A track intelligent laser cleaning robot

Abstract

The invention discloses a track intelligent laser cleaning robot. It includes an automatic walking platform, a motor drive unit, an electrical control box, a laser control box, an automatic telescopic mechanism, an automatic parallel mechanism, a laser cleaning head and a laser; the automatic walking platform can walk on the track; a microcontroller is arranged in the electrical control box; the microcontroller is connected to the motor drive unit; the motor drive unit is connected to the walking motor of the automatic walking platform and also to the stepping motor of the automatic telescopic mechanism; the laser is installed on the automatic walking platform and connected to the laser control box; the laser is electrically connected to the laser cleaning head; the laser cleaning head is connected to the automatic telescopic mechanism through the automatic parallel mechanism; the automatic telescopic mechanism can drive the laser cleaning head to automatically retract and release; the automatic parallel mechanism can keep the laser cleaning head parallel to the track when retracting and releasing. The robot can realize automatic cleaning of the rust on the waist of the track, greatly improve the cleaning efficiency and cleaning effect, and has no chemical damage to the track.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robots and relates to a track intelligent laser cleaning robot. Background Art

[0002] Due to the special use environment of the rails, the rail waist is exposed to the sun and rain all year round and rusts, which has a certain impact on the rail waist marking operation. The rail marking operation uses improved paint, and the rust on the rail waist has a significant destructive effect on the adhesion and life of the paint. Therefore, it is required to remove the rust on the rail waist during the rail marking operation to enhance the adhesion and service life of the paint. Traditional rust removal uses rags, wire brushes or electric grinders. Since there are a large number of spikes on the rails and the distance between the rails and the ground is very close, this brings a huge workload to the traditional rust removal work. And because the rails are related to people’s life safety, rail operations are not allowed to use any chemical reactions to remove rail waist rust. The rail intelligent laser cleaning robot was developed and launched under this background. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a rail intelligent laser cleaning robot that can improve the cleaning efficiency and cleaning effect of rail waist rust and does not cause any chemical damage to the rail.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention discloses an intelligent track laser cleaning robot, which mainly comprises an automatic walking platform, a motor drive unit, an electrical control box, a laser control box, a battery, an automatic telescopic mechanism, an automatic parallel mechanism, a laser cleaning head and a laser; the automatic walking platform is located at the bottom of the machine, comprises a frame, a walking motor and at least two walking wheels, and can walk on the track; the motor drive unit, the battery, the automatic telescopic mechanism, the electrical control box and the laser are all fixedly mounted on the frame of the automatic walking platform; a microcontroller is arranged in the electrical control box; the motor drive unit is connected to the output end of the microcontroller in the electrical control box (the input end of the microcontroller can be connected to a track identification data acquisition module); the motor drive unit is connected to the automatic walking platform The motor drive unit is connected to the walking motor and can drive the automatic walking platform to walk; the motor drive unit is also connected to the stepper motor of the automatic telescopic mechanism and can drive the stepper motor of the automatic telescopic mechanism to rotate to realize automatic telescopic extension; the laser control box is connected to the laser; the laser is electrically connected to the laser cleaning head; the motor drive unit, the laser control box, the electrical control box, the laser cleaning head and the laser are all connected to the battery; the laser cleaning head is connected to the automatic telescopic mechanism through an automatic parallel mechanism; the automatic telescopic mechanism can drive the laser cleaning head to automatically retract and extend between the working position and the retracted position; the automatic parallel mechanism can keep the laser cleaning head parallel to the track at all times when retracting and extending (so that the laser emission direction of the laser cleaning head always remains perpendicular to the waist of the track).

[0006] Furthermore, the automatic telescopic mechanism mainly includes a synchronous pulley, a stepper motor, a lead screw, a guide rail, a mounting support, a hinge, a slider, a rotating shaft and a laser head connecting rod; the mounting support includes an upper support and a lower support connected together; the upper support includes a bottom plate and fixed vertical plates on the front and rear sides; the two ends of the lead screw are respectively installed on the fixed vertical plates on the front and rear sides; the synchronous pulley is installed at one end of the lead screw, and the synchronous pulley is connected to the output shaft of the stepper motor through a transmission belt; a guide rail is provided on the bottom plate of the upper support; the bottom plate of the upper support is close to the left and right sides of the front There are two left and right ear plates; the two ends of the rotating shaft are horizontally installed on the left and right ear plates through bearings; the cross-section of the lower support is inverted T-shaped; the left and right ear plates are respectively located on both sides of the upper part of the lower support; the stepper motor is connected to the lead screw through a synchronous pulley; the bottom of the slider is placed on the guide rail, and the slider can reciprocate on the guide rail; the upper part of the slider is mounted on the outside of the lead screw (the lead screw passes through the upper part of the slider); the hinge includes two symmetrically arranged left and right hinges; one end of the hinge is fixedly connected to the middle of the slider; the other end of the hinge is fixedly connected to the rear end of the laser head connecting rod.

