Track inspection robot

Abstract

The present invention provides a track inspection robot, comprising a chassis, a walking device, a control device and a detection device, wherein the walking device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission member and a transmission shaft connected in sequence, and the two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, and the first wheel and the second wheel are respectively used to bear on a first track and a second track arranged relatively; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is communicatively connected with the walking device and the detection device to control the walking state and detection action of the robot. The present invention can replace manual track inspection operations, improve the accuracy of measurement data, avoid measurement errors caused by human operation, and also reduce labor intensity and improve labor safety.

Description

Technical Field

[0001] The invention relates to railway track detection technology, and in particular to a track inspection robot. Background Art

[0002] In recent years, my country's railway industry has developed rapidly, the total length of railway lines has increased year by year, and the workload of railway track inspection has also become increasingly larger. Railway track inspection is mainly to check whether there are defects in the track line to prevent safety accidents during train operation.

[0003] In the prior art, railway track inspection work is mainly done manually. Inspectors drive comprehensive inspection vehicles or push inspection carts on the railway tracks. Comprehensive inspection vehicles are relatively large and require overall dispatch of the railway system, which is inconvenient to use and has high costs. The inspection carts are loaded with various measuring tools. During the inspection process, at fixed intervals, inspectors use the tools to measure some basic parameters of the track to ensure the normal operation of the train.

[0004] However, the existing measurement method requires the measurement personnel to work on the track all the time, which has low safety, high labor intensity and high labor cost. At the same time, if the measurement tool is placed incorrectly, it will cause huge measurement errors and low accuracy of the measurement data. Summary of the invention

[0005] In order to overcome the above-mentioned defects in the prior art, the purpose of the present invention is to provide a track inspection robot, which can improve measurement accuracy, avoid measurement errors caused by human operation, reduce labor intensity, and improve labor safety.

[0006] An embodiment of the present invention provides a track inspection robot, comprising a chassis, a walking device, a control device and a detection device, wherein the walking device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission member and a transmission shaft connected in sequence, and the two ends of the transmission shaft are respectively connected to a first wheel and a second wheel, and the first wheel and the second wheel are respectively used to bear on a first track and a second track arranged oppositely; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, and the control device is communicatively connected to the walking device and the detection device to control the walking state and detection action of the robot.

[0007] As described above, the track inspection robot, optionally, the transmission shaft includes a first transmission shaft and a second transmission shaft, the first transmission shaft and the second transmission shaft are both connected to the chassis, and the drive motor drives the first transmission shaft to rotate through the transmission member to drive the robot to walk along the track.

[0008] As described above, the track inspection robot, optionally, the first transmission shaft is connected to the chassis via a first bearing seat, and the second transmission shaft is connected to the chassis via a second bearing seat; the transmission member includes a reducer, a first sprocket, a second sprocket and a chain, the chain connects the first sprocket and the second sprocket, the second sprocket is sleeved on the first transmission shaft, and the output end of the drive motor is connected to the first sprocket via the reducer to drive the first transmission shaft to rotate.

[0009] As for the track inspection robot as described above, optionally, an encoder is further provided on the second transmission shaft, and the encoder is communicatively connected with the control device for detecting the number of revolutions of the second transmission shaft.

[0010] The track inspection robot as described above may, optionally, further include a clamping device, which is disposed on a side of the chassis close to the first track, and is used to clamp the first track so that the first wheel moves along the first track.

[0011] As for the track inspection robot as described above, optionally, along the track gauge direction, the width of the second wheel is greater than the width of the first wheel.

[0012] As for the track inspection robot as described above, optionally, the chassis is further provided with a scraper plate adapted to the first wheel and the second wheel.

[0013] As for the rail inspection robot as described above, optionally, the control device includes a memory, a processor and electrical components, the memory is communicatively connected to the processor, and is used to store measurement data of the detection device, and the processor is connected to the walking device and the detection device through the electrical components to control the walking state and detection action of the robot.

