An intelligent robot for port machinery used for foreign body detection on tracks

Abstract

The present invention discloses an intelligent robot for port machinery used for detecting foreign objects on tracks, comprising a mounting plate, on which a scrubbing device, a traveling device, a detecting device and a following device are arranged; the mounting plates are in two groups, and two groups of extension frames are fixedly connected to the other side of the mounting plates, and the other side of the extension frames are rotatably connected to stabilizing wheels, and the middle of the mounting plates are fixedly connected to brackets, and the brackets are rotatably connected to swing arms, and the other side of the swing arms are rotatably connected to rotating shafts, and cross frames are fixedly connected between the rotating shafts. Through the cooperation of the scrubbing device, the traveling device, the detecting device, the following device and the reversing device, the position of foreign objects on the track can be accurately detected, and the foreign objects can be accurately cleaned, and the degree of automation in running on the track is high, and excessive manual operation is not required.

Description

Technical Field

[0001] The invention relates to port machinery equipment, and in particular to an intelligent robot for port machinery used for detecting foreign objects on tracks. Background Art

[0002] In the field of port machinery, the main engine of the port machinery needs to slide frequently on the track to transfer containers and other materials. The location of the port machinery is mostly on the edge of the seaside port, where there are a lot of birds such as seagulls, and the seaside environment is windy. It is very easy for foreign objects such as bird droppings to adhere to the track surface on the static track. The nature of bird droppings will also cause certain damage to the track metal, and foreign objects on the track will also cause blockage and slippage of the main engine of the port machinery during sliding, resulting in a decrease in the operating accuracy of the main engine of the port machinery. In the traditional track cleaning process, many of the tracks need to be cleaned manually, but the manual method is slow and inefficient.

[0003] Therefore, it is necessary to design an intelligent robot for port machinery used for foreign object detection on tracks to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent robot for port machinery used for detecting foreign objects on tracks. Through the cooperation of a brushing device, a traveling device, a detection device, a follower device and a reversing device, the robot can accurately detect the position of foreign objects on the track and accurately clean the foreign objects. The robot has a high degree of automation when running on the track and does not require excessive manual operation.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an intelligent robot for port machinery used for detecting foreign objects on tracks, comprising a mounting plate, on which a scrubbing device, a traveling device, a detecting device and a following device are provided;

[0006] There are two groups of mounting plates, two groups of extension frames are fixedly connected to the other side of the mounting plates, the other side of the extension frames are rotatably connected to stabilizing wheels, the middle of the mounting plates are fixedly connected to brackets, the brackets are rotatably connected to swing arms, the other side of the swing arms are rotatably connected to rotating shafts, a cross frame is fixedly connected between the rotating shafts, and a cover frame is fixedly connected to the cross frame;

[0007] The cross frame is provided with a brushing device, which is used to brush foreign objects from the track;

[0008] A traveling device is provided between the brackets, and the traveling device is used to enable the intelligent robot for port machinery used for detecting foreign objects on tracks to travel on the track;

[0009] Detection devices are provided on both sides of the cover frame, and the detection devices are used to perform distance scanning detection on the track foreign matter;

[0010] A follower device is provided between the bracket and the rotating shaft, and the follower device is used to keep the brushing device in a vertical position when the swing arm rotates.

[0011] As a further improvement of the present invention, the brushing device includes a linear moving pair, which are respectively fixedly connected to both sides of the cross frame, a moving plate is fixedly connected between the moving parts of the linear moving pair away from the side of the mounting plate, an electric slide rail is fixedly connected to the cross frame, the moving part of the electric slide rail is connected to the moving plate, and the moving parts of the linear moving pair are fixedly connected to a connecting frame at a position near the side of the mounting plate, a first drive motor is fixedly connected to a group of the connecting frames, a brushing wheel is fixedly connected to the output shaft of the first drive motor, and the other side of the brushing wheel is rotatably connected to the connecting frame on the other side.

[0012] As a further improvement of the present invention, the traveling device includes a second driving motor, which is fixedly connected to one of the brackets, and a driving wheel is fixedly connected to the output shaft of the second driving motor, and the other side of the driving wheel is rotatably connected to the other bracket.