[0007] Furthermore, the laser head connecting rod includes two symmetrically arranged left and right L-shaped connecting parts; the left and right L-shaped connecting parts are connected by a connecting rib at the front; each L-shaped connecting part includes two middle upper and lower square rods, a bent plate at the rear end and a round head with an axial hole at the front end; the outer side of the bottom of the bent plate at the rear end is provided with a protruding block with a screw hole connected to the hinge; the front and rear ends of the upper and lower square rods are connected together; two parallel guide wheels are respectively fixedly mounted on the rear ends of the two upper square rods of the laser head connecting rod; the two parallel guide wheels are pressed against the bottom plate of the upper support; the rotating shaft passes horizontally between the upper and lower square rods of the left and right L-shaped connecting parts; the laser head connecting rod can make a horizontal linear motion on the rotating shaft under the guidance of the two parallel guide wheels, and when it moves to the point where the rear ends of the upper and lower square rods of the laser head connecting rod are connected and abut against the rotating shaft, the laser head connecting rod starts to rotate around the rotating shaft.

[0008] Furthermore, the automatic parallel mechanism mainly includes a laser cleaning head connecting seat, a rotating shaft, a rotating shaft fixing plate, a balancing hinge, an automatic balancing wedge and a balancing driven plate; the laser cleaning head connecting seat includes a laser cleaning head supporting cylinder and three vertical laser cleaning head connecting plates, a rotating shaft fixing front plate and a rotating shaft fixing rear plate arranged in sequence; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged opposite to each other and are connected by a connecting plate; the laser cleaning head connecting plate and the rotating shaft fixing front plate have a circular hole in the center; the laser cleaning head connecting plate and the rotating shaft fixing front plate are connected by a horizontal laser cleaning head supporting cylinder, the laser cleaning head connecting plate is used to fix the front part of the laser cleaning head, the laser cleaning head supporting cylinder and the rotating shaft fixing front plate are used to support the middle part of the laser cleaning head; the rotating shaft fixing rear plate A square hole is arranged in the center to support the rear of the laser cleaning head; the two ends of the rotating shaft are respectively installed at positions deviating from the center at the top of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; one end of the balancing hinge is connected to the rotating shaft, and the other end of the balancing hinge is connected to the upward protruding block of the balancing driven plate through a pin shaft; the two ends of the balancing driven plate are respectively fixedly installed at the middle and upper positions of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the laser head connecting rod is sleeved on the rotating shaft; the automatic balancing wedge is fixedly installed at the bottom of the front end round head of the laser head connecting rod, and the automatic balancing wedge is pressed against the balancing driven plate, so that the laser head connecting rod always maintains a certain inclination angle with the balancing driven plate, so that the laser cleaning head always remains parallel to the track (so that the laser emission direction of the laser cleaning head always remains perpendicular to the waist of the track).

[0009] Furthermore, the automatic walking platform includes a frame, a walking motor and two walking wheels; the two walking wheels are installed at the front and rear ends of the frame and can walk on a single steel rail.

[0010] Furthermore, the rail intelligent laser cleaning robot also includes a cover mounting seat and a cover; the cover mounting seat is fixedly mounted on the frame of the automatic walking platform; the cover is fixedly mounted on the cover mounting seat; and a handle is provided on each side of the cover for easy carrying.

[0011] Furthermore, a pulley is arranged at the bottom of the sliding block, and the pulley is placed on the guide rail.

[0012] Furthermore, the hinge is connected to the laser head connecting rod via screws.

[0013] Furthermore, two ends of the balancing driven plate are respectively fixedly mounted on the middle and upper positions of the rotating shaft fixed front plate and the rotating shaft fixed rear plate by screws.

