A track inspection robot and working method thereof

Abstract

The present invention discloses a track inspection robot and a working method thereof, comprising: a mobile drive component, a cleaning component, a detection component and a control module, wherein the mobile drive component comprises a drive motor and a gear set arranged on both sides of the track, the gear set is driven by the drive motor to enable the robot to move on the track; the cleaning component comprises a drive mechanism and a floating sweeping disc arranged on both sides of the track, the floating sweeping disc is driven by the drive mechanism to enable the robot to clean the track when moving on the track; the control module is used to control and adjust the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection, the control module determines whether the robot is on a straight track or a slope track according to the current position of the robot, and controls the drive motor according to the judgment result to realize the differential motion control of the mobile drive component. The stable inspection capability of the robot in a high dust and strong vibration environment is realized, and the anti-interference capability of the robot and the comprehensive adaptability in a complex environment are enhanced.

Description

Technical Field

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

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Traditional coal pipeline inspection methods include manual inspection and robot inspection. Manual inspection has the disadvantages of high labor intensity, low inspection efficiency, and potential safety hazards. Robot inspection is the main method. Existing robot inspections are generally track-suspended or wire-rope-pulled. The track or wire rope is generally arranged along the belt line with a certain slope. The on-site environment is harsh, and dust and water vapor gather on the track, which can easily cause the robot to slip during the climbing process, or even cause a car-slip accident, seriously affecting the stability of the equipment operation and posing a potential safety hazard. In addition, during the on-site belt line transportation of coal and other materials, strong vibrations are generally generated. If the existing pan-tilt structure is used, the vibration can easily cause the worm gear self-locking structure inside the equipment to open, and then it is difficult to recover, affecting the inspection effect. In addition, the robot system lacks a feasible dust removal and cleaning device. After the dust and other materials gather on site, it is easy to cause the robot to get stuck or even stuck, which seriously affects the stability of the robot inspection. Configuring inspection tasks under different working conditions on straight sections and sloping track sections places higher requirements on the robot's operating speed: straight sections are generally in a high-speed and light-load state, while climbing track sections are in a low-speed and high-load operating state.

[0004] The Chinese patent "CN111409057A" discloses an inspection robot for a mining belt conveyor. The inspection robot is installed on a cable rail, which is arranged above the conveyor and laid along the conveying direction of the conveyor. The inspection robot includes a moving device and an inspection device. The moving device is used on the cable rail to drive the inspection robot to move along the cable rail. The inspection device includes an A inspection mechanism and a B inspection mechanism. The A inspection mechanism is fixedly installed on the moving device and is used to inspect the belt surface of the conveyor. The B inspection mechanism is connected to the adjusting mechanism. The adjusting mechanism is used to adjust the B inspection mechanism to extend under the conveyor to inspect the back of the conveyor, so as to realize the upper and lower inspection functions of the mining belt conveyor.

[0005] The Chinese patent "CN208542615U" discloses a track cleaning device for a mining truss U-shaped inspection robot. The cleaning device moves along the track, cleans with a brush, and then heats and dries the track with hot air, which can effectively improve the cleaning effect of the robot track.

[0006] The Chinese patent "CN212862908U" discloses a steel wire rope traction type coal mine underground belt conveyor circulation detection system, which includes: an overhead ropeway system, a rope gripper, a belt conveyor state monitoring device, and a monitoring background system. The overhead ropeway system is driven by power grid power supply, so that the belt conveyor state monitoring device on it can smoothly patrol along the conveyor belt of the belt conveyor. The battery installed in the belt conveyor state monitoring device itself is only used to provide power for the sensor and communication equipment, thereby extending the battery life.

[0007] For comprehensive inspection of belt conveyor lines, the robot generally operates in two modes: wire rope traction or track suspension. The climbing drive mode is mostly gear rack or sprocket chain drive. It carries a pan-tilt type detection device to carry out inspection tasks. Dust accumulated on the track surface is removed by scrapers or blowing devices.

