuts the frame, and the adjusting nut is threadedly engaged with the guide rod. The elastic member is a compression spring, which is sleeved on the guide rod, and its two ends respectively abut the lifting member and the adjusting nut.

[0019] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the guide wheel assembly includes a guide member, a steering assembly, a guide wheel and a load-bearing wheel forming the load-bearing part. The guide member is slidably arranged on the frame, the steering assembly is arranged on the guide member and can rotate around its own axis. The axis of the steering assembly extends in the vertical direction. The guide wheel is arranged on the steering assembly for abutting the side wall of the track, and the load-bearing wheel is arranged on the steering assembly for abutting the top of the track.

[0020] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the steering assembly includes a steering part, two load-bearing seats and four wheel shafts. The steering part is rotatably arranged on the guide part. The two wheel shafts form a group. The two groups of wheel shafts are respectively arranged at the two ends of the steering part. The two load-bearing seats are respectively connected to the two groups of wheel shafts. The lower ends of the wheel shafts are fixed to the steering part, and the upper ends of the wheel shafts are fixed to the load-bearing seats. The guide wheel is rotatably arranged on the wheel shaft and can rotate around the axis of the wheel shaft. The load-bearing wheel is rotatably arranged on the load-bearing seat.

[0021] As an optional technical solution for the walking mechanism of a track-type inspection robot, the lifting member is a frame structure, and has a cavity and an upper opening connected to the cavity, and the load-bearing wheel is partially located in the cavity and partially extends out of the upper opening.

[0022] As an optional technical solution for the walking mechanism of a rail-type inspection robot, the lower end of the lifting member is provided with a hinged portion, the transmission member is connected to the hinged portion, the upper end of the lifting member is folded outward to form a bearing portion, and the upper end of the elastic member abuts against the bearing portion.

[0023] The beneficial effects of the utility model are:

[0024] The two guide wheel assemblies are arranged on the frame at intervals and can move closer to or farther from each other. The lifting member is movably arranged on the frame in a vertical direction, and the load-bearing parts of the driving wheel and the guide wheel assembly are arranged on the upper and lower sides of the track. The transmission member is arranged between the lifting member and at least one guide wheel assembly. When the driving wheel moves away from the load-bearing part, the lifting member drives the guide wheel assemblies to move closer to each other under the driving action of the lifting member. When passing through the upward curved track, the driving wheel moves away from the load-bearing part. Since the distance between the two guide wheel assemblies is reduced, the moving distance of the driving wheel is smaller than the moving distance of the driving wheel in the prior art, so that the deformation of the elastic member is smaller, thereby making the friction between the driving wheel and the load-bearing part and the track smaller, the resistance generated during the travel process is smaller, energy consumption is reduced, and it is helpful to improve endurance; at the same time, the small friction makes the service life of the driving wheel and the load-bearing part longer. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a walking mechanism of a track-type inspection robot from a first perspective in an embodiment of the present utility model;

[0026] Figure 2 This is a structural diagram of a second perspective of a walking mechanism of a track-type inspection robot in an embodiment of the present utility model;

[0027] Figure 3 for Figure 2 Cross-section along the AA direction;

[0028] Figure 4 This is a schematic structural diagram of a walking mechanism of a track-type inspection robot from a third perspective in an embodiment of the present utility model;

[0029] Figure 5 This is a structural diagram of a walking mechanism and track of a track-type inspection robot in an embodiment of the present utility model;

[0030] Figure 6 This is a schematic diagram of a walking mechanism of a track-type inspection robot walking on two curved tracks in an embodiment of the present utility model;

[0031] Figure 7 This is a schematic diagram of the walking mechanism in the prior art in an embodiment of the utility model walking on two curved tracks.

[0032] In the picture:

[0033] 1000, track;

[0034] 100, frame; 110, slide rail; 120, first shaft sleeve;

[0035] 200, guide wheel assembly; 210, load-bearing portion; 220, guide member; 230, guide wheel; 240, steering member; 250, load-bearing seat; 260, leaning wheel shaft; 270, steering shaft; 271, second shaft sleeve; 272, gasket;

[0036] 300, lifting member; 310, bearing portion;

[0037] 400, driving wheel;

[0038] 500, transmission parts;

[0039] 600, elastic parts;

[0040] 700, guide rod; 710, adjusting nut. DETAILED DESCRIPTION

[0041] 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.