[0014] Furthermore, one end of the balancing hinge is sleeved on the rotating shaft.

[0015] The working principle of the intelligent rail laser cleaning robot of the present invention is: using a high-energy fiber laser with a micron or nanometer wavelength emitted by a laser cleaning head connected to a laser to discharge on the rail waist, thereby cleaning the floating rust, grease, water vapor and other adhesives on the rail waist.

[0016] Beneficial effects of the present invention:

[0017] The rail intelligent laser cleaning robot of the present invention is a special equipment for automatic rail cleaning, which is controlled by a microcontroller, can realize automatic cleaning of rail waist rust, and can realize automatic cleaning of the cleaning length synchronized with the rail identification operation data. It has the function of flexible single-track walking and stable balance, can adapt to rail cleaning operations of different specifications, is not affected by rail spikes, can automatically calculate the required cleaning length according to the rail identification operation data collected by the rail identification data acquisition module, can flexibly adjust the cleaning speed according to the degree of rust to achieve the required cleaning requirements, and can flexibly select the cleaning mode (such as single-pass cleaning mode, reciprocating cleaning mode).

[0018] The intelligent rail cleaning robot of the present invention greatly improves the efficiency of rail waist rust cleaning, improves the cleaning effect and does not cause any chemical damage to the rail, saving a lot of manpower and material resources. The device has the characteristics of small size, light weight, simple control, strong adaptability, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of a track intelligent laser cleaning robot in the stowed position of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of a track intelligent laser cleaning robot in a working position according to the present invention;

[0021] Figure 3 It is a schematic diagram of the internal structure of the track intelligent laser cleaning robot in the present invention at the working position;

[0022] Figure 4 It is a structural schematic diagram of the track intelligent laser cleaning robot in the present invention in the stowed position with a cover;

[0023] Figure 5 1 is a schematic diagram of the front view of the automatic telescopic mechanism 5 of the present invention (the hinge 56 and the slider 57 are located on one side);

[0024] Figure 6 is a schematic side view of the automatic telescopic mechanism 5 of the present invention;

[0025] Figure 7 1 is a schematic diagram of the main structure of the automatic telescopic mechanism 5 of the present invention (the hinge 56 and the slider 57 are located in the middle);

[0026] Figure 8 : is a side view of the automatic telescopic mechanism 5 of the present invention ( Figure 7 AA section view of the

[0027] Fig. 9 is a schematic diagram of the three-dimensional structure of the laser head connecting rod 60 in the present invention;

[0028] Fig.10 is a schematic diagram of the top view of the laser head connecting rod 60 in the present invention;

[0029] Fig.11 It is a schematic diagram of the main structure of the automatic parallel mechanism 7 (without the laser cleaning head 8) in the present invention;

[0030] Fig.12 This is a schematic diagram of the main structure of the automatic parallel mechanism 7 in the present invention equipped with a laser cleaning head 8;

[0031] Fig.13 It is a side view structural schematic diagram of the automatic parallel mechanism 7 in the present invention equipped with a laser cleaning head 8.

[0032] In the figure: 1. Automatic walking platform 2. Motor drive unit 3. Laser control box 4. Battery 5. Automatic telescopic mechanism 6. Electrical control box 7. Automatic parallel mechanism 8. Laser cleaning head 9. Laser 10. Cover 11. Track 12. Handle 13. Cover mounting seat

[0033] 51, synchronous pulley 52, stepper motor 53, screw 54, guide rail 55, mounting support 56, hinge 57, slider 58, rotating shaft 59, rotating shaft assembly 60, laser head connecting rod 61, parallel guide wheel 62, bearing 63, bottom plate 64, fixed vertical plate 65, fixed vertical plate 66, ear plate 67, upper support 68, lower support 69, connecting rib 600, shaft hole 601, round head 602, square rod 603, bending plate 604, screw hole 605, protruding block

[0034] 70, laser cleaning head connecting plate 71, rotating shaft fixed front plate 72, rotating shaft 73, rotating shaft fixed rear plate 74, balancing hinge 75, automatic balancing wedge 76, balancing driven plate 77, square hole 78, laser cleaning head supporting cylinder 79, connecting plate 80, pin 81, upward protruding block 82, laser emission port G, gravity direction DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0036] Example

[0037] like Figure 1 , Figure 2As shown, the intelligent rail laser cleaning robot of the present invention is an automated special equipment for removing floating rust, grease, water vapor and other adhesives from the waist of the rail. It uses a high-energy fiber laser with a micron or nanometer wavelength emitted by a laser cleaning head 8 connected to a laser 9 to discharge on the waist of the rail, thereby cleaning the floating rust, grease, water vapor and other adhesives on the waist of the rail. Figure 1 , Figure 2 Two positions are shown respectively: the laser cleaning head 8 is in the working position and the laser cleaning head 8 is in the retracted position.

