A track inspection robot

Abstract

The present invention discloses a track type inspection robot, including a mounting platform integrated with a drive controller; a walking mechanism arranged on one side of the mounting platform and used for running on the track, the walking mechanism being electrically connected to the drive controller; a swing arm mechanism arranged on the mounting platform, the swing arm mechanism comprising a reduction motor, a support housing and a swing arm, the swing arm being connected to the support housing, the support housing being connected to the output end of the reduction motor, the reduction motor being electrically connected to the drive controller, and the reduction motor being able to control the swing arm to swing toward or away from the side of the walking mechanism. The present invention is designed with a swing type swing arm, which can be switched to a horizontal state when encountering a bridge part so as to easily pass through the bridge, not only does it not need to modify the bridge structure on the track, but also the processing method is ingenious and simple, and the cost is not high.

Description

Technical Field

[0001] The present invention relates to the technical field of track inspection, and in particular to a track inspection robot. Background Art

[0002] At present, when a rail inspection robot performs inspection work on the track, it will pass through the (U-shaped) bridge part set up at regular intervals on the track. Since the inspection robot is generally equipped with a camera pan-tilt mechanism, the camera pan-tilt mechanism is mainly installed on the lower surface of the inspection robot and obtains environmental information. The camera pan-tilt mechanism increases the overall height of the inspection robot, which makes it difficult to pass through the bridge part. In order to overcome this problem, some practices are to redesign and improve the bridge structure, which makes the structure more complicated, or to widen and increase the overall size of the bridge on the track. Such solutions are relatively complicated and costly. Summary of the invention

[0003] The purpose of the present invention is to provide a track-type inspection robot. The inspection robot is designed with a swinging arm, which can switch to a horizontal state when encountering a bridge part, so as to easily pass through the bridge. Not only does it not require modification of the bridge structure on the track, but the processing method is also ingenious and simple, and the cost is not high.

[0004] An embodiment of the present invention is implemented as follows: a track-type inspection robot, including a mounting platform integrated with a drive controller; a walking mechanism arranged on one side of the mounting platform and used for running on the track, the walking mechanism is electrically connected to the drive controller; a swing arm mechanism is arranged on the mounting platform, the swing arm mechanism includes a reduction motor, a support shell and a swing arm, the swing arm is connected to the support shell, the support shell is connected to the output end of the reduction motor, the reduction motor is electrically connected to the drive controller, and the reduction motor can control the swing arm to swing toward or away from the walking mechanism.

[0005] Furthermore, an assembly groove is processed on one side of the mounting platform, and the supporting shell and the reduction motor are both arranged in the assembly groove. One end of the swing arm is inserted into the assembly groove and connected to the supporting shell. The swing arm is a hollow telescopic rod. A winch drum is arranged in the supporting shell, and a retractable rope that can be extended into the inner cavity of the swing arm is wound around the winch drum. A stepper motor connected to the drive controller is arranged on the mounting platform, and the output shaft of the stepper motor is inserted into the supporting shell and connected to the winch drum.

[0006] Furthermore, the walking mechanism includes an auxiliary wheel mechanism and a driving wheel mechanism arranged on a side of the mounting platform close to the track, the auxiliary wheel mechanism and the driving wheel mechanism both include a wheel frame and a bearing connector arranged on one side of the wheel frame, the wheel frames of the auxiliary wheel mechanism and the driving wheel mechanism are rotatably connected to the mounting platform through the bearing connector, and two mounting support plates are provided on the side of the wheel frames of the auxiliary wheel mechanism and the driving wheel mechanism away from their bearing connectors, the two mounting support plates are respectively located on both sides of the wheel frame spanning the track, and guide wheel groups and load-bearing wheel groups that can match the track running are installed on the sides of the two mounting support plates close to each other, a running motor connected to a drive controller is provided on one of the mounting support plates on one side of the driving wheel mechanism, a running gear that can mesh with a rack on the track is installed on the output shaft of the running motor, and the running gear in the driving wheel mechanism and the load-bearing wheel group on the same side are respectively located on both sides of the lower edge of the track.

[0007] Furthermore, a connecting bracket is arranged between the wheel frame of the auxiliary wheel mechanism and the mounting platform. The wheel frame of the auxiliary wheel mechanism is rotatably connected to one side of the connecting bracket through a bearing connecting piece. The side of the connecting bracket away from the wheel frame of the auxiliary wheel mechanism is connected to the mounting platform. The side of the connecting bracket connected to the mounting platform spans above the end of the swing arm close to the supporting shell, and the side of the connecting bracket spanning the swing arm is processed with a swing arm avoidance cavity for limiting the swing arm.