[0008] However, the above existing technical solutions have at least the following problems:

[0009] (1) For different inspection conditions, the robot can only rely on servo motors to achieve high-speed and low-speed conversion. Generally, the robot weighs 20 to 30 kilograms. When climbing steep slopes, the required torque is higher, which in turn increases the requirements for motor parameters, greatly increasing the cost of the robot and limiting the adjustment effect.

[0010] (2) There is a lot of vibration and noise at the belt transportation site. The pan / tilt head is generally a self-locking worm gear structure. If it is exposed to vibration for a long time, it is easy to loosen and detach, and cannot recover by itself.

[0011] (3) Dust accumulates on the surface of the tunnel, and the dust removal effect of scrapers, blowers, etc. is extremely limited. In addition, they have poor wear resistance and are easily damaged. Summary of the invention

[0012] In order to solve the above problems, the present invention proposes a track inspection robot and a working method thereof. In view of the problems that the existing inspection robots are prone to slipping and moving down when climbing a slope track, the self-locking property of the pan-tilt detection component is poor, and the dust on the surface is difficult to clean, the present invention adopts a differential drive component, configures an adjustable mechanical self-locking detection component, and loads a floating cleaning component to achieve the robot's stable inspection capability in a high dust and strong vibration environment, enhance the inspection robot's anti-interference capability, and improve the inspection robot's comprehensive adaptability in complex environments.

[0013] In order to achieve the above object, the present invention adopts the following technical solution:

[0014] In a first aspect, the present invention provides a rail inspection robot, comprising: a housing, and a mobile drive component, a cleaning component, a detection component and a control module arranged on the housing, wherein the mobile drive component, the detection component and the cleaning component are all connected to the control module;

[0015] The mobile driving assembly includes a driving motor and a gear set arranged on both sides of the track, and the gear set is driven by the driving motor to enable the robot to move on the track;

[0016] The cleaning assembly includes a driving mechanism and floating sweeping discs arranged on both sides of the track, and the floating sweeping discs are driven by the driving mechanism to realize the cleaning of the track when the robot moves on the track;

[0017] The control module is used to control and adjust the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection. The control module determines whether the robot is on a straight track or a slope track based on the current position of the robot, and controls the drive motor based on the judgment result to realize differential motion control of the mobile drive component, and at the same time controls the cleaning component to realize the cleaning operation.

[0018] As an optional embodiment, the gear group includes a first gear group and a second gear group arranged opposite to each other, the first gear group and the second gear group both include gears, the first gear group also includes a coaxial climbing gear and a first friction wheel, the second gear group also includes a coaxial climbing roller and a second friction wheel, and the climbing gear and the first friction wheel are driven to rotate, and the climbing roller and the second friction wheel are driven to rotate through the rotation of the gears.

[0019] As an optional implementation, when running on a straight track, the first friction wheel and the second friction wheel are in contact and friction with the track, the wheel diameters of the first friction wheel and the second friction wheel are larger than the diameters of the climbing gear and the climbing roller, the climbing gear and the climbing roller are suspended in the air and do not do work, and the forward movement on the straight track is achieved through the high speed and low load of the first friction wheel and the second friction wheel.

[0020] As an optional implementation, when running on a slope track, the climbing roller contacts the pads on the track, the climbing gear engages with the rack on the track, the total height of the climbing gear and the rack is greater than the wheel diameter of the first friction wheel, and the total height of the climbing roller and the pads is greater than the wheel diameter of the second friction wheel, the first friction wheel and the second friction wheel are suspended in the air and do not do work, and climbing the slope track is achieved through the low speed and high load of the climbing gear engaging with the rack.

[0021] As an optional embodiment, the detection assembly includes a pitch adjustment seat, a horizontal rotation seat, a rotating pin, a positioning bead and a positioning pin; the pitch adjustment seat is provided with a rotating pin for adjusting the pitch angle; the horizontal rotation seat is provided with a positioning hole, through which the positioning hole and the positioning bead are used to perform graduation positioning to adjust the horizontal angle; the positioning pin is used to lock the adjusted pitch angle and horizontal angle.