[0013] As a further improvement of the present invention, the detection device includes an arc-shaped plate, which is respectively fixedly connected to the cover frame on both sides of the brushing device, and the opposite sides of the arc-shaped plate are fixedly connected with an arc-shaped moving pair, and the moving parts of the arc-shaped moving pair are fixedly connected with a laser ranging probe, and the moving parts of the arc-shaped moving pair are fixedly connected with an L-shaped frame, and the L-shaped frame is located on the adjacent side of the arc plate and is fixedly connected with a reciprocating motor, and a transmission pair is provided between the output shaft of the reciprocating motor and the adjacent arc plate, and the transmission pair is an arc-shaped rack and gear, and the gear part of the transmission pair is connected to the output shaft of the reciprocating motor.

[0014] As a further improvement of the present invention, the follower device includes a transmission wheel, which is fixedly connected to the rotating shaft, and the bracket is fixedly connected with a fixed wheel. The fixed wheel is respectively on the same plane as the adjacent transmission wheels, and a transmission belt is connected between the fixed wheel and the adjacent transmission wheels.

[0015] As a further improvement of the present invention, it also includes a reversing device, which is arranged at the mounting plate, and is used to make the swing arm automatically rotate and switch directions, and at the same time make the traveling device automatically run; the extension frame is rotatably connected with a movable arm, and the other side of the movable arm is fixedly connected with a fixed shaft, and the fixed shaft is rotatably connected with a guide wheel; a control component is provided at the bracket, and the control component is used to automatically control the running direction of the second drive motor; a linkage component is provided between the movable arm and the swing arm, and the linkage component is used to control the movement of the swing arm.

[0016] As a further improvement of the present invention, the control component includes a first travel switch, which is fixedly connected to one side of the bracket, and the first travel switch is used to control one running direction of the second drive motor. A second travel switch is fixedly connected to the other side of the bracket, and the second travel switch is used to control another running direction of the second drive motor.

[0017] As a further improvement of the present invention, the linkage assembly includes a first connecting shaft, which is rotatably connected to the opposite sides of the movable arm, and the opposite sides of the swing arm are rotatably connected to the second connecting shaft, and the second connecting shaft and the adjacent first connecting shaft are rotatably connected to a connecting rod.

[0018] As a further improvement of the present invention, it also includes a water supply joint, and the water supply joint is fixedly connected to the cover frame.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention uses a detection device to detect foreign objects on the track in a scanning and ranging manner, which can quickly and accurately detect foreign objects on the track surface. It does not require manual observation and cleaning. The lifting contact track of the brushing device is used for brushing, which can accurately clean the foreign objects without long-term contact with the track surface and dragging the track surface to cause damage.

[0021] 2. The present invention adopts a reversing device and its control component and linkage component to enable the port machinery intelligent robot for detecting foreign objects on the track to reciprocate on the track, thereby improving the degree of automation of detecting and cleaning foreign objects on the track. It can be suitable for the location of the port machinery where there are many bird flocks, and can ensure the cleanliness of the track when the port machinery main engine is working at a high frequency.

[0022] 3. The present invention adopts a water supply connector connected to an external water source, so that when the scrubbing device scrubs the track, the water supply connector can flush the scrubbing wheel and the track to prevent foreign matter from remaining on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention.

[0025] Figure 3 It is a schematic diagram of the third three-dimensional structure of the present invention.

[0026] Figure 4 It is a schematic diagram of the fourth three-dimensional structure of the present invention.

[0027] Figure 5 It is a schematic diagram of the fifth three-dimensional structure of the present invention.

[0028] Figure 6 It is a schematic diagram of the first partial three-dimensional structure of the present invention.

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the traveling device part of the present invention.

[0030] Figure 8 It is a schematic diagram of the first three-dimensional structure of the follower device part of the present invention.

[0031] Fig. 9 It is a schematic diagram of the second three-dimensional structure of the follower device part of the present invention.

[0032] Fig.10 It is a schematic diagram of a second partial three-dimensional structure of the present invention.

