Modular track inspection robot

Abstract

The application relates to a modular track inspection robot, the overall chassis adopts a detachable structure, can effectively cope with the complex and changeable terrain in the tunnel, effectively reduces the artificial input amount, labor intensity and risk, and comprises a walking assembly, a vehicle body assembly and a battery power supply assembly; the walking assembly is detachably connected with the vehicle body assembly; and the battery power supply assembly is detachably mounted below the vehicle body assembly.

Description

Technical Field

[0001] This application relates to a modular track inspection robot. Background Technology

[0002] In rail transit systems, the track structure, as the main structure directly supporting the trains above, is crucial for ensuring the safety of the line due to its stable and reliable service condition. Currently, routine maintenance and inspection of track structures mainly employ two methods: manual track inspection and vehicle-mounted track inspection.

[0003] When using manual track inspection, the inspection results are greatly affected by factors such as the inspector's experience, sense of responsibility, and weather, resulting in subjective judgment errors. Furthermore, the inspection results cannot be digitally stored and compared later, leading to low inspection efficiency and incomplete inspections. This fails to meet the needs of track maintenance departments and also has disadvantages such as high workload, low level of informatization, and high management costs.

[0004] Vehicle-mounted track inspection methods typically employ large-scale track inspection equipment, which detects track surface conditions by taking photos while operating at high speed. However, the application of large-scale track inspection equipment is complex and involves a wide range of aspects. Each inspection task requires coordination among multiple departments. Furthermore, large-scale track inspection equipment is usually used for random checks and cannot meet the requirements of daily on-site maintenance and inspection.

[0005] Therefore, to fill the gaps and move towards intelligent and unmanned operation, various rail transit inspection equipment has emerged, including locomotive-type, manned trolley-type, flatbed unmanned trolley, and manually pushed trolley-type. These equipment operate on the tracks by manual pushing or self-propelled methods, which can improve the inspection level to some extent. However, manually pushed unpowered trolleys suffer from low inspection efficiency, high accuracy but limited functionality, and inability to autonomously pass through switches. The significant disadvantages of manned flatbed trolleys are their large size, heavy weight, difficulty in transporting them onto the track, and long preparation time. Due to the short maintenance window for track inspection and the complexity of the work, which leads to high workload for staff, the portability and overall weight of the rail inspection equipment are subject to strong constraints.

[0006] In addition, since most of them adopt the design of train wheelsets, they can pass through switches autonomously, but the serpentine motion results in poor accuracy and cannot meet the convenience of daily inspection.

[0007] Snake-like motion is a unique motion of railway locomotives and rolling stock. Most of the existing automated inspection equipment on the market, such as track inspection trolleys and track inspection robots, have wheel sets that are designed to mimic train wheel sets. Therefore, snake-like motion also exists in these products. For quantitative inspections that rely on the robot's own precision, suppressing snake-like motion is the primary requirement. Because the wheel tread has a certain taper and there is a certain gap between the wheel flange and the rail, plus the reserved axial movement, when the center of the wheelset occasionally deviates from the center line of the straight track while the locomotive is moving, the two wheels roll on the rail with rolling circles of different diameters, causing the wheelset to swing laterally while moving and shake back and forth around the vertical axis of its center of gravity. This forms a wave motion known as serpentine motion.

[0008] To eliminate the effects of serpentine movement, some existing inspection equipment has eliminated the wheel-like design. However, when passing through switch sections, the travel section's own capacity is limited, and most cannot adapt to the inspection plan for smooth, adaptive switching. Manual assistance is usually required for successful passage, and in some cases, switch switching and locking may be necessary. Furthermore, derailment may occur when passing through fixed-point frogs due to hazardous spaces, undoubtedly reducing the efficiency of section inspections and preventing the realization of unmanned and intelligent inspections.

[0009] Therefore, in order to improve inspection efficiency and meet daily inspection needs, it is extremely necessary to optimize the walking device of track inspection equipment, design a walking device that can effectively cope with the complex and ever-changing terrain in tunnels, effectively reduce manual input, labor intensity and risks, and improve its own stability by resisting serpentine movement, and can autonomously pass through turnout sections. Summary of the Invention

[0010] This application aims to propose a modular track inspection robot with a detachable chassis, which can effectively cope with the complex and varied terrain in tunnels and effectively reduce the amount of manual labor, labor intensity and risks.