[0022] As an optional implementation, the pitch adjustment seat is provided with a scale, and the rotating pin is adjusted by rotating the locking screw according to the scale; the pitch adjustment seat is penetrated by a through hole, and the locking screw and the rotating pin rotate in coordination through the through hole and are locked by the positioning pin.

[0023] As an optional implementation, the pitch adjustment seat switches the pitch angle from 0 to -60 degrees in the pitch direction; and the horizontal rotation seat switches from 0 to 360 degrees in the horizontal direction.

[0024] As an optional embodiment, the cleaning assembly also includes a bracket, which includes a motor support plate, a fixed bottom plate, a support vertical plate, a first positioning plate, and a second positioning plate; the first positioning plate and the second positioning plate are fixed in parallel on the fixed bottom plate; one end of the support vertical plate is connected to the top end of the first positioning plate and the second positioning plate; one end of the motor support plate is connected to the other end of the support vertical plate, and a driving mechanism is provided on the motor support plate.

[0025] As an optional embodiment, the driving mechanism includes a cleaning drive motor, a driving pulley and a driven pulley; the driving pulley and the driven pulley are connected for rotation via a synchronous belt, and the cleaning drive motor is connected to the driving pulley; the floating sweeping disc is connected to the driven pulley via a rotating bearing.

[0026] In a second aspect, the present invention provides a working method of the above-mentioned track inspection robot, comprising:

[0027] The control module controls and adjusts the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection, and judges whether the robot is on a straight track or a slope track according to the current position of the robot, and performs differential motion control on the mobile drive component according to the judgment result;

[0028] When running on a straight track, the climbing gear and the climbing roller are suspended in the air through the friction wheel contacting and rubbing with the track, and the climbing gear and the climbing roller are driven by the friction wheel to move forward and backward along the track; when climbing a slope track, the climbing gear on one side of the track is in contact and meshing with the rack of the track, and the climbing roller on the other side of the track is in contact and meshing with the pad of the track, and the friction wheel is suspended in the air, and the climbing gear and the rack are meshed to achieve low speed and high load climbing of the slope track;

[0029] When the robot moves on the track, it controls the cleaning components arranged on both sides of the track to clean the track surface.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention innovatively develops a track inspection robot, designs a mobile drive component and a floating cleaning component that realize differential motion control, and can realize high-speed and low-load operation on straight sections and stable climbing at low speed and high load without changing the motor parameters. At the same time, when the robot moves along the track, it can realize the cleaning operation along the track, solving the problems of the existing inspection robot being easy to slip and move down when climbing the slope track, and the dust on the surface being difficult to clean. It meets the complex working conditions of the coal transportation corridor, realizes the stable inspection capability of the track inspection robot in a high dust and strong vibration environment, enhances the anti-interference ability of the track inspection robot, improves the comprehensive adaptability of the track inspection robot in a complex environment, and enhances the inspection stability of the track inspection robot.

[0032] The present invention innovatively develops a rail inspection robot, which uses a detection component that has an adjustable mechanical self-locking function in addition to the detection function. After adjusting the pitch angle and horizontal angle, the position can be mechanically locked to achieve stable operation in a high-vibration environment and easy adjustment. This solves the problem that the existing inspection robot pan-tilt detection component has poor self-locking performance and the pan-tilt component cannot work stably under vibration conditions.

[0033] The present invention innovatively proposes a rail inspection robot inspection method, which relies on a rail inspection robot system and aims to solve the problems of existing coal conveyor corridor inspection robots, such as the inability to meet the functional requirements of different working conditions, poor self-locking of the pan-tilt detection component, and difficulty in cleaning the surface dust, by adopting a differential drive component, configuring an adjustable mechanical self-locking detection component, and loading a floating cleaning component. The method can stably perform inspection tasks under complex working conditions at the coal conveyor corridor site.