[0033] Fig.11 It is a schematic diagram of the three-dimensional structure of the detection device part of the present invention.

[0034] Fig.12 It is a schematic diagram of the three-dimensional structure of the scrubbing device part of the present invention.

[0035] Fig.13 It is a schematic diagram of the three-dimensional structure of the reversing device part of the present invention.

[0036] Fig.14 It is a schematic diagram of the partial three-dimensional structure of the reversing device of the present invention.

[0037] Fig.15 It is a schematic diagram of the partial three-dimensional structure of the control component part of the present invention.

[0038] In the figure: 1_mounting plate, 2_extension frame, 3_stabilizing wheel, 4_bracket, 5_swing arm, 6_rotating shaft, 7_cross frame, 8_cover frame, 9_brushing device, 10_traveling device, 11_detection device, 12_follow-up device, 91_linear moving pair, 92_moving plate, 93_electric slide rail, 94_connecting frame, 95_first driving motor, 96_brushing wheel, 101_second driving motor, 102_driving wheel, 111_arc plate, 112_arc moving pair, 1 13_laser ranging probe, 114_L-shaped frame, 115_reciprocating motor, 116_transmission pair, 121_transmission wheel, 122_fixed wheel, 123_transmission belt, 14_reversing device, 141_movable arm, 142_fixed shaft, 143_guide wheel, 13_control component, 15_linkage component, 131_first stroke switch, 132_second stroke switch, 151_first connecting shaft, 152_second connecting shaft, 153_connecting rod, 16_water supply connector. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] Example 1

[0041] like Figure 1-5 As shown, an intelligent robot for port machinery used for detecting foreign objects on tracks includes a mounting plate 1, an extension frame 2, a stabilizing wheel 3, a bracket 4, a swing arm 5, a rotating shaft 6, a cross frame 7, a cover frame 8, a brushing device 9, a traveling device 10, a detection device 11 and a follower device 12. The mounting plates 1 are in two groups, and two groups of extension frames 2 are fixedly connected to the other side of the mounting plates 1, and the stabilizing wheel 3 is rotatably connected to the other side of the extension frames 2. The mounting plates 1 are fixedly connected to the brackets 4 in the middle, and the swing arms 5 are rotatably connected to the brackets 4. The swing arms 5 are rotatably connected to the rotating shafts 6 on the other side, and the rotating shafts 6 are fixedly connected to the mounting plates 1. A cross frame 7 is connected to the cross frame 7, and a cover frame 8 is fixedly connected to the cross frame 7. A brushing device 9 is provided at the cross frame 7, and the brushing device 9 is used to brush foreign objects on the track. A traveling device 10 is provided between the brackets 4, and the traveling device 10 is used to make the port machinery intelligent robot for detecting foreign objects on the track move on the track. Detection devices 11 are provided on both sides of the cover frame 8, and the detection devices 11 are used to perform ranging and scanning detection on foreign objects on the track. A follow-up device 12 is provided between the bracket 4 and the rotating shaft 6, and the follow-up device 12 is used to keep the brushing device 9 in a vertical position when the swing arm 5 rotates.

[0042] When this embodiment is working: when it is necessary to maintain and clean the track of the port machinery, the intelligent robot for port machinery used for foreign body detection of the track can be used, and the intelligent robot for port machinery used for foreign body detection of the track can be placed on the track through the traveling device 10 and the stabilizing wheel 3, so that the traveling device 10 cooperates with the track, and then the swing arm 5 can be rotated to make the swing arm 5 drive the cross frame 7 and the cover frame 8 to rotate, thereby driving the brushing device 9 and the detection device 11 to rotate, so that the brushing device 9 and a group of the detection devices 11 face the feeding direction when the track is detected and cleaned for foreign bodies, and the bracket 4 will limit the position of the swing arm 5; at this time, the traveling device 10 and the group of the detection devices 11 facing the feeding direction can be started, and the movement state of the traveling device 10 can be controlled, so that the traveling device 10 drives the mounting plate 1 to feed in the direction of the brushing device 9, and the mounting plate 1 is moved by the stabilizing wheel 3. At this time, the detection device 11 of the group will scan the track surface. The detection device 11 of the group detects foreign objects on the track by distance measurement. If there are foreign objects on the track, the detection device 11 of the group detects the distance change, and the detection device 11 of the group will control the scrubbing device 9 to run and scrub the foreign objects on the track; until the detection device 11 of the group reaches the position of the port crane main machine or the end of the track, the traveling device 10 can be controlled to stop running. In this way, foreign objects on the track can be quickly detected and scrubbed, so as to avoid the port crane main machine from being blocked or slipping due to foreign objects during the sliding process on the track, and to avoid the situation where the operation accuracy of the port crane main machine is reduced; if it is necessary to change the direction of detecting and scrubbing foreign objects on the track, the swing arm 5 is rotated to make the scrubbing device 9 and another group of detection devices 11 face the required cleaning direction.