[0011] To achieve the above objectives, this application provides a modular track inspection robot, including a detection sensor module and a motion chassis module. The detection sensor module and the motion chassis module are detachably connected. The motion chassis module includes a walking component, a body assembly component, and a battery power supply component. The walking component is detachably connected to the body assembly component, and the battery power supply component is detachably mounted below the body assembly component.

[0012] Preferably, a quick-release guide locking mechanism is provided between the walking assembly and the body assembly assembly; the quick-release guide locking mechanism includes a quick-release locking assembly provided on the body assembly assembly and a grooved guide provided on the walking assembly for connecting with the quick-release locking assembly, and quick-release and quick-installation between the walking assembly and the body assembly assembly are realized through the cooperation of the quick-release locking assembly and the grooved guide.

[0013] Preferably, the groove guide includes a guide edge, an overlapping step on the top of the guide edge, and a limiting protrusion on the guide edge. The quick-release locking assembly includes a positioning guide block and a locking mechanism on the positioning guide block. During assembly, the locking mechanism is opened, and then the overlapping step on the top of the guide edge is mounted on the positioning guide block. The guide edge is passed through the locking mechanism, and after the locking mechanism is locked, the limiting protrusion and the positioning guide block form a limiting position.

[0014] Preferably, the vehicle body assembly includes a frame body, with a running gear mounted at both ends of the frame body. The frame body is provided with a drive motor and a transmission assembly connected to the drive motor, and the transmission assembly is respectively connected to the running gear at both ends of the frame body.

[0015] Preferably, the main body of the vehicle frame is provided with at least one of the following: a chassis processing module, a safety edge, and a supplementary light.

[0016] Preferably, the walking assembly and the vehicle body assembly are equipped with telescopic casters.

[0017] Preferably, the walking assembly includes a walking base, the walking base is provided with wheels for contacting the top surface of the guide rail, and the walking base is provided with an elastic guide wheel set and a fixed limit wheel set for contacting the side surface of the guide rail.

[0018] Preferably, the elastic guide wheel assembly includes a wedge-shaped guide assembly, an elastic-damping mechanism, a guide shaft, and a distance sensor; the wedge-shaped guide assembly is connected to the guide shaft via a movable swing arm and can move on the guide shaft; the elastic-damping mechanism applies a load to make the wedge-shaped guide assembly conform to the inner side of the guide rail.

[0019] Preferably, the wedge-shaped guide assembly includes a wedge-shaped guide block and a guide wheel. The wedge-shaped guide block has a symmetrical design, the guide wheel is located in the middle of the wedge-shaped guide block, and the two sides of the wedge-shaped guide block are inclined surfaces, with wear-resistant blocks provided on the inclined surfaces.

[0020] Preferably, it also includes a ranging sensor for detecting the movable swing arm.

[0021] Preferably, the movable swing arm is connected to the guide shaft via a linear bearing.

[0022] Preferably, the elastic-damping mechanism includes a spring and a hydraulic damper.

[0023] Preferably, the detection sensor module includes a track detection module and a data acquisition and storage module.

[0024] Preferably, the track detection module includes at least one of a 3D vision component, a clearance detection component, a track bed detection component, and a laser obstacle avoidance component.

[0025] Preferably, the data acquisition and storage module includes a main industrial control computer, a sub-processor module, and communication and connection components.

[0026] Preferably, the data acquisition and storage module includes a sensor module power supply component for separately powering the detection sensor module.

[0027] Preferably, the data acquisition and storage module includes a display component that can be externally displayed.