[0034] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0036] Figure 1 A schematic diagram of the overall structure of the track inspection robot provided in Example 1 of the present invention;

[0037] Figure 2(a)-2(b) A schematic diagram of the structure of a differential drive assembly provided in Example 1 of the present invention;

[0038] Figure 3(a)-3(b) A schematic diagram of the operation of the differential drive assembly provided in Embodiment 1 of the present invention under different working conditions;

[0039] Figure 4(a)-4(b)A schematic diagram of the structure of a detection component provided in Example 1 of the present invention;

[0040] Figure 5(a)-5(b) A schematic diagram of the structure of a floating cleaning assembly provided in Example 1 of the present invention;

[0041] Among them, 1. differential drive assembly, 2. detection assembly, 3. housing, 4. floating cleaning assembly, 5. driven assembly;

[0042] 1-1, first gear, 1-2, second gear, 1-3, third gear, 1-4, motor gear, 1-5, drive motor, 1-6, first friction wheel, 1-7, climbing gear, 1-8, bottom plate, 1-9, transmission shaft, 1-10, second friction wheel, 1-11, climbing roller;

[0043] 2-1, pitch fixing seat, 2-2, pitch adjustment seat, 2-3, first positioning pin, 2-4, pod assembly, 2-5, second positioning pin, 2-6, locking screw, 2-7, positioning bead, 2-8, horizontal rotation seat, 2-9, third positioning pin, 2-10, rotation pin, 2-11, fourth positioning pin, 2-12, fixing screw;

[0044] 3-1, straight track section, 3-2, climbing rack, 3-3, climbing pad;

[0045] 4-1, driving pulley, 4-2, synchronous belt, 4-3, motor support plate, 4-4, fixed bottom plate, 4-5, protective cover, 4-6, driven pulley, 4-7, rotating bearing, 4-8, floating sweeping disc, 4-9, cleaning drive motor, 4-10, supporting vertical plate, 4-11, first positioning plate, 4-12, second positioning plate. DETAILED DESCRIPTION

[0046] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0048] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0050] Example 1

[0051] like Figure 1 As shown, this embodiment provides a rail inspection robot for coal transportation corridor inspection, comprising a housing, and a mobile drive component, a cleaning component, a detection component and a control module arranged on the housing, and the mobile drive component, the detection component and the cleaning component are all connected to the control module;

[0052] The mobile driving assembly includes a driving motor and a gear set arranged on both sides of the track, and the gear set is driven by the driving motor to enable the robot to move on the track;

[0053] The cleaning assembly includes a driving mechanism and floating sweeping discs arranged on both sides of the track, and the floating sweeping discs are driven by the driving mechanism to realize the cleaning of the track when the robot moves on the track;

[0054] The control module is used to control and adjust the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection. The control module determines whether the robot is on a straight track or a slope track based on the current position of the robot, and controls the drive motor based on the judgment result to realize differential motion control of the mobile drive component, and at the same time controls the cleaning component to realize the cleaning operation.

[0055] In this embodiment, the mobile drive component is a differential drive component 1, and the cleaning component adopts a floating cleaning component 4. The differential drive component 1 and the floating cleaning component 4 are connected to the chassis of the shell 3 by bolts, and the detection component 2 is fixed to the lower part of the chassis of the shell 3 by bolts; and the detection component 2 has a self-locking function.

[0056] In this embodiment, the track inspection robot further includes a driven component 5 , which is connected to the chassis of the housing 3 by bolts.

[0057] In this embodiment, the friction wheels of the differential drive component 1 and the driven component 5 are suspended on the I-shaped track, and the detection function is performed by adjusting the pitch angle and horizontal angle of the detection component 2. The floating cleaning component 4 is arranged on both sides of the track to clean the dust accumulated on the track.

[0058] In this embodiment, if Figure 2(a)-2(b) As shown, the differential drive assembly 1 includes a first gear set and a second gear set arranged opposite to each other, wherein the first gear set and the second gear set are respectively placed on both sides of the track, and include a plurality of first gears; and include a climbing gear 1-7 and a first friction wheel 1-6 on one side, and include a climbing roller 1-11 and a second friction wheel 1-10 on the other side; the climbing gear 1-7 and the first friction wheel 1-6 are driven to rotate through the rotation of the gears, and the climbing roller 1-11 and the second friction wheel 1-10 are driven to rotate.