[0043] Example 2

[0044] like Fig.12 As shown, the brushing device 9 includes a linear moving pair 91, a moving plate 92, an electric slide rail 93, a connecting frame 94, a first drive motor 95 and a brushing wheel 96. The linear moving pair 91 is fixedly connected to both sides of the cross frame 7 respectively, and the moving part of the linear moving pair 91 is fixedly connected with the moving plate 92 at a position away from the side of the mounting plate 1. The cross frame 7 is fixedly connected with an electric slide rail 93, and the moving part of the electric slide rail 93 is connected to the moving plate 92. The moving part of the linear moving pair 91 is fixedly connected with a connecting frame 94 at a position near the side of the mounting plate 1. A group of the connecting frames 94 are fixedly connected with a first drive motor 95, and the output shaft of the first drive motor 95 is fixedly connected with a brushing wheel 96, and the other side of the brushing wheel 96 is rotatably connected to the connecting frame 94 on the other side.

[0045] When this embodiment is working: when a group of the detection devices 11 is in operation, and the group of the detection devices 11 detects a change in the distance on the track, the group of the detection devices 11 will control the electric slide rail 93 to drive its moving parts to move downward, thereby driving the moving plate 92 and the moving parts of the linear moving pair 91 to move downward, so that the brushing wheel 96 moves downward and contacts the track surface, and at the same time the first drive motor 95 will also run, and the first drive motor 95 will drive the brushing wheel 96 to rotate to brush foreign objects on the track, and the brushing time can be set through an external program according to the common foreign object removal time.

[0046] like Figure 7 As shown, the traveling device 10 includes a second driving motor 101 and a driving wheel 102. The second driving motor 101 is fixedly connected to one of the brackets 4. The driving wheel 102 is fixedly connected to the output shaft of the second driving motor 101. The other side of the driving wheel 102 is rotatably connected to another bracket 4.

[0047] When this embodiment is working: the running direction of the second drive motor 101 can be controlled according to the required track cleaning direction, the second drive motor 101 will drive the driving wheel 102 to rotate, and the driving wheel 102 will rotate on the track, thereby driving the port machinery intelligent robot for track foreign body detection to move.

[0048] like Figure 10-11 As shown, the detection device 11 includes an arc plate 111, an arc moving pair 112, a laser ranging probe 113, an L-shaped frame 114, a reciprocating motor 115 and a transmission pair 116. The arc plate 111 is respectively fixedly connected to the cover frame 8 on both sides of the brushing device 9, and the arc plate 111 is fixedly connected to the arc moving pair 112 on the opposite sides. The moving parts of the arc moving pair 112 are fixedly connected to the laser ranging probe 113, and the moving parts of the arc moving pair 112 are fixedly connected to the L-shaped frame 114. The L-shaped frame 114 is located on the adjacent side of the arc plate 111 and is fixedly connected to the reciprocating motor 115. A transmission pair 116 is provided between the output shaft of the reciprocating motor 115 and the adjacent arc plate 111. The transmission pair 116 is an arc rack and gear, and the gear member of the transmission pair 116 is connected to the output shaft of the reciprocating motor 115.