[0038] The track laser cleaning robot of the present invention has the following structure:

[0039] like Figure 3 , Figure 4 As shown, the track intelligent laser cleaning robot of the present invention is mainly composed of an automatic walking platform 1, a motor drive unit 2, a laser control box 3, a battery 4, an automatic telescopic mechanism 5, an electrical control box 6, an automatic parallel mechanism 7, a laser cleaning head 8, and a laser 9;

[0040] The automatic walking platform 1 is located at the bottom of the machine; the automatic walking platform 1 includes a frame, a walking motor and two walking wheels; the two walking wheels are installed at the front and rear ends of the frame and can walk on a single rail 11; the two walking wheels are connected to the walking motor; the walking motor is connected to the motor drive unit 2, so that the automatic walking platform 1 has a single-track automatic walking function. (The front, back, left and right directions in this embodiment are shown in Figure 1.) Figure 3 The front, back, left and right directions are based on the above).

[0041] The motor drive unit 2, the battery 4, the automatic telescopic mechanism 5, the electrical control box 6 and the laser 9 are all fixedly mounted on the frame of the automatic walking platform 1; a microcontroller is arranged in the electrical control box 6; the motor drive unit 2 is connected to the output end of the microcontroller in the electrical control box 6 (the input end of the microcontroller is connected to the track identification data acquisition module); the motor drive unit 2 is connected to the walking motor of the automatic walking platform 1, and can drive the automatic walking platform 1 to walk; the motor drive unit 2 is also connected to the stepper motor 52 of the automatic telescopic mechanism 5, and can drive the stepper motor 52 of the automatic telescopic mechanism 5 to rotate, so as to realize automatic telescopic movement; the laser 9 is mounted in the middle position on the automatic walking platform 1; the laser control box 3 is fixedly mounted on the laser 9 and is electrically connected to the laser 9; the laser 9 is electrically connected to the laser cleaning head 8; the motor drive unit 2, the laser control box 3, the electrical control box 6, the laser cleaning head 8, and the laser 9 are all connected to the battery 4; the automatic telescopic mechanism 5 is connected to the automatic parallel mechanism 7; the laser cleaning head 8 is connected to the automatic parallel mechanism 7. The automatic telescopic mechanism 5 is responsible for the automatic retraction and extension of the laser cleaning head 8 in the working position (the working position is determined by the focal length of the field lens of the laser cleaning head 8) and the retracted position (see Figure 1 , Figure 2When the laser cleaning head 8 is retracted or extended, the automatic parallel mechanism 7 utilizes the principle of overcoming the gravity eccentricity of the laser cleaning head 8 so that the laser cleaning head 8 always remains parallel to the track during the retraction and extension, and the laser emission direction of the laser cleaning head always remains perpendicular to the waist of the track.

[0042] like Figure 3 , Figure 2 As shown, the rail intelligent laser cleaning robot of the present invention also includes a cover mounting seat 13 and a cover 10; the cover mounting seat 13 is fixedly mounted on the frame of the automatic walking platform 1; the cover 10 is fixedly mounted on the cover mounting seat 13. A handle 12 is provided on each side of the cover 10 for easy carrying.