[0059] Specifically, the differential drive assembly 1 includes a first gear 1-1, a second gear 1-2, a third gear 1-3, a motor gear 1-4, a drive motor 1-5, a first friction wheel 1-6, a climbing gear 1-7, a bottom plate 1-8, a transmission shaft 1-9, a second friction wheel 1-10 and a climbing roller 1-11;

[0060] Preferably, the bottom plate 1 - 8 is fixedly connected to the chassis of the housing 3 by bolt connection.

[0061] Preferably, the differential drive assembly 1 is suspended on an I-shaped track, and the gears on both sides are connected by a transmission shaft 1-9, while the first friction wheel 1-6 and the second friction wheel 1-10 are respectively arranged on both sides of the track.

[0062] Preferably, the driving motor 1-5 drives the first gear 1-1, the second gear 1-2, and the third gear 1-3 to rotate through the motor gear 1-4, and transmits the power to the gear on the other side through the transmission shaft 1-9, thereby realizing synchronous movement of the gears on both sides.

[0063] Preferably, on one side, or the side close to the motor, a coaxial second friction wheel 1-10 and a climbing roller 1-11 are included, and the second friction wheel 1-10 and the climbing roller 1-11 are meshed with gears on the same side to transmit torque, driving the second friction wheel 1-10 to move forward on the track;

[0064] Furthermore, the climbing roller 1-11 has an embedded bearing and can rotate freely.

[0065] Preferably, on the other side, a coaxial first friction wheel 1-6 and a climbing gear 1-7 are included, and the first friction wheel 1-6 and the climbing gear 1-7 transmit torque through the gear meshing transmission on the same side to drive the first friction wheel 1-6 to move forward on the track.

[0066] Furthermore, the diameter of the friction wheel is larger than the diameters of the climbing gear 1-7 and the climbing roller 1-11, and the total height of the climbing gear 1-7 plus the rack is larger than the diameter of the friction wheel;

[0067] In this embodiment, the differential drive assembly 1 is installed on the track, and the drive motor 1-5 outputs the torque and speed to the drive wheel after two-stage reduction;

[0068] As shown in Figure 3(a), when running on the straight track section 3-1, high-speed and low-load conditions are required. Through the contact friction between the first friction wheel 1-6 and the second friction wheel 1-10 and the track, the drive motor 1-5 provides driving torque after gear reduction to ensure that the robot can run at high speed; because the wheel diameter of the friction wheel is larger than the diameter of the climbing gear 1-7 and the climbing roller 1-11, the climbing gear 1-7 and the climbing roller 1-11 are suspended in the air and do not do work. The first friction wheel 1-6 and the second friction wheel 1-10 can achieve high speed and low load, driving the robot forward or backward for straight section inspection.

[0069] As shown in Figure 3(b), when climbing a steep slope, the differential drive assembly 1 still provides driving torque through the drive motor 1-5 after gear reduction, and the climbing gear 1-7 contacts and meshes with the climbing rack 3-2 on the track, and cooperates with the climbing roller 1-11 on the other side to contact and roll with the climbing pad 3-3 on the track; because the total height of the climbing gear 1-7 plus the rack 3-2 is greater than the wheel diameter of the friction wheel, and the height of the climbing roller 1-11 plus the climbing pad 3-3 is greater than the wheel diameter of the friction wheel, at this time, the first friction wheel 1-6 and the second friction wheel 1-10 are all suspended in the air and do not do work, and the climbing gear 1-7 can obtain low speed and high load, and realize climbing the slope track through the gear rack meshing transmission.

[0070] In this embodiment, if Figure 4(a)-4(b) As shown, the detection assembly 2 includes a pitch fixing seat 2-1, a pitch adjustment seat 2-2, a first positioning pin 2-3, a pod assembly 2-4, a second positioning pin 2-5, a locking screw 2-6, a positioning bead 2-7, a horizontal rotation seat 2-8, a third positioning pin 2-9, a rotation pin 2-10, a fourth positioning pin 2-11 and a fixing screw 2-12;

[0071] Among them, the pitch adjustment seat 2-2 is provided with a rotating pin 2-10 for adjusting the pitch angle; the horizontal rotating seat 2-8 is provided with a positioning hole, and the positioning hole and the positioning bead 2-7 are used for indexing positioning to adjust the horizontal angle, and each positioning pin is used to lock the adjusted pitch angle and horizontal angle.