[0014] As described above, the track inspection robot, optionally, the track gauge detection device includes a first distance sensor and a second distance sensor arranged relatively to each other, the first distance sensor and the second distance sensor are respectively arranged on both sides of the chassis along the track gauge direction; the first distance sensor is arranged close to the first track, and the second distance sensor is arranged close to the second track; the first distance sensor is used to detect the distance between the first distance sensor and the inner side surface of the first track, and the second distance sensor is used to detect the distance between the second distance sensor and the inner side surface of the second track.

[0015] As described above, in the track inspection robot, optionally, the track height difference detection device comprises an inclination sensor, and the inclination sensor is used to measure the inclination angle of the chassis.

[0016] As for the track inspection robot as described above, optionally, the platform detection device includes at least one third distance sensor and a fourth distance sensor, and the third distance sensor and the fourth distance sensor can move up and down in a direction perpendicular to the chassis, and the third distance sensor is used to detect the distance between the platform and the robot, and the fourth distance sensor is used to detect the height of the movement of the third distance sensor.

[0017] For the track inspection robot as described above, optionally, the canopy detection device includes an environmental sensor, and the environmental sensor is used to detect the environment in front of the robot's walking direction.

[0018] The track inspection robot as described above may, optionally, further include an anti-collision device, which is communicatively connected to the control device; the anti-collision device includes a fifth distance sensor and a contact sensor, the fifth distance sensor being used to detect obstacles in front of the robot's walking direction, and sending a stop command to the control device when the distance to the obstacle is less than a preset value, and the contact sensor being used to send a stop command to the control device after contacting an object.

[0019] The track inspection robot as described above may, optionally, further include a power supply, which is electrically connected to the walking device, the control device and the detection device.

[0020] The rail inspection robot as described above may, optionally, further include a shell, wherein the shell is disposed on the chassis, and a receiving cavity for receiving a circuit board is formed between the shell and the chassis.

[0021] As for the track inspection robot as described above, optionally, a display device and a control button are further provided on the surface of the shell, and the display device and the control button are communicatively connected with the control device.

[0022] As described above, the rail inspection robot, optionally, the control device further comprises a wireless communication module, and the wireless communication module is used to connect to an external device.

[0023] The track inspection robot as described above may, optionally, further include a support wheel, which is arranged below the chassis and between the first wheel and the second wheel, and the distance between the bottom end of the support wheel and the chassis is greater than the distance between the first wheel and the chassis and less than the distance between the first track and the chassis.

[0024] The track inspection robot provided by the present invention can walk on the track by setting a walking device, and the control device can set the robot's walking distance and the interval distance of data detection, and obtain the parameters of the track and its surrounding environment through the detection device, so that it can replace manual work to perform track inspection operations, improve the accuracy of measurement data, avoid measurement errors caused by human operation, and at the same time reduce labor intensity and improve labor safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A simplified structural diagram of a track inspection robot provided by an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A side view of the structure;

[0028] Figure 3 for Figure 1 The main structure diagram;

[0029] Figure 4 A simplified structural diagram of an active mechanism provided by an embodiment of the present invention;

[0030] Figure 5 A simplified structural diagram of a driven mechanism provided in one embodiment of the present invention.

[0031] Reference numerals:

[0032] 100-chassis; 210-active mechanism;

[0033] 211-driving motor; 212-reducing machine;

[0034] 213-first sprocket; 214-chain;

[0035] 215-first transmission shaft; 216-first bearing seat;

[0036] 217-first wheel; 218-second wheel;

[0037] 221-second transmission shaft; 222-encoder;

[0038] 223-pulley; 224-synchronous belt;

[0039] 225-second bearing seat; 220-driven mechanism;

[0040] 230-support wheel; 240-scraper plate;

[0041] 300-clamping device; 400-housing;

[0042] 510-track gauge detection device; 520-track height difference detection device;

[0043] 530- platform detection device; 540- canopy detection device;