[0008] Furthermore, the mounting support plates in the auxiliary wheel mechanism and the driving wheel mechanism include a base plate and two support plates formed on the base plate, the side of the base plate away from the support plate is fixedly connected to the corresponding wheel frame, and each mounting support plate in the auxiliary wheel mechanism and the driving wheel mechanism is installed with two sets of guide wheel groups and a set of load-bearing wheel groups, the two sets of guide wheel groups are respectively arranged on the two support plates of the mounting support plate, a frame plate is fixed on the side of the base plate away from the wheel frame, the frame plate is located between the two support plates, the load-bearing wheel group is installed on the frame plate, the load-bearing wheel group includes a load-bearing wheel axle and a load-bearing wheel, one end of the load-bearing wheel axle is fixed on the frame plate, and the other end points to the track, and the load-bearing wheel is rotatably installed on the end of the load-bearing wheel axle pointing to the track.

[0009] Furthermore, each mounting support plate has two upper and lower support plates formed on one side of the support plate close to the track, and each support plate is provided with an axial hole. A single set of guide wheel groups is installed between the two support plates in the single support plate. The guide wheel group includes an axle and guide wheels installed at the upper and lower ends of the axle. The two ends of the axle in the guide wheel group can respectively rotatably pass through the axial holes on the support plates on both sides.

[0010] Furthermore, the axial holes on the support plates located in the support plates on one side of the track in the auxiliary wheel mechanism and the driving wheel mechanism are all strip holes, and the length direction of the strip holes is consistent with the direction of the support plates where they are located. A spring shaft is provided on the support plates on one side of the track, one end of the spring shaft is fixedly connected to the support plate, and the other end of the spring shaft is detachably connected to the middle part of the corresponding wheel axle.

[0011] Furthermore, an adjustment mechanism for adjusting the meshing degree between the running gear and the track rack is installed on the wheel frame of the driving wheel mechanism, the adjustment mechanism includes a motor bracket and a floating support assembly installed on the motor bracket, the floating support assembly includes an optical axis, a limit seat, a spring and a linear bearing, the limit seat is fixed on the wheel frame of the driving wheel mechanism, one end of the optical axis is fixedly connected to the limit seat, the other end of the optical axis is mounted on the linear bearing, the spring is mounted on the optical axis between the linear bearing and the limit seat, the linear bearing is fixedly connected to the motor bracket, one side of the motor bracket is fixedly connected to the running motor, and a rack positioning wheel that can roll in contact with the track is provided on the side of the motor bracket away from the linear bearing.

[0012] Furthermore, two groups of floating support components are symmetrically installed on the motor bracket, and the two groups of floating support components are respectively located on both sides of the running gear, and a guide connecting plate is fixed between the ends of the two optical axes away from the limit seat.

[0013] Furthermore, a photoelectric detection component connected to the drive controller is arranged on a mounting support plate on one side of the auxiliary wheel mechanism or the drive wheel mechanism.

[0014] The beneficial effects of the embodiments of the present invention are:

[0015] The track inspection robot provided by the embodiment of the present invention is provided with a swing arm mechanism on the installation platform. The swing arm in the swing arm mechanism has the function of switching back and forth from a vertical state to a horizontal state. When encountering a bridge portion while traveling on the track, the swing arm can be switched to a horizontal state to easily pass through the bridge. After passing through the bridge, it can be further switched back to a vertical state, which can facilitate the camera pan-tilt mechanism at one end of the swing arm to collect environmental information. Compared with the existing processing method, not only does it not require major changes to the bridge structure, but it only needs a simple control function to achieve the purpose of passing through the bridge. The processing method is clever, simple and low-cost, and can provide more practical reference experience for low-cost track laying in the current field of track inspection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the use of the track-type inspection robot provided in an embodiment of the present invention;

[0018] Figure 2 for Figure 1 The schematic diagram of part of the structure of the track-type inspection robot when in use is shown;

[0019] Figure 3 A schematic diagram of the structure of the track-type inspection robot provided by an embodiment of the present invention without the protective shell;

[0020] Figure 4 A schematic structural diagram of a swing arm mechanism provided by an embodiment of the present invention;

[0021] Figure 5 for Figure 4 A structural schematic diagram of the swing arm mechanism from another perspective;

[0022] Figure 6 for Figure 5 A partial structural schematic diagram of the swing arm mechanism shown;

[0023] Figure 7 A schematic diagram of the structure of a walking mechanism provided by an embodiment of the present invention;

[0024] Figure 8 for Figure 7 A partial structural schematic diagram of the walking mechanism shown;

[0025] Fig. 9 A schematic diagram of the structure of a driving wheel mechanism provided in an embodiment of the present invention;

[0026] Fig.10 for Fig. 9 A schematic structural diagram of the driving wheel mechanism from another perspective;

[0027] Fig.11 for Fig.10 A partial structural schematic diagram of the driving wheel mechanism shown;

[0028] Fig.12 A schematic diagram of the structure of an adjustment mechanism provided by an embodiment of the present invention;

[0029] Fig.13 A schematic diagram of the structure of an auxiliary wheel mechanism provided by an embodiment of the present invention;

[0030] Fig.14 for Fig.13 A partial structural schematic diagram of the auxiliary wheel mechanism shown.