[0042] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific position, be constructed and operated in a specific position, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0043] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "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 the specific circumstances.

[0044] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0045] like Figures 1 to 5 As shown, this embodiment provides a track-type inspection robot walking mechanism for walking along a track 1000, and when the track 1000 bends downward, energy consumption is reduced and service life is increased. The track 1000 in this embodiment can be a hanging rail.

[0046] The rail-type inspection robot walking mechanism includes a frame 100, two guide wheel assemblies 200, a lifting member 300, a driving wheel 400, a transmission member 500, and an elastic member 600. The two guide wheel assemblies 200 are spaced apart on the frame 100 along the extension direction of the rail 1000 and can move closer to or farther away from each other. The guide wheel assemblies 200 are used to move along the rail 1000. The lifting member 300 is vertically slidably mounted on the frame 100. The driving wheel 400 is mounted on the lifting member 300. The driving wheel 400 and the load-bearing portion 210 of the guide wheel assembly 200 are respectively located on the upper and lower sides of the rail 1000. The transmission member 500 is disposed between the lifting member 300 and at least one guide wheel assembly 200. The transmission member 500 is arranged so that when the driving wheel 400 moves away from the load-bearing portion 210 in the vertical direction, the two guide wheel assemblies 200 are driven by the lifting member 300 to move closer to each other. The elastic member 600 is used to move the two guide wheel assemblies 200 away from each other.

[0047] With the help of the above-mentioned structural setting, when encountering an upward curved track 1000, the driving wheel 400 moves away from the load-bearing part 210 and drives the lifting member 300 to descend. The descending lifting member 300 drives the transmission member 500 to descend, thereby driving the guide wheel assemblies 200 to approach each other. Since the distance between the two guide wheel assemblies 200 is reduced, when facing a track 1000 with the same degree of curvature, the moving distance of the driving wheel 400 is smaller than the moving distance of the driving wheel 400 in the prior art, so that the deformation of the elastic member 600 is smaller, thereby making the friction between the driving wheel 400 and the load-bearing part 210 and the track 1000 smaller, and the resistance generated during the movement process is smaller, which reduces energy consumption and helps to improve endurance; at the same time, the low friction makes the service life of the driving wheel 400 and the load-bearing part 210 longer; finally, the two guide wheel assemblies 200 have the same structure, strong replaceability, and easy maintenance.

[0048] The guide wheel assembly 200 includes a guide member 220. The frame 100 has a slide rail 110 extending along the length. The guide portion of the guide member 220 slides with the slide rail 110. The transmission member 500 is rod-shaped and its extension direction forms an acute angle with the extension direction of the slide rail 110. One end of the transmission member 500 is hinged to the lifting member 300, and the other end is hinged to the guide member 220. The provision of the guide member 220 limits the movement trajectory of the guide wheel assembly 200 relative to the frame 100, improving the reliability of moving closer or farther away from each other. The transmission member 500 adopts a rod-shaped structure, which helps to reduce the volume, mass and operating energy consumption. The extension direction of the transmission member 500 forms an acute angle with the extension direction of the slide rail 110, which can form a smooth power transmission structure with the lifting member 300, making it easier to drive the two guide wheel assemblies 200 closer or farther away during the lifting process of the lifting member 300. The longitudinal direction is the front-to-back direction, and the vertical direction is the up-down direction.

[0049] In other embodiments, two inclined surfaces can be slidably engaged to achieve the compression of the guide members 220 during the descending process of the lifting member 300, thereby moving the two guide members 220 away from each other. The inclined surface of the guide member 220 slopes inward from top to bottom, while the inclined surface of the lifting member 300 slopes outward from top to bottom.

[0050] In some embodiments, there are at least two transmission members 500, and the at least two transmission members 500 are divided into two groups. The two groups of transmission members 500 are respectively connected to the two guide wheel assemblies 200, and are both connected to the lifting member 300. The transmission members 500 are arranged so that when the driving wheel 400 moves away from the load-bearing part 210 in the vertical direction, the two guide wheel assemblies 200 are driven by the lifting member 300 to move synchronously to approach each other. The two guide wheel assemblies 200 move synchronously to approach each other, thereby increasing the speed at which the two guide wheel assemblies 200 approach each other, thereby quickly adapting to the curved track 1000 and minimizing the deformation of the elastic member 600. For example, the two groups of transmission members 500 are respectively connected to the two guide members 220 in the two guide wheel assemblies 200, and are both connected to the lifting member 300.