[0044] 610-fifth distance sensor; 620-contact sensor;

[0045] 700-display device; 800-control button;

[0046] 900-power supply; 1000-control device;

[0047] 1100-first track; 1200-second track. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0049] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0050] Figure 1 A simplified structural diagram of a track inspection robot provided by an embodiment of the present invention; Figure 2 for Figure 1 A side view of the structure; Figure 3 for Figure 1 The main structure diagram; Figure 4 A simplified structural diagram of an active mechanism provided by an embodiment of the present invention; Figure 5 A schematic diagram of the structure of a driven mechanism provided by an embodiment of the present invention; please refer to Figure 1-Figure 5 .

[0051] The present embodiment provides a track inspection robot, including a chassis 100, a walking device, a control device 1000 and a detection device, wherein the walking device, the control device 1000 and the detection device are all arranged on the chassis 100; the walking device includes a driving motor 211, a transmission member and a transmission shaft connected in sequence, and the two ends of the transmission shaft are respectively connected with a first wheel 217 and a second wheel 218, and the first wheel 217 and the second wheel 218 are respectively used to be carried on a first track 1100 and a second track 1200 arranged opposite to each other; the detection device includes a track gauge detection device 510, a track height difference detection device 520, a platform detection device 530 and a canopy detection device 540, and the control device 1000 is communicatively connected with the walking device and the detection device to control the walking state and detection action of the robot.

[0052] In this embodiment, the chassis 100 can be made of high-strength aluminum alloy or aluminum profiles to reduce the weight of the robot and improve its strength.

[0053] When in use, the control device 1000 preselects and sets the walking distance of the robot, and sets the spacing between adjacent measurements. The robot walks on the first track 1100 and the second track 1200 through the walking mechanism, and stops at each set distance to measure data. The measured data include the track gauge, the height difference between the first track 1100 and the second track 1200, the platform height and the distance from the platform to the track center, the outer contour size of the canopy, etc. Optionally, the control device 1000 includes a memory, a processor, and an electrical component. The memory is communicatively connected to the processor to store the measurement data of the robot. The processor is connected to the walking device and the detection device through the electrical components to control the walking state and detection action of the robot. The measured data can be stored in the memory, or compared with the standard data pre-set in the memory by the processor to find defects in the track.

[0054] The track inspection robot provided in this embodiment can walk on the track by setting a walking device. The control device 1000 can set the robot's walking distance and the interval distance of data detection, and obtain various geometric parameters of the track and its surrounding environment through the detection device, so as to replace manual track inspection operations, improve the accuracy of measurement data, avoid measurement errors caused by human operation, and at the same time reduce labor intensity and improve labor safety.

[0055] Specifically, the walking device of this embodiment includes an active mechanism 210 and a driven mechanism 220, the active mechanism 210 includes a driving motor 211 and a transmission member, the transmission shaft includes a first transmission shaft 215 located on the active mechanism 210 and a second transmission shaft 221 located on the driven mechanism 220, the first transmission shaft 215 and the second transmission shaft 221 are both fixedly connected to the chassis 100, the driving motor 211 drives the first transmission shaft 215 to rotate through the transmission member, so that the first wheel 217 and the second wheel 218 on both sides of the first transmission shaft 215 walk along the track, and the second transmission shaft 221 rotates with the first transmission shaft 215 under the action of the chassis 100, driving the first wheel 217 and the second wheel 218 on both sides of the second transmission shaft 221 to walk along the track to realize the walking of the robot.

[0056] Furthermore, the first transmission shaft 215 is fixedly connected to the chassis 100 through the first bearing seat 216, and the second transmission shaft 221 is fixedly connected to the chassis 100 through the second bearing seat 225; the first bearing seat 216 and the second bearing seat 225 can be fixed to the chassis 100 by bolt connection. The transmission member includes a reducer 212, a first sprocket 213, a second sprocket and a chain 214, the chain 214 connects the first sprocket 213 and the second sprocket, and the second sprocket is sleeved on the first transmission shaft 215. The output end of the driving motor 211 is connected to the first sprocket 213 through the reducer 212 to drive the first transmission shaft 215 to rotate.