[0049] When this embodiment is working: when the detection device 11 on one side is started, the reciprocating motor 115 and the laser ranging probe 113 on this side will start to run, and the reciprocating motor 115 will reciprocate, thereby driving the L-shaped frame 114 and the laser ranging probe 113 to reciprocate through the arc-shaped moving pair 112 through the transmission pair 116, so that the laser ranging probe 113 on this side performs a distance scan on the track surface. When there is a foreign object on the track, the laser ranging probe 113 will identify the change in distance and respond accordingly.

[0050] By using a detection device to detect foreign objects on the track in a scanning and ranging manner, the track surface can be quickly and accurately detected for foreign objects without the need for manual observation and cleaning. The lifting contact track of the brushing device can be used for brushing, which can accurately clean foreign objects without long-term contact with the track surface and dragging on the track surface to cause damage.

[0051] like Figure 8-9 As shown, the follower device 12 includes a transmission wheel 121, a fixed wheel 122 and a transmission belt 123. The transmission wheels 121 are fixedly connected to the rotating shaft 6, and the bracket 4 is fixedly connected with a fixed wheel 122. The fixed wheels 122 are respectively on the same plane with the adjacent transmission wheels 121, and a transmission belt 123 is connected between the fixed wheel 122 and the adjacent transmission wheels 121.

[0052] When this embodiment is working: when the swing arm 5 is rotated, the swing arm 5 will drive the rotating shaft 6 and the cross frame 7 to rotate, and at the same time the transmission wheel 121 will drive the cross frame 7 to rotate on the fixed wheel 122 through the transmission belt 123, so that the transmission wheel 121 itself rotates, thereby driving the cross frame 7 to rotate, so that the cross frame 7 and the brushing device 9 are always in a vertical state, so as to ensure the balance of the brushing device 9, avoid the brushing device 9 from swinging during operation, and avoid being affected by strong winds in the port.

[0053] Example 3

[0054] like Figure 13-15As shown, a reversing device 14 is also included, and the reversing device 14 includes a movable arm 141, a fixed shaft 142, a guide wheel 143, a control component 13 and a linkage component 15. The reversing device 14 is arranged at the mounting plate 1, and the reversing device 14 is used to automatically rotate and switch directions of the swing arm 5, and at the same time, the traveling device 10 is automatically operated. The movable arm 141 is rotatably connected at the extension frame 2, and the other side of the movable arm 141 is fixedly connected with a fixed shaft 142, and the fixed shaft 142 is rotatably connected with a guide wheel 143. The bracket 4 is provided with a control component 13, and the control component 13 is used to automatically control the running direction of the second drive motor 101. A linkage component 15 is provided between the movable arm 141 and the swing arm 5, and the linkage component 15 is used to control the movement of the swing arm 5.

[0055] When the embodiment is working, when the swing arm 5 is facing one side, the movable arm 141 near the side facing the swing arm 5 is in a tilted state, and the movable arm 141 at this location will make the guide wheel 143 contact the track, while the guide wheel 143 on the other side will not contact the track. At this time, the second drive motor 101 will be controlled by the control component 13 to move in the direction of the guide wheel 143 in contact with the track; when the movable arm 141 at this location contacts the port machinery main engine or the end of the track, the movable arm 141 at this location will be squeezed and rotated, so that the guide wheel 143 at this location will be separated from the track. The movable arm 141 at this location will drive the swing arm 5 to rotate through the linkage assembly 15, thereby driving the movable arm 141 on the other side to rotate, so that the guide wheel 143 on the other side contacts the track. At this time, the swing arm 5 will contact the other side of the control assembly 13, and the second drive motor 101 will rotate in another direction, so that the port machinery intelligent robot for track foreign body detection will automatically reverse, so that the track can be reciprocated, which is suitable for the characteristics of port machinery where there are many bird flocks, and can ensure the cleanliness of the track when the port machinery main engine works at a high frequency.

[0056] like Fig.15 As shown, the control component 13 includes a first travel switch 131 and a second travel switch 132. The first travel switch 131 is fixedly connected to one side of the bracket 4, and the first travel switch 131 is used to control one running direction of the second drive motor 101. The second travel switch 132 is fixedly connected to the other side of the bracket 4, and the second travel switch 132 is used to control the other running direction of the second drive motor 101.