[0072] Preferably, the pitch fixing seat 2 - 1 is fixedly connected to the chassis of the shell by bolt connection, and is connected to the lower part of the chassis of the shell.

[0073] Furthermore, the pitch fixing seat 2-1 is provided with a bolt hole, and the bolt hole is fixed to the chassis of the shell by a fixing screw 2-12.

[0074] In this embodiment, the pitch adjustment seat 2-2 is connected to the pitch fixing seat 2-1 through a locking screw 2-6 and a rotating pin 2-10.

[0075] Preferably, the pitch adjustment seat 2-2 is rotated to adjust the pitch angle by the rotating pin 2-10, and the pitch angle is locked by the second positioning pin 2-5 and the third positioning pin 2-9, so that the pitch angle can be switched from 0 to -60 degrees in the pitch direction.

[0076] Preferably, the pitch adjustment seat 2-2 is provided with a scale, and the locking screw 2-6 and the rotating pin 2-10 are rotated and adjusted according to the scale, the locking screw 2-6 is locked by the second positioning pin 2-5, and the rotating pin 2-10 is locked by the third positioning pin 2-9.

[0077] Preferably, the pitch adjustment seat 2-2 is penetrated by a through hole, and the locking screw 2-6 and the rotating pin 2-10 rotate in cooperation through the through hole.

[0078] In this embodiment, the horizontal rotation seat 2-8 is connected to the pitch adjustment seat 2-2 through the shaft hole, and a plurality of positioning holes are processed inside the horizontal rotation seat 2-8, and the positioning holes match the positioning beads 2-7;

[0079] Preferably, a through hole is penetrated in the horizontal rotating seat, and a first positioning pin 2-3 and a fourth positioning pin 2-11 are respectively provided at both ends of the through hole; or, through holes matching the first positioning pin 2-3 and the fourth positioning pin 2-11 are respectively provided in the horizontal rotating seat.

[0080] Preferably, in the horizontal direction, indexing positioning is performed through the positioning holes in the horizontal rotating seat 2-8 and the positioning beads 2-7, and the position is locked through the first positioning pin 2-3 and the fourth positioning pin 2-11, so as to realize free switching from 0 to 360 degrees in the horizontal direction.

[0081] This embodiment can realize operations such as pitching movement and horizontal rotation through the detection component, and has a mechanical self-locking function. By mechanically locking the position, it can be used in a high-vibration environment.

[0082] Preferably, the pod assembly 2-4 is connected to the lower end of the horizontal rotating seat 2-8.

[0083] Preferably, the pod component 2-4 of the detection component 2 realizes different detection functions by combining core components such as infrared camera, visible light, laser radar, speed sensor, ultrasonic sensor, position sensor and image detection module.

[0084] In this embodiment, if Figure 5(a)-5(b) As shown, the floating cleaning assembly 4 includes a driving pulley 4-1, a synchronous belt 4-2, a motor support plate 4-3, a fixed bottom plate 4-4, a protective cover 4-5, a driven pulley 4-6, a rotating bearing 4-7, a floating sweeping disc 4-8, a cleaning drive motor 4-9, a supporting vertical plate 4-10, a first positioning plate 4-11, and a second positioning plate 4-12;

[0085] Preferably, the fixed base plate 4 - 4 is fixedly connected to the chassis of the shell by bolt connection.