[0051] To ensure smooth movement of the guide member 220, two slide rails 110 are provided, spaced apart along the width direction. Each end of the guide member 220 has a guide portion, and the two guide portions slide in engagement with the two slide rails 110. For example, four transmission members 500 are provided, with two transmission members 500 forming a group. Two transmission members 500 in the same group correspond to one guide member 220. The two guide members 220 are located on either side of the transmission member 500 in the width direction. The two transmission members 500 act simultaneously, causing the two guide portions of the guide member 220 to move synchronously relative to the corresponding slide rails 110, thereby improving the smooth movement of the guide member 220 and reducing the probability of jamming. The width direction refers to the left-right direction.

[0052] The guide member 220 is provided with a guide hole to form a guide portion. The slide rail 110 is rod-shaped and is inserted into the guide hole. A first sleeve 120 is provided between the guide hole and the slide rail 110. In other embodiments, the guide portion may be a slider that is slidably mounted on the slide rail 110.

[0053] The elastic member 600 is disposed between the frame 100 and the lifting member 300 and is used to apply an elastic force to the lifting member 300, causing it to approach the load-bearing portion 210, thereby driving the two guide wheel assemblies 200 away from each other via the transmission member 500. This arrangement allows the elastic force to act directly on the lifting member 300, pushing the lifting member 300 and driving the driving wheel 400 toward the track 1000, thereby ensuring a more reliable contact between the driving wheel 400 and the track 1000.

[0054] Combine Figure 1、 Figure 3 and Figure 4 As shown, the lifting member 300 is provided with a lifting hole. The walking mechanism of the rail-type inspection robot also includes a guide rod 700 and an adjustment nut 710. The guide rod 700 is inserted into the lifting hole and can slide relative to the lifting member 300. The lower end of the guide rod 700 abuts the frame 100. The adjustment nut 710 is threadedly engaged with the guide rod 700. The elastic member 600 is a compression spring that is sleeved on the guide rod 700, and its two ends respectively abut the lifting member 300 and the adjustment nut 710. The length of the elastic member 600 can be changed by adjusting the adjustment nut 710, thereby adapting to rails 1000 of different thicknesses. At the same time, the compression spring sleeved on the guide rod 700 makes the use process more stable.

[0055] In some embodiments, the guide wheel assembly 200 includes a guide member 220, a steering assembly, a guide wheel 230, and a load-bearing wheel forming the load-bearing portion 210. The guide member 220 is slidably mounted on the frame 100. The steering assembly is mounted on the guide member 220 and is rotatable about its own axis. The axis of the steering assembly extends in a vertical direction. The guide wheel 230 is mounted on the steering assembly and is configured to abut against the sidewalls of the track 1000. The load-bearing wheel is mounted on the steering assembly and is configured to abut against the top of the track 1000. The guide wheel 230 abuts against the sidewalls of the track 1000 on both sides, thereby enabling left and right steering. The load-bearing wheel is loaded on the upper surface of the track 1000 to bear the weight of the entire traveling mechanism.

[0056] The steering assembly includes a steering member 240, two load-bearing seats 250, and four wheel shafts 260. The steering member 240 is rotatably mounted on the guide member 220. The two wheel shafts 260 form a group, and the two groups of wheel shafts 260 are respectively disposed at both ends of the steering member 240. The two load-bearing seats 250 are respectively connected to the two groups of wheel shafts 260. The lower ends of the wheel shafts 260 are fixedly connected to the steering member 240, and the upper ends of the wheel shafts 260 are fixedly connected to the load-bearing seats 250. The guide wheel 230 is rotatably mounted on the wheel shafts 260 and can rotate about the axis of the wheel shafts 260. The load-bearing wheel is rotatably mounted on the load-bearing seats 250. In this embodiment, the wheel shafts 260 serve as the rotation axis for mounting the guide wheel 230 and also serve as the connecting structure connecting the guide member 220 and the load-bearing seats 250, resulting in a compact structure and a small size.