[0057] The second transmission shaft 221 may be provided with an encoder 222, which is in communication connection with the control device 1000 and is used to record the walking distance of the robot. Specifically, the encoder 222 is connected to the second transmission shaft 221 via a pulley 223 and a synchronous belt 224. When the robot walks, the encoder 222 can record the number of revolutions of the second transmission shaft 221, so that the walking distance of the robot can be obtained by calculation.

[0058] Furthermore, this embodiment further includes a clamping device 300 , which is disposed on a side of the chassis 100 close to the first track 1100 . The clamping device 300 is used to clamp the first track 1100 so that the first wheel 217 moves along the first track 1100 .

[0059] The clamping device includes a fixed wheel mechanism and a clamping wheel mechanism that are arranged relatively, the fixed wheel of the fixed wheel mechanism always abuts against the first side of the first track 1100, the clamping wheel mechanism includes a floating wheel and a pre-tightening mechanism, the pre-tightening mechanism is used to apply a pre-tightening force to the floating wheel so that the floating wheel abuts against the second side of the track 1100. Before the track inspection robot performs the inspection operation, according to the actual size of the measured first track 1100, the size of the pre-tightening force applied to the floating wheel by the pre-tightening mechanism is adjusted, so that the floating wheel can abut against the second side of the first track 1100, and the fixed wheel abuts against the first side of the first track 1100, thereby clamping the track from both sides of the first track 1100, so that the track inspection robot will not shake or deviate from the clamped first track 1100 when walking, that is, the track inspection robot can always perform the inspection operation based on the clamped first track 1100, thereby eliminating the error of the detection result of the track inspection robot and improving the accuracy of the detection result.

[0060] Optionally, along the track gauge direction, the width of the second wheel 218 is greater than the width of the first wheel 217. Since the track gauge of the railway track has a certain tolerance, the width of the second wheel 218 is set to be greater than the width of the upper end surface of the second track 1200, so that the second wheel 218 can have a certain floating space, and when the track gauge tolerance value changes, it can also ensure that the second wheel 218 always walks on the second track 1200, thereby improving the walking efficiency of the robot.

[0061] Optionally, the chassis 100 is also provided with a scraper plate 240 adapted to the first wheel 217 and the second wheel 218. The scraper plate 240 can remove stones, snow, mud, leaves, etc. on the track in front of the robot to ensure the normal passage of the robot.

[0062] Optionally, the track gauge detection device 510 includes a first distance sensor and a second distance sensor that are arranged opposite to each other, and the first distance sensor and the second distance sensor are respectively arranged on both sides of the chassis 100 along the track gauge direction. The track gauge of the track can be obtained by respectively obtaining the distances to the tracks on both sides through the first distance sensor and the second distance sensor, and adding the fixed distance between the first distance sensor and the second distance sensor. The first distance sensor and the second distance sensor can both be laser sensors.

[0063] Optionally, the track height difference detection device 520 includes an inclination sensor, which can be set on the chassis 100. The inclination sensor is used to measure the inclination angle of the chassis 100. By measuring the inclination angle of the chassis 100 and then calculating the track height difference according to the measured track gauge, the control device 1000 calculates the track height difference.

[0064] Optionally, the platform detection device 530 includes at least one third distance sensor and a fourth distance sensor, which can move up and down in a direction perpendicular to the chassis 100. The third distance sensor is used to detect the distance between the platform and the robot, and the fourth distance sensor is used to detect the height of the movement of the third distance sensor.

[0065] Specifically, the platform detection device 530 can be set close to one side of the platform. The third distance sensor and the fourth distance sensor can both be selected as laser sensors. The platform detection device 530 can include a movable slide. The movable slide is provided with three third distance sensors with fixed angles. The third distance sensor can move up and down with the movable slide. The third distance sensor measures the distance to the side of the platform while moving. The minimum distance from the center of the track to the side of the platform and the height from the platform to the track surface are calculated by the control device 1000.