[0086] In this embodiment, the bracket includes a motor support plate 4-3, a fixed bottom plate 4-4, a support vertical plate 4-10, a first positioning plate 4-11, and a second positioning plate 4-12;

[0087] The fixed bottom plate 4-4 is connected to the first positioning plate 4-11 and the second positioning plate 4-12, and the first positioning plate 4-11 and the second positioning plate 4-12 are fixed in parallel on the fixed bottom plate 4-4;

[0088] The top ends of the first positioning plate 4-11 and the second positioning plate 4-12 are connected to the support vertical plate 4-10, and one end of the support vertical plate 4-10 is in contact with and connected to the top ends of the first positioning plate 4-11 and the second positioning plate 4-12;

[0089] The other end of the supporting vertical plate 4-10 is connected to one end of the motor supporting plate 4-3, and a driving mechanism is provided on the motor supporting plate 4-3.

[0090] In this embodiment, one end of the rotating bearing 4-7 is connected to the other end of the motor support plate 4-3; and the floating sweeping disc 4-8 is connected to the other end of the rotating bearing 4-7.

[0091] Furthermore, the first positioning plate 4-11 and the second positioning plate 4-12 are of the same height and the same size.

[0092] Furthermore, the above connection method can adopt a fixed connection method such as bolt connection.

[0093] In this embodiment, the driving mechanism includes a cleaning driving motor 4-9, a driving pulley 4-1 and a driven pulley 4-6; a cleaning driving motor 4-9, a driving pulley 4-1 and a driven pulley 4-6 are provided on the motor support plate 4-3;

[0094] The driving pulley 4-1 and the driven pulley 4-6 are connected and rotated via a synchronous belt 4-2;

[0095] The cleaning drive motor 4-9 is connected to the driving pulley 4-1 via a key;

[0096] The floating sweeping disc 4-8 is connected to the driven pulley 4-6 through the transmission shaft via the rotating bearing 4-7.

[0097] In this embodiment, the cleaning drive motor 4-9 drives the active pulley 4-1 to rotate, and drives the driven pulley 4-6 to rotate through the synchronous belt 4-2, thereby driving the floating sweeping disc 4-8 to rotate through the transmission shaft and the rotating bearing 4-7 to clean the dust on the track surface.

[0098] Preferably, a protective cover 4 - 5 is provided on the driving pulley 4 - 1 and the driven pulley 4 - 6 .

[0099] Preferably, the floating cleaning assembly 4 includes two groups, which have the same structure and are respectively arranged on both sides of the track.

[0100] Preferably, bolt holes are provided on the fixed base plate 4 - 4 , and the fixed base plate 4 - 4 is fixedly connected to the chassis of the shell through the bolt holes.

[0101] Example 2

[0102] This embodiment provides a working method of the above-mentioned track inspection robot, including:

[0103] The control module controls and adjusts the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection, and judges whether the robot is on a straight track or a slope track according to the current position of the robot, and performs differential motion control on the mobile drive component according to the judgment result;

[0104] When running on a straight track, the climbing gear and the climbing roller are suspended in the air through the friction wheel contacting and rubbing with the track, and the climbing gear and the climbing roller are driven by the friction wheel to move forward and backward along the track; when climbing a slope track, the climbing gear on one side of the track is in contact and meshing with the rack of the track, and the climbing roller on the other side of the track is in contact and meshing with the pad of the track, and the friction wheel is suspended in the air, and the climbing gear and the rack are meshed to achieve low speed and high load climbing of the slope track;

[0105] When the robot moves on the track, it controls the cleaning components arranged on both sides of the track to clean the track surface.