[0043] like Figure 5-Figure 8 As shown, the automatic telescopic mechanism 5 is mainly composed of a synchronous pulley 51, a stepper motor 52, a screw rod 53, a guide rail 54, a mounting support 55, a hinge 56, a slider 57, a rotating shaft assembly 59, a laser head connecting rod 60, etc. The rotating shaft assembly 59 includes a rotating shaft 58 and a bearing 62; the mounting support 55 includes an upper support 67 and a lower support 68 connected together; the upper support 67 includes a bottom plate 63 and fixed vertical plates 64 on the front and rear sides; the two ends of the screw rod 53 are respectively installed on the fixed vertical plates 64 on the front and rear sides; the synchronous pulley 51 is installed at one end of the screw rod 53, and the synchronous pulley 51 is connected to the output shaft of the stepper motor 52 through a transmission belt; a guide rail 54 is provided on the bottom plate 63 of the upper support; there are left and right ear plates 66 on the left and right sides of the bottom plate 63 of the upper support; the two ends of the rotating shaft 58 are horizontally installed on the bottom plate 63 through the bearing 62 On the left and right ear plates 66; the cross-section of the lower support 68 is inverted T-shaped; the left and right ear plates 66 are respectively located on both sides of the upper part of the lower support 68; the stepper motor 52 is connected to the screw rod 53 through the synchronous pulley 51; a pulley is installed at the bottom of the slider 57, and the pulley is placed on the guide rail 54, and the slider 57 can reciprocate on the guide rail 54; the upper part of the slider 57 is sleeved on the outside of the screw rod 53 (the screw rod 53 passes through the upper part of the slider 57); the hinge 56 includes two symmetrically arranged left and right hinges; one end of the hinge 56 is fixedly connected to the middle part of the slider 57; the other end of the hinge 56 is fixedly connected to the rear end of the laser head connecting rod 60.

[0044] like Fig. 9 , Fig.10As shown, the laser head connecting rod 60 includes two symmetrically arranged left and right L-shaped connecting members; the left and right L-shaped connecting members are connected by a front connecting rib 69; each L-shaped connecting member includes two middle upper and lower square rods 602, a bent plate 603 at the rear end and a round head 601 with an axial hole 600 at the front end; the outer side of the bottom of the bent plate 603 at the rear end is provided with a protruding block 605 with a screw hole 604 connected to the hinge 56 (the hinge 56 is connected to the laser head connecting rod 60 by screws); the front and rear ends of the upper and lower square rods 602 are connected together; two parallel guide wheels 61 are respectively fixedly mounted on the rear ends of the two upper square rods 602 of the laser head connecting rod 60; as shown Figure 5-Figure 8 As shown, the two parallel guide wheels 61 are supported on the bottom of the bottom plate 63 of the upper support 67; the rotating shaft 58 passes horizontally between the upper and lower square rods 602 of the left and right L-shaped connecting members (i.e., passes horizontally between the upper two square rods and the lower two square rods); the laser head connecting rod 60 can make a horizontal linear motion (from the back to the front, i.e., from the front to the back) on the rotating shaft 58 (under the restriction of the rotating shaft 58) under the guidance of the two parallel guide wheels 61. Figure 7 Move horizontally to the position in Figure 5 When the rear ends of the upper and lower square rods 602 of the laser head connecting rod 60 are connected and abut against the rotating shaft 58 (blocked by the rotating shaft 58), the laser head connecting rod 60 starts to rotate around the rotating shaft 58.

[0045] The working principle of the automatic telescopic mechanism 5 is as follows: the stepper motor 52 drives the screw rod 53 to rotate and push the slider 57 to reciprocate on the guide rail 54 through the synchronous pulley 51. When the slider 56 drives the hinge 56 to push the laser head connecting rod 60 to make a horizontal linear motion under the guidance of the two parallel guide wheels 61, and moves to the constrained position of the rotating shaft 58, under the constraint of the rotating shaft 58, the laser head connecting rod 60 changes from a horizontal linear motion to a rotational motion with the rotating shaft 58 as the central axis, thereby realizing the telescopic (retracting and retracting) of the laser head connecting rod 60 together with the automatic parallel mechanism 7 and the laser cleaning head 8. The laser head connecting rod 60 is connected to the laser cleaning head 8 through the automatic parallel mechanism 7.