[0066] Optionally, the canopy detection device 540 includes an environmental sensor, and the environmental sensor is used to detect the environment in front of the robot's walking direction.

[0067] Specifically, the environmental sensor can be selected as a radar. When the robot stops at a certain position, the radar scans the distance of objects within 270° relative to the center of the track from the center of the track. The cross-sectional contours of the platform and the canopy are fitted through the control device 1000 and compared with the standard contour boundaries to determine whether there is any infringement.

[0068] Optionally, an anti-collision device is also included, which is communicatively connected to the control device 1000; the anti-collision device includes a fifth distance sensor 610 and a contact sensor 620, and the fifth distance sensor 610 is used to detect obstacles in front of the robot's walking direction, and send a control instruction to the control device 1000 when the distance to the obstacle is less than a preset value.

[0069] Specifically, the fifth distance sensor 610 may be a laser sensor, and the contact sensor 620 may be a pressure sensor. The fifth distance sensor 610 is composed of a main sensor with a measuring range of 3m and an auxiliary sensor with a measuring range of 1m. When there is an obstacle 3m in front of the robot, the robot starts to slow down, and when there is an obstacle 1m in front of the robot, the robot stops. The light emitted by the main sensor is in a 90° fan shape, and the auxiliary sensor and the main sensor are at an angle of 45° to ensure that the robot is fully covered in front of the movement. When the fifth distance sensor 610 fails, the contact sensor 620 hits an obstacle and the robot stops immediately.

[0070] Optionally, a power supply 900 is also included, and the power supply 900 is electrically connected to the walking device, the control device 1000 and the detection device. The power supply 900 can use a DC 48V battery, and the battery can be pushed and pulled on the chassis 100 for easy replacement.

[0071] Optionally, a shell 400 is further included. The shell 400 is disposed on the chassis 100 , and a receiving cavity for receiving other devices is formed between the shell 400 and the chassis 100 .

[0072] Optionally, a display device 700 and a control button 800 are further provided on the surface of the housing 400, and the display device 700 and the control button 800 are communicatively connected with the control device 1000. The display device 700 can display the measured image in real time, and the control button 800 includes at least a start button, an emergency stop button, and a working indicator light.

[0073] Optionally, the control device 1000 further includes a wireless communication module, which is used to connect to an external device, such as a computer or a mobile phone, so as to achieve remote control and data collection.

[0074] Optionally, the track inspection robot further includes a support wheel 230, which is disposed below the chassis 100 and between the first wheel 217 and the second wheel 218. The distance between the bottom end of the support wheel 230 and the chassis 100 is greater than the distance between the first wheel 217 and the chassis 100 and less than the distance between the first track 1100 and the chassis 100. This ensures that the robot can walk normally on the track. At the same time, when the robot is removed from the track, the support wheel 230 can be brought into contact with the ground to prevent damage to the first wheel 217 and the second wheel 218, thereby increasing the service life.

[0075] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] It should be noted that in the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track inspection robot, characterized in that: It comprises a chassis, a walking device, a control device, a detection device and a power supply, wherein the walking device, the control device and the detection device are all arranged on the chassis; the walking device comprises a driving motor, a transmission member and a transmission shaft connected in sequence, the two ends of the transmission shaft are respectively connected with a first wheel and a second wheel, the first wheel and the second wheel are respectively used to bear on a first track and a second track arranged oppositely; the detection device comprises a track gauge detection device, a track height difference detection device, a platform detection device and a canopy detection device, the control device is communicatively connected with the walking device and the detection device to control the walking state and detection action of the robot; the power supply is electrically connected with the walking device, the control device and the detection device; The platform detection device includes at least one third distance sensor and a fourth distance sensor, and the third distance sensor and the fourth distance sensor can move up and down in a direction perpendicular to the chassis. The third distance sensor is used to detect the distance between the platform and the robot, and the fourth distance sensor is used to detect the height of the movement of the third distance sensor.