[0057] Combine Figure 3 As shown, in some embodiments, the steering assembly further includes a steering shaft 270. The steering member 240 has a steering hole. The steering shaft 270 is inserted into the steering hole, and the portion extending out of the steering hole is threadedly connected to the guide member 220. A second sleeve 271 is sleeved around the steering shaft 270 and inserted into the steering hole. The second sleeve 271 is a self-lubricating sleeve. A gasket 272 is sleeved around the outer periphery of the steering shaft 270 and sandwiched between the steering member 240 and the guide member 220, providing enhanced dust and rust prevention and greater stability.

[0058] To facilitate the installation of the load-bearing wheels, in some embodiments, the lifting member 300 is a frame structure having a cavity and an upper opening communicating with the cavity. The load-bearing wheels are partially located within the cavity and partially protrude through the upper opening. By fully utilizing the structure of the lifting member 300, the diameter of the load-bearing wheels can be maximized, thereby improving the smoothness of the load-bearing wheels rolling along the track 1000.

[0059] In some embodiments, the lower end of the lifting member 300 is provided with a hinged portion, to which the transmission member 500 is connected. The upper end of the lifting member 300 is folded outward to form a load-bearing portion 310. A lifting hole is provided in the load-bearing portion 310, and the upper end of the elastic member 600 abuts the load-bearing portion 310. Vertically, the elastic member 600 and the transmission member 500 almost completely overlap, reducing the vertical size of the rail-mounted inspection robot's traveling mechanism, thereby reducing the size of the rail-mounted inspection robot's traveling mechanism, lowering costs, and improving ease of use.

[0060] The changes in the functional compression amount of the elastic member 600 when encountering the curved track 1000 are different between this embodiment and the technical solution in the prior art. For ease of understanding, the values ​​of the various structures are assigned and calculated and compared.

[0061] Combine Figure 6 As shown, in an embodiment where the distance between the two guide wheel assemblies 200 can be changed, the outer diameter of the track 1000 is 1000mm, the diameter of the load-bearing wheel is 40mm, the diameter of the driving wheel 400 is 110mm, the wheelbase of the two load-bearing wheels is 150mm, and the thickness of the track 1000 is 30mm. Assuming that the spring height is 50mm, it can just pass through the downward-curved track 1000. It can be seen from the figure that when the walking mechanism of the track-type inspection robot enters the upward-curved track 1000 from the downward-curved track 1000, the compression amount L2 of the spring is 2.23mm. Therefore, the pressure change of the spring is smaller, so that the friction on the load-bearing wheel and the driving wheel 400 is smaller, the resistance generated during the walking process is smaller, and the energy consumption is lower; at the same time, it helps to ensure the service life of the load-bearing wheel and the driving wheel 400.

[0062] Combine Figure 7 As shown, in an embodiment in which the distance between the two guide wheel assemblies 200 is fixed (a solution in the prior art), under the condition that other parameters are the same, that is, the outer diameter of the track 1000 is 1000mm, the diameter of the load-bearing wheel is 40mm, the diameter of the driving wheel 400 is 110mm, the wheelbase of the two load-bearing wheels is 150mm, and the thickness of the track 1000 is 30mm. Assuming that when the spring height is 50mm, it can just pass through the downward curved track 1000, it can be seen from the figure that when the walking mechanism of the track-type inspection robot enters the upward curved track 1000 from the downward curved track 1000, the compression amount L1 of the spring is 11.73mm, the spring pressure is greater, the resistance is greater, and the energy consumption is high.

[0063] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A track-type inspection robot walking mechanism, characterized in that: include: Rack(100); Two guide wheel assemblies (200), the two guide wheel assemblies (200) are spaced apart on the frame (100) along the extension direction of the track (1000) and can move closer to or farther away from each other, and the guide wheel assemblies (200) are used to travel along the track (1000); A lifting member (300) is movably constrained to the frame (100) along an extension direction perpendicular to the track (1000); A driving wheel (400) is provided on the lifting member (300), and the driving wheel (400) and the load-bearing portion (210) of the guide wheel assembly (200) are respectively provided on the upper and lower sides of the track (1000); a transmission member (500) disposed between the lifting member (300) and at least one of the guide wheel assemblies (200), wherein the transmission member (500) is arranged to drive the two guide wheel assemblies (200) toward each other when the driving wheel (400) moves away from the load-bearing portion (210) in a vertical direction; The elastic member (600) is used to move the two guide wheel assemblies (200) away from each other.