[0057] When this embodiment is working: when the swing arm 5 is rotated to make it contact with the first stroke switch 131, the first stroke switch 131 will control the second drive motor 101 to run in the forward direction, so that the second drive motor 101 runs in the direction of the first stroke switch 131; when the swing arm 5 contacts the second stroke switch 132, the second stroke switch 132 will control the second drive motor 101 to run in the forward direction, so that the second drive motor 101 runs in the direction of the second stroke switch 132, so that the operation process of the second drive motor 101 is automated, and the intelligent robot for port machinery used for track foreign object detection can automatically reciprocate on the track.

[0058] like Fig.14 As shown, the linkage assembly 15 includes a first connecting shaft 151, a second connecting shaft 152 and a connecting rod 153. The first connecting shaft 151 is rotatably connected to the opposite side of the movable arm 141, and the opposite side of the swing arm 5 is rotatably connected to the second connecting shaft 152. The second connecting shaft 152 and the adjacent first connecting shaft 151 are rotatably connected with a connecting rod 153.

[0059] When this embodiment is in operation: when the movable arm 141 on one side rotates, the movable arm 141 on this side will drive the swing arm 5 to rotate through the first connecting shaft 151, the second connecting shaft 152 and the connecting rod 153, thereby driving the movable arm 141 on the other side to rotate.

[0060] By adopting a reversing device and its control components and linkage components, the intelligent robot for port machinery used for detecting foreign objects on the track can reciprocate on the track, thereby improving the degree of automation of detecting and cleaning foreign objects on the track. It can be adapted to the characteristics of port machinery where there are many bird flocks, and can ensure the cleanliness of the track when the port machinery main engine is working at a high frequency.

[0061] like Figure 1-2 As shown, a water supply connector 16 is also included, and the water supply connector 16 is fixedly connected to the cover frame 8 .

[0062] When this embodiment is in operation, it is connected to the water supply connector 16 through an external water source. When the scrubbing device 9 scrubs the track, the water supply connector 16 will flush the scrubbing wheel 96 and the track to prevent foreign matter from remaining on the track.

[0063] By connecting the water supply connector to an external water source, the water supply connector can flush the scrubbing wheel and the track when the scrubbing device scrubs the track, thereby preventing foreign matter from remaining on the track.

[0064] Through the coordination of the brushing device, traveling device, detection device, follow-up device and reversing device, the position of foreign objects on the track can be accurately detected and the foreign objects can be accurately cleaned. The operation on the track is highly automated and does not require excessive manual operation.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot for port machinery for detecting foreign objects on tracks, comprising a mounting plate (1), characterized in that: The mounting plate (1) is provided with a brushing device (9), a traveling device (10), a detection device (11) and a follower device (12); The number of the mounting plates (1) is two groups, the other side of the mounting plates (1) are fixedly connected to two groups of extension frames (2), the other side of the extension frames (2) are rotatably connected to stabilizing wheels (3), the middle of the mounting plates (1) are fixedly connected to brackets (4), the brackets (4) are rotatably connected to swing arms (5), the other side of the swing arms (5) are rotatably connected to rotating shafts (6), a cross frame (7) is fixedly connected between the rotating shafts (6), and a cover frame (8) is fixedly connected to the cross frame (7); The cross frame (7) is provided with a brushing device (9), and the brushing device (9) is used to brush foreign matter from the track; A traveling device (10) is provided between the brackets (4), and the traveling device (10) is used to enable the intelligent robot for port machinery used for detecting foreign objects on tracks to travel on the track; Detection devices (11) are provided on both sides of the cover frame (8), and the detection devices (11) are used to perform distance measurement and scanning detection on foreign objects on the track; The detection device (11) controls the scrubbing device (9) to operate and scrub foreign matter on the track; A follower device (12) is provided between the bracket (4) and the rotating shaft (6), the follower device (12) comprising a transmission wheel (121), the transmission wheel (121) being fixedly connected to the rotating shaft (6), the bracket (4) being fixedly connected to a fixed wheel (122), the fixed wheel (122) being located on the same plane as the adjacent transmission wheel (121), a transmission belt (123) being connected between the fixed wheel (122) and the adjacent transmission wheel (121), the follower device (12) being used to keep the scrubbing device (9) in a vertical position when the swing arm (5) rotates.

2. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 1 is characterized in that: The scrubbing device (9) comprises a linear moving pair (91), the linear moving pair (91) being fixedly connected to both sides of the cross frame (7), a moving plate (92) being fixedly connected between the moving parts of the linear moving pair (91) at a position away from the side of the mounting plate (1), an electric slide rail (93) being fixedly connected to the cross frame (7), the moving parts of the electric slide rail (93) being connected to the moving plate (92), and a connecting frame (94) being fixedly connected to the moving parts of the linear moving pair (91) at a position close to the side of the mounting plate (1), a first driving motor (95) being fixedly connected to a group of the connecting frames (94), a scrubbing wheel (96) being fixedly connected to the output shaft of the first driving motor (95), and the other side of the scrubbing wheel (96) being rotatably connected to the connecting frame (94) at the other side.

3. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 2 is characterized in that: The traveling device (10) comprises a second driving motor (101), the second driving motor (101) being fixedly connected to one of the brackets (4), a driving wheel (102) being fixedly connected to the output shaft of the second driving motor (101), and the other side of the driving wheel (102) being rotatably connected to the other bracket (4).

4. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 3 is characterized in that: The detection device (11) comprises an arc-shaped plate (111), the arc-shaped plates (111) being fixedly connected to the cover frame (8) at two sides of the scrubbing device (9), the arc-shaped moving pair (112) being fixedly connected to the opposite sides of the arc-shaped moving pair (111), the moving parts of the arc-shaped moving pair (112) being fixedly connected to a laser distance measuring probe (113), the moving parts of the arc-shaped moving pair (112) being fixedly connected to an L-shaped frame (114), the L-shaped frame (114) being fixedly connected to a reciprocating motor (115) at the sides adjacent to the arc-shaped plate (111), a transmission pair (116) being provided between the output shaft of the reciprocating motor (115) and the adjacent arc-shaped plate (111), the transmission pair (116) being an arc-shaped rack and a gear, the gear part of the transmission pair (116) being connected to the output shaft of the reciprocating motor (115).

5. The intelligent robot for port machinery used for detecting foreign objects on tracks according to claim 3 is characterized in that: The invention also comprises a reversing device (14), the reversing device (14) being arranged at the mounting plate (1), the reversing device (14) being used to make the swing arm (5) automatically rotate and switch directions, and at the same time make the traveling device (10) automatically operate; the extension frame (2) is rotatably connected with a movable arm (141), the other side of the movable arm (141) is fixedly connected with a fixed shaft (142), the fixed shaft (142) is rotatably connected with a guide wheel (143); the bracket (4) is provided with a control component (13), the control component (13) being used to automatically control the operating direction of the second drive motor (101); a linkage component (15) is arranged between the movable arm (141) and the swing arm (5), the linkage component (15) being used to control the movement of the swing arm (5).

6. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 5 is characterized in that: The control component (13) comprises a first travel switch (131), the first travel switch (131) being fixedly connected to one side of the bracket (4), the first travel switch (131) being used to control one running direction of the second drive motor (101), and the other side of the bracket (4) being fixedly connected to a second travel switch (132), the second travel switch (132) being used to control another running direction of the second drive motor (101).

7. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 6 is characterized in that: The linkage assembly (15) comprises a first connecting shaft (151), the first connecting shaft (151) being rotatably connected to opposite sides of the movable arm (141), the opposite sides of the swing arm (5) being rotatably connected to second connecting shafts (152), and connecting rods (153) being rotatably connected between the second connecting shaft (152) and the adjacent first connecting shaft (151).

8. The intelligent robot for port machinery for detecting foreign objects on tracks according to claim 7 is characterized in that: It also comprises a water supply joint (16), wherein the water supply joint (16) is fixedly connected to the cover frame (8).

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