[0028] Based on the above, the beneficial effects of this application are: This application is modularly disassembled, and each part is portable and easy to assemble quickly, while also facilitating transportation in complex tunnel and road conditions; the chassis adopts a walking mechanism design that combines wheels, elastic wheels and limit wheels, which can play a role in preventing snake-like movement and improving chassis stability. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of this application when it is running on the guide rail; Figure 2 This is an exploded view of the application when it is running on the guide rail; Figure 3 This is a schematic diagram of the detection sensor module in this application; Figure 4 This is a schematic diagram of the motion chassis module in this application; Figure 5 This is a schematic diagram of the quick-release guide locking mechanism in this application. Figure 1 ; Figure 6 This is a schematic diagram of the quick-release guide locking mechanism in this application. Figure 2 ; Figure 7 This is a schematic diagram of the body assembly components in this application; Figure 8 This is a partial structural diagram of the present application. Figure 1 ; Figure 9 This is a partial structural diagram of the present application. Figure 2 ; Figure 10 This is a schematic diagram of the walking component in this application. Figure 1 ; Figure 11 This is a schematic diagram of the walking component in this application. Figure 2 ; Figure 12 This is a schematic diagram of the walking component in this application. Figure 3 ; Figure 13 This is a schematic diagram of the flexible guide wheel assembly in this application; Figure 14 This is a schematic diagram of the overall structure of this application. Figure 1 ; Figure 15 This is a schematic diagram of the overall structure of this application. Figure 2 . Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0031] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0032] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0033] See Figures 1 to 15 This embodiment relates to a modular track inspection robot, including a detection sensor module 1 and a motion chassis module 2. The detection sensor module 1 and the motion chassis module 2 are detachably connected. Each area of ​​the robot is modularly designed, and different detection modules can be replaced according to different working conditions to facilitate daily inspections.

[0034] The motion chassis module 2 is a quick-release motion chassis module with an overall H-shaped structure. It includes a body assembly 2-2, with walking components 2-1 at both ends of the body assembly 2-2 and a battery power supply component 2-3 at the rear. The walking components 2-1 are detachably connected to the body assembly 2-2, and the battery power supply component 2-3 is detachably mounted under the body assembly 2-2. All modules support quick disassembly, which can reduce the impact on workers caused by site size and chassis weight, and facilitate quick handling and transportation.

[0035] A quick-release guide locking mechanism is provided between the walking assembly 2-1 and the body assembly 2-2; the quick-release guide locking mechanism includes a quick-release locking assembly 2-2.5 provided on the body assembly 2-2 and a grooved guide 2-1.6 provided on the walking assembly 2-1 for connecting with the quick-release locking assembly 2-2.5, and the quick-release locking assembly 2-2.5 and the grooved guide 2-1.6 cooperate to realize quick-release and quick-installation between the walking assembly 2-1 and the body assembly 2-2.

[0036] Preferably, the groove guide 2-1.6 includes a guide edge 2-1.6-1, an overlapping step 2-1.6-2 on the top of the guide edge 2-1.6-1, and a limiting protrusion 2-1.6-3 on the guide edge 2-1.6-1. The quick-release locking assembly 2-2.5 includes a positioning guide block 2-2.5-1 and a locking mechanism 2-2.5-2 on the positioning guide block 2-2.5-1. The locking mechanism 2-2.5-2 can be a commonly used locking assembly such as a bolt locking assembly or a lever locking assembly. During assembly, open the locking mechanism 2-2.5-2, then mount the overlapping step 2-1.6-2 at the top of the guide edge 2-1.6-1 onto the positioning guide block 2-2.5-1. Pass the guide edge 2-1.6-1 through the locking mechanism 2-2.5-2, and lock the locking mechanism 2-2.5-2. After locking the locking mechanism 2-2.5-2, the limiting protrusion 2-1.6-3 and the positioning guide block 2-2.5-1 form a limiting position, thus completing the assembly of the walking assembly 2-1 and the body assembly 2-2. The limiting protrusion 2-1.6-3 and the positioning guide block 2-2.5-1 can form a limiting relationship by having the lower edge of the positioning guide block 2-2.5-1 engage with the limiting protrusion 2-1.6-3 and the upper edge engage with the overlapping step 2-1.6-2, thereby positioning the positioning guide block 2-2.5-1 between the limiting protrusion 2-1.6-3 and the overlapping step 2-1.6-2. Alternatively, a hole and groove structure can be provided on the positioning guide block 2-2.5-1 to be inserted into or snapped into the limiting protrusion 2-1.6-3.