2. The rail-type inspection robot walking mechanism according to claim 1, characterized in that: At least two transmission members (500) are provided, and the at least two transmission members (500) are divided into two groups. The two groups of transmission members (500) are respectively connected to the two guide wheel assemblies (200), and are both connected to the lifting member (300). The transmission member (500) is arranged so that when the driving wheel (400) moves away from the load-bearing part (210) in the vertical direction, it can drive the two guide wheel assemblies (200) to move synchronously to approach each other.

3. The rail-type inspection robot walking mechanism according to claim 1, characterized in that: The guide wheel assembly (200) includes a guide member (220), the frame (100) has a slide rail (110) extending along the length direction, the guide portion of the guide member (220) is slidably engaged with the slide rail (110), the transmission member (500) is rod-shaped, and its extension direction forms an acute angle with the extension direction of the slide rail (110), one end of the transmission member (500) is hinged to the lifting member (300), and the other end is hinged to the guide member (220).

4. The rail-type inspection robot walking mechanism according to claim 3, characterized in that: Two slide rails (110) are provided, and the two slide rails (110) are spaced apart in the width direction. The two ends of the guide member (220) each have a guide portion, and the two guide portions are respectively slidably matched with the two slide rails (110).

5. The rail-type inspection robot walking mechanism according to claim 1, characterized in that: The elastic member (600) is provided between the frame (100) and the lifting member (300), and is used to apply elastic force to the lifting member (300) so that the lifting member (300) approaches the load-bearing portion (210), and drives the two guide wheel assemblies (200) to move away from each other through the transmission member (500).

6. The rail-type inspection robot walking mechanism according to claim 1, characterized in that: The lifting member (300) is provided with a lifting hole, and the walking mechanism of the track-type inspection robot further includes a guide rod (700) and an adjusting nut (710). The guide rod (700) is inserted into the lifting hole and can slide relative to the lifting member (300). The lower end of the guide rod (700) abuts against the frame (100), and the adjusting nut (710) is threadedly engaged with the guide rod (700). The elastic member (600) is a compression spring, which is sleeved on the guide rod (700), and the two ends of the compression spring respectively abut against the lifting member (300) and the adjusting nut (710).

7. The rail-type inspection robot walking mechanism according to any one of claims 1 to 6, characterized in that: The guide wheel assembly (200) comprises a guide member (220), a steering assembly, a guide wheel (230) and a load-bearing wheel forming the load-bearing portion (210); the guide member (220) is slidably arranged on the frame (100); the steering assembly is arranged on the guide member (220) and can rotate around its own axis; the axis of the steering assembly extends in a vertical direction; the guide wheel (230) is arranged on the steering assembly and is used to abut against the side wall of the track (1000); the load-bearing wheel is arranged on the steering assembly and is used to abut against the top of the track (1000).

8. The rail-type inspection robot walking mechanism according to claim 7, characterized in that: The steering assembly comprises a steering member (240), two load-bearing seats (250) and four wheel shafts (260); the steering member (240) is rotatably mounted on the guide member (220); the two wheel shafts (260) form a group; the two groups of wheel shafts (260) are respectively mounted at both ends of the steering member (240); the two load-bearing seats (250) are respectively connected to the two groups of wheel shafts (260); the lower ends of the wheel shafts (260) are fixedly connected to the steering member (240); the upper ends of the wheel shafts (260) are fixedly connected to the load-bearing seats (250); the guide wheel (230) is rotatably mounted on the wheel shafts (260) and can rotate around the axis of the wheel shafts (260); and the load-bearing wheel is rotatably mounted on the load-bearing seats (250).

9. The rail-type inspection robot walking mechanism according to claim 7, characterized in that: The lifting member (300) is in a frame structure and has a cavity and an upper opening communicating with the cavity; the load-bearing wheel is partially located in the cavity and partially passes through the upper opening.

10. The rail-type inspection robot walking mechanism according to claim 9, characterized in that: The lower end of the lifting member (300) is provided with a hinge portion, the transmission member (500) is connected to the hinge portion, the upper end of the lifting member (300) is folded outward to form a bearing portion (310), and the upper end of the elastic member (600) abuts against the bearing portion (310).

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