[0031] Icons: 1-installation platform; 2-auxiliary wheel mechanism; 21-connecting bracket; 22-wheel frame; 23-bearing connector; 24-installation support plate; 25-guide wheel group; 26-load-bearing wheel group; 241-bottom plate; 242-support plate; 243-frame plate; 244-support plate; 245-axis hole; 246-strip hole; 247-spring shaft; 251-wheel axle; 252-guide wheel; 261-load-bearing wheel; 262-load-bearing wheel axle; 3-driving wheel mechanism; 31-travel motor; 32-wheel frame; 33-bearing connector; 34-installation support plate; 35-guide wheel group; 36-adjustment mechanism; 37-load-bearing wheel group; 38-travel gear; 341-bottom plate; 342-support plate; 343-frame plate; 344-support plate Support plate; 345-axis hole; 346-strip hole; 347-spring shaft; 351-wheel axle; 352-guide wheel; 361-motor bracket; 362-floating support assembly; 363-rack positioning wheel; 371-load-bearing wheel; 372-load-bearing wheel axle; 3621-limit seat; 3622-optical axis; 3623-linear bearing; 3624-guide connecting plate; 4-photoelectric detection assembly; 5-sliding contact power supply assembly; 6-swing arm mechanism; 61-detection switch; 62-assembly slot; 63-reduction motor; 64-support shell; 65-stepping motor; 66-receiving shell; 67-swing arm; 68-winch; 69-first limit switch; 610-second limit switch; 7-protective shell; 8-drive controller. DETAILED DESCRIPTION

[0032] 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0037] The terms "roughly" and "basically" are intended to explain that the relevant content does not require absolute accuracy, but can have certain deviations. For example, "roughly equal to" does not only mean absolute equality. Since it is difficult to achieve absolute "equality" in actual production and operation, there are generally certain deviations. Therefore, in addition to absolute equality, "roughly equal to" also includes the above-mentioned situation with certain deviations. Taking this as an example, in other cases, unless otherwise specified, the terms "roughly" and "basically" have similar meanings to the above.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of 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.

[0039] Example

[0040] Please refer to Figure 1 to Figure 3The track-type inspection robot provided in this embodiment includes a mounting platform 1 integrated with a drive controller 8; a walking mechanism arranged on one side of the mounting platform 1 and used for walking on the track, and the walking mechanism is electrically connected to the drive controller 8; a swing arm mechanism 6 arranged on the mounting platform 1, specifically, the swing arm mechanism 6 includes a reduction motor 63, a support shell 64 and a swing arm 67, the swing arm 67 is connected to the support shell 64 by bolts, the support shell 64 is connected to the output end of the reduction motor 63, the reduction motor 63 is electrically connected to the drive controller 8, and the reduction motor 63 can control the swing arm 67 to swing toward or away from the side of the walking mechanism. By arranging a swing arm mechanism 6 on the mounting platform 1, the swing arm 67 in the swing arm mechanism 6 has the function of switching back and forth from a vertical state to a horizontal state. When encountering a bridge portion while traveling on the track, the swing arm 67 can be switched to a horizontal state to easily pass through the bridge. After passing through the bridge, it can be further switched back to a vertical state, which can facilitate the camera pan-tilt mechanism (not shown) connected to one end of the swing arm 67 to collect environmental information. Compared with the existing processing method, not only does it not require a major change to the bridge structure, but it only requires a simple control function to achieve the purpose of passing through the bridge.

[0041] The installation platform 1 is provided with a protective shell 7. The integrated surface, i.e., the upper surface, of the installation platform 1 can be divided into at least a driver installation area (for integrated installation of the drive controller 8), a power supply installation area, a power network bridge installation area, and a swing arm installation area (for integrated installation of the swing arm mechanism 6). The swing arm installation area is located on one side of the middle part of the installation platform 1, the driver installation area is located on one side of the swing arm installation area, and the power supply installation area and the power network bridge installation area are located on the other side of the swing arm installation area. The protective shell 7 is mainly used to protect electrical components and hardware mechanisms in the corresponding areas on the installation platform 1, such as drivers, power cats, swing arm reduction motors, etc.