[0037] The vehicle body assembly 2-2 includes a frame body 2-2.2. The frame body 2-2.2 adopts a lightweight design to further reduce weight while ensuring the strength of the vehicle body. It has a fully enclosed structure and houses a chassis processing module 2-2.4, which includes a control module. In conjunction with the built-in communication module, it can communicate and transmit data with the detection sensor module 1. Walking components 2-1 are installed at both ends of the frame body 2-2.2. A drive motor 2-2.7 is located at the rear of the frame body 2-2.2, and a component connected to the drive motor 2-2.7 is also present. The transmission component 2-2.1 is connected at both ends to the walking components 2-1 at both ends of the frame body 2-2.2 via couplings. The drive motor 2-2.7 contains a servo motor and a reducer, providing power while using the high-precision encoder built into the servo motor for mileage positioning and image output, improving recognition and positioning accuracy. The transmission component 2-2.1 consists of a transmission rod 2-2.1-1 and quick-release couplings 2-2.1-2 on both sides, allowing for quick disassembly and reassembly of the transmission component 2-1 without tools.

[0038] The main body of the chassis 2-2.2 is equipped with bumpers at the front and rear, and has safety touch edges 2-2.6 on it. These can be used in conjunction with the first laser obstacle avoidance component 1-3 and the second laser obstacle avoidance component 1-9 described later to further ensure the safety of the moving chassis when it is in motion.

[0039] Preferably, telescopic casters are installed on the walking component 2-1 and the body assembly component 2-2. Specifically, telescopic casters 2-1.4 are installed on the walking component 2-1, and movable telescopic casters 2-2.3 are installed on the body assembly component 2-2. The sports chassis has a modular design that allows for quick disassembly. When the whole machine is used as a whole or as a separate module, the operator can choose to push it directly using the telescopic casters or disassemble it and transport it separately, depending on the road conditions. This reduces the weight of the equipment and solves the problems of difficult transport on the upper rail.

[0040] In this embodiment, the walking component 2-1 includes a walking base 2-1.3, the walking base 2-1.3 is provided with wheels 2-1.2 for contacting the top surface of the guide rail, and the walking base 2-1.3 is provided with an elastic guide wheel set 2-1.5 and a fixed limit wheel set 2-1.1 for contacting the side surface of the guide rail. The wheel 2-1.2 is cylindrical, unlike the frustum shape of ordinary train wheels. The wheel surface is coated with high-hardness polyurethane material to maintain insulation, providing wear resistance and insulation. When navigating curves, existing train wheelsets have treads designed as conical slopes, with the outer rail circumference longer than the inner one. This adaptive mechanical method can solve the train crossing problem, but it creates an angle difference between the train and the rail plane, which is detrimental to the inspection robot's accuracy. Therefore, it is designed as cylindrical. Simultaneously, the fixed limiting wheel set 2-1.1 acts as a limiter. Combined with the wheel 2-1.2, the fixed limiting wheel set 2-1.1 can operate normally on the track guide, preventing the robot from derailing during normal inspection operations and mitigating the risk of chassis derailment. The elastic guide wheel set 2-1.5 reduces the chassis's serpentine movement, lowers chassis sway during movement, and improves operational accuracy.

[0041] Preferably, the elastic guide wheel assembly 2-1.5 includes a base 2-1.5-7, a wedge-shaped guide assembly, an elastic-damping mechanism, a guide shaft 2-1.5-3, and a distance sensor 2-1.5-5; the wedge-shaped guide assembly is connected to the guide shaft 2-1.5-3 via a movable swing arm 2-1.5-6 and can move on the guide shaft 2-1.5-3; the elastic-damping mechanism applies a load to make the wedge-shaped guide assembly fit against the inner side of the guide rail. Preferably, the wedge-shaped guide assembly includes a wedge-shaped guide block 2-1.5-2 and a guide wheel 2-1.5-8; the wedge-shaped guide block 2-1.5-2 is symmetrically designed; the guide wheel is located in the middle of the wedge-shaped guide block 2-1.5-2; the two sides of the wedge-shaped guide block 2-1.5-2 are inclined surfaces; wear-resistant blocks 2-1.5-1 are provided on the inclined surfaces. The movable swing arm 2-1.5-6 is connected to the guide shaft 2-1.5-3 via a linear bearing. The wedge-shaped guide assembly 2-1.5-2 moves on the guide shaft via a linear bearing, causing the guide wheel to fit against the inner side of the rail surface. An elastic-damping mechanism applies load to the inner sides of the rails on both sides to counteract the serpentine motion that occurs during the robot's movement, reducing the impact on the detection accuracy of the sensors mounted on the robot.