[0046] like Figure 11-13As shown, the automatic parallel mechanism 7 is mainly composed of a laser cleaning head connection seat, a rotating shaft 72, a rotating shaft fixing plate, a balancing hinge 74, an automatic balancing wedge 75 and a balancing driven plate 76; the laser cleaning head connection seat includes a laser cleaning head supporting cylinder 78 and three vertical laser cleaning head connection plates 70, a rotating shaft fixing front plate 71, and a rotating shaft fixing rear plate 73 arranged in sequence; the rotating shaft fixing front plate 71 and the rotating shaft fixing rear plate 73 are arranged opposite to each other, and the two are connected by a connecting plate 79; the laser cleaning head connection plate 70 and the rotating shaft fixing front plate 71 have circular holes in their centers; the laser cleaning head connection plate 7 0 is connected to the front plate 71 fixed with the rotating shaft through a horizontal laser cleaning head supporting cylinder 78. The laser cleaning head connecting plate 70 is used to fix the front part of the laser cleaning head 8. The laser cleaning head supporting cylinder 78 and the front plate 71 fixed with the rotating shaft are used to support the middle part of the laser cleaning head 8. A square hole 77 is provided in the center of the rear plate 73 fixed with the rotating shaft to support the rear part of the laser cleaning head 8. The front part of the laser cleaning head 8 is fixed on the laser cleaning head connecting plate 70. The middle part of the laser cleaning head passes through the central circular hole of the supporting cylinder 78, the laser cleaning head connecting plate 70 and the front plate 71 fixed with the rotating shaft. The rear part of the laser cleaning head 8 crosses The central square hole 77 of the rear plate 73 fixed by the shaft of the laser cleaning head connecting seat 71; the two ends of the shaft 72 are respectively installed on the two vertical plates behind the laser cleaning head connecting seat 71, namely, the shaft fixed front plate 71, and the top of the shaft fixed rear plate 73 are off-center (the installation position of the shaft 72 is eccentric); one end of the balancing hinge 74 is connected to the shaft 72 (the front end of the balancing hinge 74 is sleeved on the shaft 72), and the other end of the balancing hinge 74 is connected to the upward protruding block 81 of the balancing driven plate 76 through a pin shaft 80; the two ends of the balancing driven plate 76 are respectively fixed to the laser cleaning head by screws The two upright plates behind the washing head connecting seat 71 are located in the middle and upper parts of the front plate 71 fixed by the rotating shaft and the rear plate 73 fixed by the rotating shaft; the front end of the laser head connecting rod 60 is mounted on the rotating shaft 72 (the rotating shaft 72 is inserted into the axial hole 600 of the front end round head 601 of the laser head connecting rod 60); the automatic balancing wedge 75 is fixedly installed at the bottom of the front end round head 601 of the laser head connecting rod 60, and the automatic balancing wedge 75 is pressed against the balancing driven plate 76, so that the laser head connecting rod 60 always maintains a certain inclination angle with the balancing driven plate 76, so that the laser cleaning head 8 always remains parallel to the track.

[0047] The working principle of the automatic parallel mechanism 7 is: by utilizing the eccentricity of the installation position of the rotating shaft 72, the center of gravity of the laser cleaning head 8 is placed outside the rotating shaft 72 (such as Fig.13As shown, the gravity direction G is located on the outside of the rotating shaft 72); when the laser head connecting rod 60 together with the automatic parallel mechanism 7 and the laser cleaning head 8 make a horizontal linear motion under the action of the automatic telescopic mechanism 5, since the rotating shaft 72 and the balancing hinge 74 are movable, and since the center of gravity of the balancing driven plate 76 together with the laser cleaning head connecting seat 71 and the laser cleaning head 8 is below, the balancing driven plate 76 together with the laser cleaning head connecting seat 71 and the laser cleaning head 8 can be kept at the lower position through the rotating shaft 72 and the balancing hinge 74, so that when the automatic telescopic mechanism 5 prompts the laser cleaning head 8 to be retracted and released, the automatic parallel mechanism 7 utilizes the principle of overcoming the gravity eccentricity of the laser cleaning head 8 to keep the laser cleaning head 8 always parallel to the track, and keep the laser emission direction of the laser cleaning head 8 always perpendicular to the waist of the track (that is, Fig.13 The laser emitted from the middle laser emitting port 82 is perpendicular to the waist of the track).