[0042] In order to make the space optimization more reasonable, the swing arm mechanism 6 is integrated on the installation platform 1 to occupy a smaller space. Figures 4 to 6, an assembly groove 62 is processed on one side of the mounting platform 1, and the support shell 64 and the reduction motor 63 are arranged in the assembly groove 62 of the mounting platform 1, one end of the swing arm 67 is inserted into the assembly groove 62 and connected to the support shell 64, the reduction motor 63 is fixed in the assembly groove 62 through the motor bracket, and the output shaft of the reduction motor 63 is fixedly connected to the side wall of one side of the support shell 64, so that the support shell 64 can be driven to rotate around the output shaft of the reduction motor 63, and the swing arm 67 is fixed on the adjacent side where the support shell 64 is connected to the reduction motor 63. By controlling the rotation of the reduction motor 63, the swing arm 67 can be swung back and forth in the vertical plane. The swing arm 67 is a hollow telescopic rod, and the telescopic function can be realized in the form of an electric telescopic rod or a bamboo hanger structure. The bamboo hanger structure is adopted here. The support shell 64 is provided with a hoisting drum 68, on which a retracting rope (not shown) is wound and can be inserted into the inner cavity of the swing arm 67. The mounting platform 1 is provided with a stepper motor 65 connected to the drive controller 8. The output shaft of the stepper motor 65 penetrates into the support shell 64 and is connected to the hoisting drum 68. By controlling the stepper motor 65, the hoisting drum 68 can be rotated and the retracting rope can be retracted. The other end of the retracting rope is used to pull the camera head mechanism. When the swing arm 67 is extended, the retracting rope is extended and the camera head mechanism and the swing arm 67 are always stably connected and extended synchronously. The same is true for contraction. The combined structure of the swing arm 67, the hoisting drum 68 and the retracting rope can easily realize the control and extension function of the swing arm 67, so that the position state of the camera head mechanism can be adjusted at any time.

[0043] In this embodiment, the assembly groove 62 is a T-slot, which passes through the upper and lower surfaces of the mounting platform 1, and the middle vertical section of the T-slot passes through the side wall of one side of the mounting platform 1. The support shell 64, the reduction motor 63 and the stepper motor 65 are all located in the horizontal section of the T-slot, and the end of the swing arm 67 close to the support shell 64 is located in the middle vertical section of the T-slot. This structural design can improve the optimization of the spatial layout planning on the mounting platform 1, so as to increase the compression of the overall height occupied space, thereby reducing the overall size and better meeting the technical requirements for running on the track. In order to enable the swing arm 67 to switch back and forth between the vertical state and the horizontal state, a connecting bracket 21 is provided between the auxiliary wheel mechanism 2 and the mounting platform 1. The side of the connecting bracket 21 away from the auxiliary wheel mechanism 2 is connected to the mounting platform 1 by bolts. The connecting bracket 21 spans over the end of the swing arm 67 close to the support shell 64 and limits the swing arm 67. The connecting bracket 21 is in a roughly U-shaped plate shape, and one side of its U-shaped hole faces the swing arm 67 to form a swing arm avoidance cavity for limiting the swing arm 67. Specifically, a second limit switch 610 is provided on the side of the connecting bracket 21 close to the swing arm 67. The second limit switch 610 adopts a ball or micro switch, which can be used to detect whether the swing arm 67 is switched to the horizontal state and control the reduction motor 63 to stop. A first limit switch 69 is provided on the side of the lower surface of the mounting platform 1 close to the support shell 64. The first limit switch 69 adopts a ball or micro switch, which can be used to detect whether the swing arm 67 is switched to the vertical state and control the reduction motor 63 to stop. The function of switching the swing arm 67 back and forth between the vertical state and the horizontal state is realized through the limit control function of the first limit switch 69 and the second limit switch 610.

[0044] In order to perform limit control and status detection on the retractable rope, a receiving shell 66 is fixed between the swing arm 67 and the supporting shell 64. The inner cavity of the receiving shell 66 is respectively connected with the inner cavity of the swing arm 67 and the inner cavity of the supporting shell 64, and the receiving shell 66 is provided with a detection switch 61 for limiting and detecting the retracted length of the retractable rope. The detection switch 61 adopts a ball or micro switch, and can detect the state of the retractable rope at this time, such as the retracted state, the first extension state, the second extension state or the final extension state, etc. by arranging corresponding sensing parts at intervals on the retractable rope. When the entire inspection robot needs to pass through the bridge part, the reduction motor 63 is controlled to switch the swing arm 67 to a horizontal state. At this time, the entire robot presents a horizontal straight line shape, which can easily pass through the bridge; when all pass through the bridge and enter the normal track driving state, the reduction motor 63 is controlled to switch the swing arm 67 to a vertical state, which can convert the camera pan-tilt mechanism into a vertical state, and can directly collect environmental information; in order to collect environmental information at different heights, the retractable rope is extended or retracted by control. When extended, the swing arm 67 automatically extends under the action of gravity, and when retracted, the swing arm 67 is forced to retract under the action of the camera pan-tilt mechanism (the tension of the retractable rope), thereby easily realizing the control and extension function of the swing arm 67 to improve the comprehensiveness of the camera pan-tilt mechanism in obtaining environmental information.

[0045] In order to ensure that the walking mechanism has good turning adaptability and can meet the corresponding technical requirements of track running. Figure 7 and Figure 8 , the walking mechanism includes an auxiliary wheel mechanism 2 and a driving wheel mechanism 3 arranged on the side of the installation platform 1 close to the track. The auxiliary wheel mechanism 2 and the driving wheel mechanism 3 are both rotatably connected to the installation platform 1, so as to have an adaptive steering function to adapt to the technical requirements of a small turning radius under track walking. Specifically, the auxiliary wheel mechanism 2 includes a wheel frame 22 and a bearing connector 23 arranged on one side of the wheel frame 22. The wheel frame 22 is rotatably connected to the connecting bracket 21 through the bearing connector 23, so as to achieve the purpose of relative rotation or rotation between the wheel frame 22 and the installation platform 1. The driving wheel mechanism 3 includes a wheel frame 32 and a bearing connector 33 arranged on one side of the wheel frame 32. The wheel frame 32 is rotatably connected to the installation platform 1 through the bearing connector 33. In this embodiment, the bearing connector 23 has the same structure as the bearing connector 33. It can be a general bearing matching end cover structure, or a flange bearing matching stop cover structure. The latter is adopted here, and only the stable rotation connection requirement needs to be met.