[0042] It also includes a distance sensor 2-1.5-5 for detecting the movable swing arm 2-1.5-6. By using the distance sensor 2-1.5-5 to detect the movable swing arm 2-1.5-6, the detection accuracy error can be further reduced through algorithms.

[0043] The elastic-damping mechanism includes a spring 2-1.5-4 and a hydraulic buffer 2-1.5-5. The damping mechanism is added to suppress the oscillation during the rebound after the spring absorbs shock, eliminating the spring's own reciprocating motion. The damping mechanism is an adjustable hydraulic buffer, which can be adaptively adjusted according to the type of rail and turnout on site. Furthermore, the fixed limiting wheel set provides a structural constraint effect, effectively limiting the robot's maximum deflection angle without increasing the wheel spacing.

[0044] In this embodiment, the elastic guide wheel assembly has the function of autonomously navigating turnouts. Existing robots, when traversing turnout sections, have limited travel capabilities and often cannot adapt to inspection plans for smooth, adaptive turnout passage, usually requiring manual assistance. In some cases, turnout switching and locking may also be necessary. When passing through fixed-point frogs, the guide wheel assembly may fail to retract due to hazardous spaces, causing the robot to jam or even derail. In this embodiment, when the robot passes through a turnout, the fixed limiting wheel located on the outer side can adjust the robot's angle in advance using the guard rail, effectively preventing the guide wheel from jamming in hazardous spaces. The guide wheel passes through the turnout using the wedge-shaped guide block and the frog core. The frog core contact surface is made of wear-resistant material, reducing damage to the turnout. Furthermore, by optimizing the angle of the wedge-shaped guide block, the number of uses of this component can be increased, reducing costs.

[0045] The detection sensor module 1 includes a track detection module and a data acquisition and storage module. The track detection module includes a 3D vision component 1-1, a clearance detection component 1-8, a track bed detection component 1-4, a first laser obstacle avoidance component 1-3 on one side, and a second laser obstacle avoidance component 1-9 on the other side. The data acquisition and storage module includes a main industrial control computer 1-2, a sub-processor module 1-7, and a communication and connection component 1-5.

[0046] The track inspection robot can select a detection sensor module with corresponding detection functions according to the current working conditions and inspection tasks. Each sensor component in the detection sensor module can perform detection operations independently or together. The 3D vision component 1-1 can analyze various parameters of the track based on the track image, such as track geometry, missing fasteners, track wear degree, track corrugation, and rail head contour. The frame body 2-2.2 is also equipped with a supplementary light 2-2.8. The track bed detection component 1-4, together with the supplementary light 2-2.8, can be used to detect foreign objects and track bed defects inside the track bed. The clearance detection component 1-8 can be used to verify the clearance of pipes, lines, etc. in the track to confirm whether there is any encroachment that affects the safety of train operation. For the robot itself, the first laser obstacle avoidance component 1-3 and the second laser obstacle avoidance component 1-9 located on the front and rear sides of the detection sensor module can perform safety detection in the track in the direction of robot travel. Once an intruding object is detected, it can actively trigger braking to prevent injury to the robot body and personnel working in the track. The data acquisition and storage module includes an external display component. All data detected by the sensors is processed by the built-in sub-processor modules 1-7, and then analyzed and output as detection results in the main industrial control computer 1-2. Preferably, the display component is an industrial pad component. Operators can use the external pad to interact with the communication and connection components 1-5 to view the detection results; they can also remotely control the robot's start, stop, acceleration, and deceleration via the pad.

[0047] The data acquisition and storage module includes sensor module power supply components 1-6 for independently powering the detection sensor module 1. Preferably, the sensor module power supply components 1-6 use a small battery pack. The detection sensor module 1 has a small battery pack for independent power supply. When the inspection robot is inspecting the track, if it encounters other workers and needs to avoid them, the operator can directly disconnect the sensor module from the motion chassis module. At this time, the small battery pack can be connected for power supply, without needing to shut down the robot and wait for data to be saved. After avoiding the obstacle, the connection can be restored to continue subsequent tasks, saving operation time and unnecessary operations. This invention discloses a modular rail transit line inspection robot, which has the following characteristics: 1) The robot is modular in design, with the detection sensor module and motion chassis module being detachable. Different detection sensor modules can be replaced and selected according to different working conditions to meet the daily inspection needs of the equipment. 2) Each module adopts a lightweight design, resulting in a small overall size after disassembly, thus solving the problem of difficult handling on the upper rail; quick-connect positioning components are used to ensure both sturdiness and reliability while addressing the issue of long preparation time. 3) The sensor module has an independent power supply, which can maintain the operation of the sensor component independently after being disconnected from the main power supply in the motion chassis module; when dealing with the same track inspection, it can be directly disassembled when encountering other working conditions that need to be avoided, without the need to cut off the power for storage, reducing waiting time for avoidance and saving operation time. 4) This invention uses network signals to remotely control the vehicle, and has both active and passive obstacle avoidance protection. Under the premise of ensuring safety, it can save labor costs and reduce the number of team inspectors to 2 people.