[0048] When the laser head connecting rod 60, together with the automatic parallel mechanism 7 and the laser cleaning head 8, performs horizontal linear motion and rotational motion under the action of the automatic telescopic mechanism 5, the laser head connecting rod 60 located inside the rotating shaft 72 is blocked by the automatic balancing wedge 75, so that the laser cleaning head 8 is always kept parallel to the track, and the laser emission direction of the laser cleaning head 8 is always kept perpendicular to the waist of the track. Fig.13 As shown, the center of gravity of the laser cleaning head 8 is outside the rotating shaft 72 (the gravity direction G is located at Fig.13 The laser cleaning head 8 on the left tends to move downward, and the balancing follower plate 76 on the right tends to move upward. Since the balancing follower plate 76 is supported by the automatic balancing wedge 75, the laser cleaning head 8 cannot move downward (i.e., cannot rotate). If it cannot rotate, the automatic parallel mechanism 7 can make the laser cleaning head 8 always remain parallel to the track by overcoming the gravitational eccentricity of the laser cleaning head 8 when the automatic telescopic mechanism 5 prompts the laser cleaning head 8 to be retracted or extended, and the high-energy fiber laser emitted by the laser cleaning head 8 always remains perpendicular to the waist of the track.

[0049] The rail intelligent laser cleaning robot of the present invention is a special equipment for automatic rail cleaning, which is controlled by a microcontroller, can realize automatic cleaning of rail waist rust, and can realize automatic cleaning of the cleaning length synchronized with the rail identification operation data. It has the function of flexible single-track walking and stable balance, can adapt to rail cleaning operations of different specifications, is not affected by rail spikes, can automatically calculate the required cleaning length according to the rail identification operation data collected by the rail identification data acquisition module, can flexibly adjust the cleaning speed according to the degree of rust to achieve the required cleaning requirements, and can flexibly select the cleaning mode (such as single-pass cleaning mode, reciprocating cleaning mode).

[0050] The rail intelligent laser cleaning robot of the present invention greatly improves the efficiency of rail waist rust cleaning, improves the cleaning effect and does not cause any chemical damage to the rail, saving a lot of manpower and material resources. The device has the characteristics of small size, light weight, simple control, strong adaptability, etc.

Claims

1. A track intelligent laser cleaning robot, characterized in that: It mainly includes an automatic walking platform, a motor drive unit, an electrical control box, a laser control box, a battery, an automatic telescopic mechanism, an automatic parallel mechanism, a laser cleaning head and a laser; the automatic walking platform is located at the bottom of the machine, includes a frame, a walking motor and at least two walking wheels, and can walk on the track; the motor drive unit, the battery, the automatic telescopic mechanism, the electrical control box and the laser are all fixedly installed on the frame of the automatic walking platform; a microcontroller is arranged in the electrical control box; the motor drive unit is connected to the output end of the microcontroller in the electrical control box; the motor drive unit is connected to the walking motor of the automatic walking platform, and can drive the automatic walking platform to walk; the motor drive unit is also connected to the stepper motor of the automatic telescopic mechanism, and can drive the stepper motor of the automatic telescopic mechanism to rotate and realize automatic telescoping; the laser control box is connected to the laser; the laser is electrically connected to the laser cleaning head; the motor drive unit, the laser control box, the electrical control box, the laser cleaning head and the laser are all connected to the battery; the laser cleaning head is connected to the automatic telescopic mechanism through the automatic parallel mechanism; the automatic telescopic mechanism can drive the laser cleaning head to work The automatic retractable mechanism mainly includes a synchronous pulley, a stepper motor, a lead screw, a guide rail, a mounting support, a hinge, a slider, a rotating shaft and a laser head connecting rod; the mounting support includes an upper support and a lower support connected together; the upper support includes a bottom plate and fixed vertical plates on the front and rear sides; the two ends of the lead screw are respectively installed on the fixed vertical plates on the front and rear sides; the synchronous pulley is installed at one end of the lead screw, and the synchronous pulley is connected to the output shaft of the stepper motor through a transmission belt; a guide rail is provided on the bottom plate of the upper support; there are left and right sides of the bottom plate of the upper support near the front ear plates; both ends of the rotating shaft are transversely mounted on the left and right ear plates through bearings; the cross-section of the lower support is inverted T-shaped; the left and right ear plates are respectively located on both sides of the upper part of the lower support; the stepper motor is connected to the lead screw through a synchronous pulley; the bottom of the slider is placed on the guide rail, and the slider can reciprocate on the guide rail; the upper part of the slider is sleeved outside the lead screw; the hinge includes two symmetrically arranged left and right hinges; one end of the hinge is fixedly connected to the middle of the slider; the other end of the hinge is fixedly connected to the rear end of the laser head connecting rod; the automatic parallel mechanism can keep the laser cleaning head parallel to the track when it is retracted and released.