[0046] The auxiliary wheel mechanism 2 and the driving wheel mechanism 3 have roughly the same structure, except that one is used as a power wheel and has a power driving mechanism added to the other. Fig.13, two mounting support plates 24 are provided on the side of the wheel frame 22 of the auxiliary wheel mechanism 2 away from the bearing connector 23. The two mounting support plates 24 are respectively located on both sides of the wheel frame 22 spanning the track, which means that the two mounting support plates 24 are respectively located on both sides of the track, and the two mounting support plates 24 are installed with guide wheel groups 25 and load-bearing wheel groups 26 that can match the track running on the side close to each other. The number of guide wheel groups 25 on a single mounting support plate 24 can be one group, two groups or even more groups, as long as the requirement of stable steering is met. The guide wheel groups 25 on both sides are used to support straight-line walking or turning walking. The integrated structure of the entire mounting support plate 24 and the guide wheel group 25 is relatively simplified, which not only makes the overall structure simpler and lighter, but also the overall size can be smaller, making the integration higher, so as to meet the requirements of some narrow-distance passing and small turning radius on the track. Similarly, please refer to Fig. 9 and Fig.10 The driving wheel mechanism 3 is provided with two mounting support plates 34 on one side away from the bearing connector 33 thereof. The two mounting support plates 34 are respectively located on both sides of the wheel frame 32 spanning the track. The two mounting support plates 34 are provided with a guide wheel set 35 and a load-bearing wheel set 37 that can match the track running on the side close to each other. By installing the guide wheel set and the load-bearing wheel set, not only the structure is relatively simple and the weight is relatively light, but also this simple wheel set combination can meet the technical requirements of high track running smoothness and stable running.

[0047] Compared with the auxiliary wheel mechanism 2, the driving wheel mechanism 3 has an additional walking power part. Specifically, a traveling motor 31 connected to the driving controller 8 is arranged on one side mounting support 34 in the driving wheel mechanism 3, and a traveling gear 38 that can mesh with the corresponding rack machined and arranged on the track is installed on the output shaft of the traveling motor 31. The traveling gear 38 and the load-bearing wheel group 37 on the same side are respectively located on both sides of the lower edge of one side of the I-shaped track, which means that the load-bearing wheel group 37 is supported on the upper surface wall of the lower edge of one side of the track, and the traveling gear 38 is meshed with the rack on the lower surface wall of the lower edge of one side of the track, thereby achieving the purpose of clamping on both sides to realize the stable running of the entire wheel frame 32 on the track.

[0048] Taking the driving wheel mechanism 3 as an example, in order to increase the reliability of the wheel frame 32 and the guide wheel group 35 running on the track, two groups of guide wheel groups 35 and a group of load-bearing wheel groups 37 are installed on each mounting support plate 34, and each group of guide wheel groups 35 includes a wheel axle 351 and guide wheels 352 installed at the upper and lower ends of the wheel axle 351, and the wheel axle 351 is rotatably set on the mounting support plate 34. Specifically, the mounting support plate 34 includes a base plate 341 and two support plates 342 formed on the base plate 341, and the base plate 341 and the support plate 342 are combined into a roughly U-shaped plate shape. The side of the base plate 341 away from the support plate 342 is fixedly welded or integrally formed with the wheel frame 32. Except for the part connected to the base plate 341, the wheel frame 32 adopts the form of a weight-reducing hole to reduce its overall weight, and the running motor 31 can pass through the weight-reducing hole for easy installation. In this embodiment, the two guide wheel groups 35 installed on the single mounting support plate 32 are no more than 200 mm apart, which can not only ensure good support stability, but also ensure smooth steering. The two guide wheel groups 35 on one side are respectively arranged on the two support plates 342 of the single mounting support plate 34, and a frame plate 343 is fixed on the side of the bottom plate 341 away from the wheel frame 32, and the frame plate 343 is located between the two support plates 342. The load-bearing wheel group 37 includes a load-bearing wheel shaft 372 and a load-bearing wheel 371, one end of the load-bearing wheel shaft 372 is fixedly connected to the assembly shaft hole on the frame plate 343 in the form of a hole shaft, and the other end points to the track, and the load-bearing wheel shafts 372 on both sides are coaxially distributed, and the load-bearing wheel 371 is rotatably arranged on the end of the load-bearing wheel shaft 372 close to the track. The load-bearing wheel 371 is a rubber wheel with a certain degree of extrusion plasticity. When in use, the lower side of the load-bearing wheel 371 is in contact with the upper surface wall of the lower edge of one side of the track for walking. The load-bearing wheel 371 is used to support the entire wheel frame 32, which can further increase the reliability of the wheel frame 32 and the guide wheel group 35 running on the track.