2. The rail inspection robot according to claim 1, characterized in that: The transmission shaft includes a first transmission shaft and a second transmission shaft, both of which are connected to the chassis, and the driving motor drives the first transmission shaft to rotate through the transmission member to drive the robot to walk along the track.

3. The rail inspection robot according to claim 2, characterized in that: The first transmission shaft is connected to the chassis via a first bearing seat, and the second transmission shaft is connected to the chassis via a second bearing seat; the transmission member includes a reducer, a first sprocket, a second sprocket and a chain, the chain connects the first sprocket and the second sprocket, the second sprocket is sleeved on the first transmission shaft, and the output end of the drive motor is connected to the first sprocket via the reducer to drive the first transmission shaft to rotate.

4. The rail inspection robot according to claim 2, characterized in that: The second transmission shaft is also provided with an encoder, which is communicatively connected with the control device and is used to detect the number of revolutions of the second transmission shaft.

5. The rail inspection robot according to claim 1, characterized in that: It also includes a clamping device, which is arranged on a side of the chassis close to the first track, and is used to clamp the first track so that the first wheel can move along the first track.

6. The rail inspection robot according to claim 5, characterized in that: Along the track gauge direction, the width of the second wheel is greater than the width of the first wheel.

7. The rail inspection robot according to claim 1, characterized in that: The chassis is also provided with a scraper plate matched with the first wheel and the second wheel.

8. The rail inspection robot according to claim 1, characterized in that: The control device includes a memory, a processor and an electrical component. The memory is communicatively connected to the processor and is used to store the measurement data of the detection device. The processor is connected to the walking device and the detection device through the electrical component to control the walking state and detection action of the robot.

9. The rail inspection robot according to claim 1, characterized in that: The track gauge detection device includes a first distance sensor and a second distance sensor that are arranged opposite to each other, and the first distance sensor and the second distance sensor are respectively arranged on both sides of the chassis along the track gauge direction; the first distance sensor is arranged close to the first track, and the second distance sensor is arranged close to the second track; the first distance sensor is used to detect the distance between the first distance sensor and the inner side surface of the first track, and the second distance sensor is used to detect the distance between the second distance sensor and the inner side surface of the second track.

10. The rail inspection robot according to claim 1, characterized in that: The track height difference detection device comprises an inclination sensor, and the inclination sensor is used to measure the inclination angle of the chassis.

11. The rail inspection robot according to claim 1, characterized in that: The canopy detection device includes an environmental sensor, and the environmental sensor is used to detect the environment in front of the robot's walking direction.

12. The rail inspection robot according to claim 1, characterized in that: It also includes an anti-collision device, which is communicatively connected to the control device; the anti-collision device includes a fifth distance sensor and a contact sensor, the fifth distance sensor is used to detect obstacles in front of the robot's walking direction, and sends a stop command to the control device when the distance to the obstacle is less than a preset value, and the contact sensor is used to send a stop command to the control device after contacting the object.

13. The rail inspection robot according to claim 1, characterized in that: It also includes a shell, which is arranged on the chassis, and a receiving cavity for receiving a circuit board is formed between the shell and the chassis.

14. The rail inspection robot according to claim 13, characterized in that: The shell surface is also provided with a display device and a control button, and the display device and the control button are communicatively connected with the control device.

15. The rail inspection robot according to claim 1, characterized in that: The control device also includes a wireless communication module, and the wireless communication module is used to connect to external equipment.

16. The rail inspection robot according to claim 1, characterized in that: It also includes a support wheel, which is arranged below the chassis and between the first wheel and the second wheel. The distance between the bottom end of the support wheel and the chassis is greater than the distance between the first wheel and the chassis and less than the distance between the first track and the chassis.

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