2. The track intelligent laser cleaning robot according to claim 1, characterized in that: The laser head connecting rod includes two symmetrically arranged left and right L-shaped connecting parts; the left and right L-shaped connecting parts are connected by the connecting ribs at the front; each L-shaped connecting part includes two middle upper and lower square rods, a bent plate at the rear end and a round head with an axial hole at the front end; the outer side of the bottom of the bent plate at the rear end is provided with a protruding block with a screw hole connected to the hinge; the front and rear ends of the upper and lower square rods are connected together; two parallel guide wheels are respectively fixedly mounted on the rear ends of the two upper square rods of the laser head connecting rod; the two parallel guide wheels are pressed against the bottom plate of the upper support; the rotating shaft passes horizontally between the upper and lower square rods of the left and right L-shaped connecting parts; the laser head connecting rod can make a horizontal linear motion on the rotating shaft under the guidance of the two parallel guide wheels, and when it moves to the point where the rear ends of the upper and lower square rods of the laser head connecting rod are connected and abut against the rotating shaft, the laser head connecting rod starts to rotate around the rotating shaft.

3. The track intelligent laser cleaning robot according to claim 2, characterized in that: The automatic parallel mechanism mainly includes a laser cleaning head connecting seat, a rotating shaft, a rotating shaft fixing plate, a balancing hinge, an automatic balancing wedge and a balancing driven plate; the laser cleaning head connecting seat includes a laser cleaning head supporting cylinder and three vertical laser cleaning head connecting plates, a rotating shaft fixing front plate and a rotating shaft fixing rear plate arranged in sequence; the rotating shaft fixing front plate and the rotating shaft fixing rear plate are arranged opposite to each other and are connected by a connecting plate; the laser cleaning head connecting plate and the rotating shaft fixing front plate have a circular hole in the center; the laser cleaning head connecting plate and the rotating shaft fixing front plate are connected by a horizontal laser cleaning head supporting cylinder, the laser cleaning head connecting plate is used to fix the front part of the laser cleaning head, and the laser cleaning head supporting cylinder and the rotating shaft fixing front plate are used to support the laser cleaning head The middle part; a square hole is set in the center of the rear plate fixed by the rotating shaft, which is used to support the rear part of the laser cleaning head; the two ends of the rotating shaft are respectively installed at the positions deviating from the center at the top of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; one end of the balancing hinge is connected to the rotating shaft, and the other end of the balancing hinge is connected to the upward protruding block of the balancing driven plate through a pin shaft; the two ends of the balancing driven plate are respectively fixedly installed at the middle and upper positions of the rotating shaft fixed front plate and the rotating shaft fixed rear plate; the front end of the laser head connecting rod is sleeved on the rotating shaft; the automatic balancing wedge is fixedly installed at the bottom of the front end round head of the laser head connecting rod, and the automatic balancing wedge is pressed on the balancing driven plate, so that the laser head connecting rod always maintains a certain inclination angle with the balancing driven plate, so that the laser cleaning head always remains parallel to the track.

4. The track intelligent laser cleaning robot according to claim 2, characterized in that: The automatic walking platform includes a frame, a walking motor and two walking wheels; the two walking wheels are installed at the front and rear ends of the frame and can walk on a single steel rail.

5. The track intelligent laser cleaning robot according to claim 2, characterized in that: The rail intelligent laser cleaning robot also includes a cover mounting seat and a cover; the cover mounting seats are fixedly mounted on the frame of the automatic walking platform; the cover is fixedly mounted on the cover mounting seat; a handle is provided on each side of the cover for easy carrying.

6. The track intelligent laser cleaning robot according to claim 1, characterized in that: A pulley is arranged at the bottom of the slider, and the pulley is placed on the guide rail.

7. The track intelligent laser cleaning robot according to claim 1, characterized in that: The hinge is connected to the laser head connecting rod through screws.

8. The track intelligent laser cleaning robot according to claim 3, characterized in that: The two ends of the balance driven plate are respectively fixed on the middle and upper positions of the rotating shaft fixed front plate and the rotating shaft fixed rear plate by screws.

9. The track intelligent laser cleaning robot according to claim 3, characterized in that: One end of the balance hinge is sleeved on the rotating shaft.

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