[0049] Similarly, the auxiliary wheel mechanism 2 is used to increase the reliability of the wheel frame 22 and the guide wheel group 25 on the track. Fig.14 The mounting support plate 24 in the auxiliary wheel mechanism 2 includes a bottom plate 241 and two support plates 242 formed on the bottom plate 241. The bottom plate 241 is fixedly connected to the wheel frame 22 on one side away from the support plate 242. Two sets of guide wheel groups 25 and a set of load-bearing wheel groups 26 are installed on each mounting support plate 24. The two sets of guide wheel groups 25 are respectively arranged on the two support plates 242 of the mounting support plate 24. A frame plate 243 is fixed on the side of the bottom plate 241 away from the wheel frame 22. The frame plate 243 is located between the two support plates 242. The load-bearing wheel group 26 is installed on the frame plate 243. The load-bearing wheel group 26 includes a load-bearing wheel shaft 262 and a load-bearing wheel 261. One end of the load-bearing wheel shaft 262 is fixed on the frame plate 243, and the other end points to the track. The load-bearing wheel 261 is rotatably installed on one end of the load-bearing wheel shaft 262 pointing to the track.

[0050] Taking the driving wheel mechanism 3 as an example, in order to stably and reliably mount the guide wheel set 35 on the single support plate 342, please refer to Fig.11 The support plate 342 is formed with two upper and lower support plates 344 on one side close to the track. The two support plates 344 are in a horizontal state when in use. Each support plate 344 is provided with an axial hole 345. The single guide wheel group 35 is installed between the two support plates 344 in the single support plate 342. Specifically, the two ends of the wheel axle 351 in the guide wheel group 35 can respectively pass through the axial holes 345 on the support plates 344 on both sides and are connected to the guide wheels 352, so as to achieve the purpose of the guide wheels 352 fitting the side wall of the track and running. In addition, in order to prevent the guide wheels 352 in all the guide wheel groups 35 on both sides from causing excessive rigid extrusion damage to the side wall of the track, the axial hole 345 on the support plate 344 in the support plate 342 on one side of the track is a strip hole 346. The length direction of the strip hole 346 is consistent with the direction of the support plate 346, which means that the wheel axle 351 is allowed to have a displacement in the direction of approaching or moving away from one side of the track. A spring shaft 347 is provided on the support plate 342 on one side of the track. One end of the spring shaft 347 is fixedly connected to the support plate 342. The fixed connection method can be welding, shaft-hole matching plug-in, screw connection, buckle connection, etc. The other end of the spring shaft 347 is detachably connected to the middle of the corresponding wheel axle 351. The detachable connection method can be screw connection, riveting, clamping, shaft-hole matching plug-in, etc., and clamping is used here. Of course, other parts with elastic expansion and contraction functions such as springs can also be used to replace the spring shaft 347. By providing the strip hole 346 and the spring shaft 347, the wheel axle 351 on this side can have a certain displacement adjustment amount, so that it can adapt to the situation of slight changes in the track width to prevent excessive extrusion damage.

[0051] Similarly, in order to ensure that the guide wheel set 25 of the auxiliary wheel mechanism 2 is stably and reliably installed on the single support plate 242 and that the guide wheel 252 in the guide wheel set 25 does not cause excessive rigid extrusion damage to the side wall of the track, the support plate 242 in the mounting support plate 24 of the auxiliary wheel mechanism 2 is formed with two upper and lower support plates 244 on the side close to the track, and each support plate 244 is provided with an axial hole 245. The single guide wheel set 25 is installed between the two support plates 244 in the single support plate 242. The guide wheel set 25 includes a wheel axle 251 and a plurality of upper and lower support plates 244 installed on the wheel axle 251. The guide wheels 252 at the ends, the two ends of the wheel axle 251 in the guide wheel group 25 can be rotatably passed through the shaft holes 245 on the support plates 244 on both sides; the shaft holes 245 on the support plate 244 in the support plate 242 on one side of the track of the auxiliary wheel mechanism 2 are all strip holes 246, and the length direction of the strip holes 246 is consistent with the direction of the support plate 244 where it is located. A spring shaft 247 is provided on the support plate 242 on one side of the track, one end of the spring shaft 247 is fixedly connected to the support plate 242, and the other end of the spring shaft 247 is detachably connected to the middle part of the corresponding wheel axle 251.