[0106] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A track inspection robot, characterized in that: It includes: a housing, and a mobile driving component, a cleaning component, a detection component and a control module arranged on the housing, and the mobile driving component, the detection component and the cleaning component are all connected to the control module; The mobile driving assembly includes a driving motor and a gear set arranged on both sides of the track, and the gear set is driven by the driving motor to enable the robot to move on the track; the gear set includes a first gear set and a second gear set arranged opposite to each other, and the first gear set and the second gear set both include gears, and the first gear set also includes a coaxial climbing gear and a first friction wheel, and the second gear set also includes a coaxial climbing roller and a second friction wheel, and the climbing gear and the first friction wheel are respectively driven to rotate, and the climbing roller and the second friction wheel are driven to rotate through the rotation of the gears; The cleaning assembly comprises a driving mechanism and floating sweeping discs arranged on both sides of the track, and the floating sweeping disc is driven by the driving mechanism to realize cleaning of the track when the robot moves on the track; the cleaning assembly also comprises a bracket, and the bracket comprises a motor support plate, a fixed bottom plate, a support vertical plate, a first positioning plate, and a second positioning plate; the first positioning plate and the second positioning plate are fixed in parallel on the fixed bottom plate; one end of the support vertical plate is connected to the top end of the first positioning plate and the second positioning plate; one end of the motor support plate is connected to the other end of the support vertical plate, and a driving mechanism is provided on the motor support plate; the driving mechanism comprises a cleaning drive motor, a driving pulley and a driven pulley; the driving pulley and the driven pulley are connected for rotation by a synchronous belt, and the cleaning drive motor is connected to the driving pulley; the floating sweeping disc is connected to the driven pulley through a rotating bearing; The control module is used to control and adjust the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection. The control module determines whether the robot is on a straight track or a slope track based on the current position of the robot, and controls the drive motor based on the judgment result to realize differential motion control of the mobile drive component, and at the same time controls the cleaning component to realize the cleaning operation.

2. A rail inspection robot as claimed in claim 1, characterized in that: When running on a straight track, the first friction wheel and the second friction wheel are in contact and friction with the track, the wheel diameters of the first friction wheel and the second friction wheel are larger than the diameters of the climbing gear and the climbing roller, the climbing gear and the climbing roller are suspended in the air and do not do work, and the forward movement on the straight track is achieved through the high speed and low load of the first friction wheel and the second friction wheel.

3. A rail inspection robot as claimed in claim 1, characterized in that: When running on a slope track, the climbing roller contacts the pads on the track, the climbing gear meshes with the rack on the track, the total height of the climbing gear and the rack is greater than the wheel diameter of the first friction wheel, and the total height of the climbing roller and the pads is greater than the wheel diameter of the second friction wheel. The first friction wheel and the second friction wheel are suspended in the air and do not do work, and the climbing slope track is achieved through the low speed and high load of the climbing gear meshing with the rack.

4. A rail inspection robot as claimed in claim 1, characterized in that: The detection assembly includes a pitch adjustment seat, a horizontal rotation seat, a rotating pin, a positioning bead and a positioning pin; the pitch adjustment seat is provided with a rotating pin for adjusting the pitch angle; the horizontal rotation seat is provided with a positioning hole, through which the positioning hole and the positioning bead are used for indexing and positioning to adjust the horizontal angle; the positioning pin is used to lock the adjusted pitch angle and horizontal angle.

5. A rail inspection robot as claimed in claim 4, characterized in that: The pitch adjustment seat is provided with a scale, and the rotating pin is adjusted by rotating the locking screw according to the scale; the pitch adjustment seat is penetrated by a through hole, and the locking screw and the rotating pin are rotated in coordination through the through hole and locked by the positioning pin.

6. A rail inspection robot as claimed in claim 4, characterized in that: The pitch adjustment seat switches the pitch angle from 0 to -60 degrees in the pitch direction; and the horizontal rotation seat switches from 0 to 360 degrees in the horizontal direction.

7. A working method of a track inspection robot according to any one of claims 1 to 6, characterized in that: include: The control module controls and adjusts the pitch angle and horizontal angle of the detection component to obtain the current position of the robot after detection, and judges whether the robot is on a straight track or a slope track according to the current position of the robot, and performs differential motion control on the mobile drive component according to the judgment result; When running on a straight track, the climbing gear and the climbing roller are suspended in the air through the friction wheel contacting and rubbing with the track, and the climbing gear and the climbing roller are driven by the friction wheel to move forward and backward along the track; when climbing a slope track, the climbing gear on one side of the track is in contact and meshing with the rack of the track, and the climbing roller on the other side of the track is in contact and meshing with the pad of the track, and the friction wheel is suspended in the air, and the climbing gear and the rack are meshed to achieve low speed and high load climbing of the slope track; When the robot moves on the track, it controls the cleaning components arranged on both sides of the track to clean the track surface.

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