[0052] Since the meshing stability of the driving wheel mechanism 3 directly affects the moving stability of the entire traveling mechanism, in order to make the meshing of the traveling gear 38 and the rack on the track self-adjustable and make the overall meshing more stable, it is necessary to overcome the problem of hard extrusion damage when the rack meshes with the traveling gear 38 due to inaccurate processing or errors. Fig.12An adjusting mechanism 36 for adjusting the meshing degree between the running gear 38 and the track rack is installed on the wheel frame 32. The adjusting mechanism 36 includes a motor bracket 361 and a floating support assembly 362 installed on the motor bracket 361. One side of the motor bracket 361 is fixedly connected to the running motor 31. The floating assembly 362 can be one group, two groups or even more groups to meet the requirements of floating support for the running motor 31. In this embodiment, two groups of floating support assemblies 362 are symmetrically installed on the motor bracket 361, and the two groups of floating support assemblies 362 are respectively located on both sides of the running gear 38. Taking a single group of floating support assemblies 362 as an example, the floating support assembly 362 includes an optical axis 3622, a limit seat 3621, a spring (not shown) and a linear bearing 3623. The limit seat 3621 is fixed on the side wall of the wheel frame 32 close to the mounting support plate 34. One end of the optical axis 3622 is fixedly connected to the limit seat 3621, and the other end of the optical axis 3622 is sleeved on the linear bearing 3623. The spring is sleeved on the optical axis 3622 between the linear bearing 3623 and the limit seat 3621, so that the linear bearing 3623 can have the adaptability to move up and down relative to the limit seat 3621 under the action of the spring elastic force. The linear bearing 3623 is fixedly connected to the motor bracket 361, so that the entire micro-traveling motor 31 can float up and down, so that the meshing clearance of the running gear 38 has a certain adjustable amplitude when the rack is meshed, so as to overcome the problem of hard extrusion damage caused by inaccurate processing or errors in a certain part of the rack when meshing with the running gear 38. The side of the motor bracket 361 away from the linear bearing 3623 is provided with a rack positioning wheel 363 that can roll with the track. The rack positioning wheel 363 is used to find and locate the position of the rack on the lower surface of the track, so as to achieve the purpose of full meshing of the running gear 38 and the rack. A guide connecting plate 3624 is fixed between the ends of the two optical axes 3622 away from the limiting seat 3621. The guide connecting plate 3624 and the optical axis 3622 are detachably connected by sleeve connection or screw connection, which can not only limit the linear bearing 3623, but also ensure the consistency of the movement of the linear bearings 3623 on both sides.

[0053] In order to enable the entire walking mechanism to have the function of sliding contact power supply so as to achieve the purpose of long-distance transmission of power supply and information, a sliding contact power supply component 5 is installed on the auxiliary wheel mechanism 2 or the driving wheel mechanism 3. In this embodiment, the sliding contact power supply component 5 is installed on the driving wheel mechanism 3. Specifically, the sliding contact power supply component 5 includes a fixed plate, a hinge seat and a power supply brush. The fixed plate is installed on one of the support plates 342 of the mounting support plates 34 on the corresponding side. The support plate 342 is located on one side of the conductive part on the track to facilitate power supply. The hinge seat is fixed on the side of the fixed plate close to the track. The hinge seat adopts a general pin-type hinge seat, which can allow free rotation in one plane. One end of the power supply brush is hinged to the hinge seat, and the other side can slide in contact with the conductive part on the track to achieve the purpose of sliding power supply. In order to enable the entire walking mechanism to determine which part of the entire track it is traveling to, especially when passing through the bridge portion, the entire inspection robot can be promptly controlled to convert to the corresponding state, a photoelectric detection component 4 is provided on the mounting support plate on one side of the auxiliary wheel mechanism 2 or the driving wheel mechanism 3. In this embodiment, the mounting support plate 34 on one side of the driving wheel mechanism 3 is provided with the photoelectric detection component 4. Specifically, the photoelectric detection component 4 includes a photoelectric mounting support plate and a plurality of photoelectric sensors. The photoelectric mounting support plate is fixed on one of the support plates 342 of the mounting support plate 34. The photoelectric mounting support plate is provided with a plurality of photoelectric sensors for detecting the state of the track. The photoelectric sensor determines whether the entire driving wheel bracket assembly is traveling to the bridge portion on the track by detecting the corresponding track gauge or other distance, and can control the swing arm 67 to convert to the corresponding state by making an advance judgment.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A track inspection robot, characterized in that: including a mounting platform with an integrated drive controller; A walking mechanism disposed on one side of the installation platform and used for running on the track, wherein the walking mechanism is electrically connected to the drive controller; A swing arm mechanism is arranged on the mounting platform, the swing arm mechanism comprises a reduction motor, a support shell and a swing arm, the swing arm is connected to the support shell, the support shell is connected to the output end of the reduction motor, the reduction motor is electrically connected to the drive controller, and the reduction motor can control the swing arm to swing towards or away from the walking mechanism; The walking mechanism comprises an auxiliary wheel mechanism and a driving wheel mechanism which are arranged on a side of the mounting platform close to the track, the auxiliary wheel mechanism and the driving wheel mechanism both comprise a wheel frame and a bearing connecting piece arranged on one side of the wheel frame, the wheel frames of the auxiliary wheel mechanism and the driving wheel mechanism are rotatably connected to the mounting platform through the bearing connecting piece, two mounting support plates are arranged on the side of the wheel frames of the auxiliary wheel mechanism and the driving wheel mechanism away from their bearing connecting pieces, the two mounting support plates are respectively located on two sides of the wheel frame spanning the track, and a guide wheel group and a load-bearing wheel group which can match the track running are both installed on the sides of the two mounting support plates which are close to each other, a traveling motor connected to a driving controller is arranged on one of the mounting support plates on one side of the driving wheel mechanism, a traveling gear which can mesh with a rack on the track is installed on the output shaft of the traveling motor, and the traveling gear in the driving wheel mechanism and the load-bearing wheel group on the same side are respectively located on two sides of the lower edge of the track; The wheel frame of the driving wheel mechanism is equipped with an adjusting mechanism for adjusting the meshing degree between the running gear and the track rack. The adjusting mechanism includes a motor bracket and a floating support assembly installed on the motor bracket. The floating support assembly includes an optical axis, a limit seat, a spring and a linear bearing. The limit seat is fixed to the wheel frame of the driving wheel mechanism, one end of the optical axis is fixedly connected to the limit seat, and the other end of the optical axis is sleeved on the linear bearing. The spring is sleeved on the optical axis between the linear bearing and the limit seat. The linear bearing is fixedly connected to the motor bracket, one side of the motor bracket is fixedly connected to the running motor, and a rack positioning wheel that can roll in contact with the track is provided on the side of the motor bracket away from the linear bearing. An assembly groove is processed on one side of the mounting platform, the support shell and the reduction motor are both arranged in the assembly groove, one end of the swing arm is inserted into the assembly groove and connected to the support shell, the swing arm is a hollow telescopic rod, a winch drum is arranged in the support shell, a retractable rope that can be extended into the inner cavity of the swing arm is wound around the winch drum, a stepper motor connected to the drive controller is arranged on the mounting platform, and the output shaft of the stepper motor is inserted into the support shell and connected to the winch drum.

2. The rail-type inspection robot according to claim 1, characterized in that: A connecting bracket is arranged between the wheel frame of the auxiliary wheel mechanism and the mounting platform, the wheel frame of the auxiliary wheel mechanism is rotatably connected to one side of the connecting bracket through the bearing connecting piece, the side of the connecting bracket away from the wheel frame of the auxiliary wheel mechanism is connected to the mounting platform, the side of the connecting bracket connected to the mounting platform spans above the end of the swing arm close to the supporting shell, and the side of the connecting bracket spanning the swing arm is processed with a swing arm avoidance cavity for limiting the swing arm.

3. The track-type inspection robot according to claim 1, characterized in that: The mounting support plates in the auxiliary wheel mechanism and the driving wheel mechanism include a base plate and two support plates formed on the base plate, and the side of the base plate away from the support plate is fixedly connected to the corresponding wheel frame. Two sets of guide wheel groups and a set of load-bearing wheel groups are installed on each mounting support plate in the auxiliary wheel mechanism and the driving wheel mechanism, and the two sets of guide wheel groups are respectively arranged on the two support plates of the mounting support plate, and a frame plate is fixed on the side of the base plate away from the wheel frame, and the frame plate is located between the two support plates. The load-bearing wheel group is installed on the frame plate, and the load-bearing wheel group includes a load-bearing wheel axle and a load-bearing wheel, one end of the load-bearing wheel axle is fixed on the frame plate, and the other end points to the track, and the load-bearing wheel is rotatably installed on the end of the load-bearing wheel axle pointing to the track.

4. The track-type inspection robot according to claim 3, characterized in that: An upper and lower support plate is formed on one side of each mounting support plate close to the track, and an axial hole is provided on each support plate. A single guide wheel group is installed between the two support plates in the single support plate. The guide wheel group includes an axle and guide wheels installed at the upper and lower ends of the axle. The two ends of the axle in the guide wheel group can rotatably pass through the axial holes on the support plates on both sides.

5. The track-type inspection robot according to claim 4, characterized in that: The axial holes on the support plates in the support plates on one side of the track in the auxiliary wheel mechanism and the driving wheel mechanism are both strip holes, and the length direction of the strip holes is consistent with the direction of the support plates where they are located. A spring shaft is provided on the support plates on one side of the track, one end of the spring shaft is fixedly connected to the support plate, and the other end of the spring shaft is detachably connected to the middle part of the corresponding wheel axle.

6. The track-type inspection robot according to claim 1, characterized in that: Two groups of floating support components are symmetrically installed on the motor bracket. The two groups of floating support components are respectively located on both sides of the running gear. A guide connecting plate is fixed between the ends of the two optical axes away from the limit seat.

7. The rail-type inspection robot according to claim 1, characterized in that: A photoelectric detection component connected to a drive controller is arranged on a mounting support plate on one side of the auxiliary wheel mechanism or the drive wheel mechanism.

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