[0048] This invention relates to a quick-detachable track inspection chassis for a rail transit line inspection robot, which has the following features: 1) The walking device is designed to resist snake-like motion, which effectively improves its own stability; it adopts a walking mechanism with wheels and elastic wheel sets. The wheels are cylindrical, which reduces the contact area with the rail surface compared with the traditional frustum-shaped wheel design. The conical tread and rail head part offset the error caused by the robot in the curved section of the arc rail surface; the elastic wheel set can offset the snake-like motion that is easy to occur when the robot walks normally, effectively reducing the robot's own walking error and improving the detection accuracy. 2) The adjustment part of the elastic guide wheel is a spring-damping combined mechanism. The adjustment mechanism applies pressure to the side of the track through the springs on both sides to counteract the effect of the serpentine motion on the robot body; at the same time, a damping mechanism is added to suppress the oscillation when the spring rebounds after absorbing shock and eliminate the reciprocating motion of the spring itself. 3) The walking device can autonomously pass through the turnout section; it adopts a limit wheel and an additional elastic wheel set wedge design to pass through the turnout section; because in ordinary passenger and intercity railways, turnouts are mostly fixed-point rails, there are harmful space sections. The limit wheel mechanism combined with the guard rail restricts the robot, and the wedge mechanism design allows the elastic wheel to pass through the turnout area normally. Meanwhile, the overall chassis adopts a split design with quick-release structure at the connection points, which can effectively cope with the complex and ever-changing terrain inside the tunnel and effectively reduce the amount of manual labor, labor intensity and risks.

[0049] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A modular track inspection robot, comprising a detection sensor module and a motion chassis module, characterized in that: The detection sensor module and the motion chassis module are detachably connected. The motion chassis module includes a running component, a body assembly component, and a battery power supply component. The running component is detachably connected to the body assembly component, and the battery power supply component is detachably mounted under the body assembly component. The walking assembly includes a walking base, the walking base being provided with wheels for contacting the top surface of the guide rail, and the walking base being provided with an elastic guide wheel set and a fixed limit wheel set for contacting the side surface of the guide rail. The elastic guide wheel assembly includes a wedge-shaped guide component, an elastic-damping mechanism, a guide shaft, and a distance sensor; the wedge-shaped guide component is connected to the guide shaft via a movable swing arm and can move on the guide shaft; the elastic-damping mechanism applies a load to make the wedge-shaped guide component conform to the inner side of the guide rail.

2. The modular track inspection robot according to claim 1, characterized in that: A quick-release guide locking mechanism is provided between the running gear and the body assembly; the quick-release guide locking mechanism includes a quick-release locking component provided on the body assembly and a grooved guide provided on the running gear for connecting with the quick-release locking component, and quick-release and quick-installation between the running gear and the body assembly are realized through the cooperation of the quick-release locking component and the grooved guide.

3. A modular track inspection robot according to claim 2, characterized in that: The groove guide includes a guide edge, an overlapping step on the top of the guide edge, and a limiting protrusion on the guide edge. The quick-release locking assembly includes a positioning guide block and a locking mechanism on the positioning guide block. During assembly, the locking mechanism is opened, and then the overlapping step on the top of the guide edge is mounted on the positioning guide block. The guide edge is passed through the locking mechanism, and after the locking mechanism is locked, the limiting protrusion and the positioning guide block form a limiting position.

4. The modular track inspection robot according to claim 1, characterized in that: The vehicle body assembly includes a frame body, with running gear mounted at both ends of the frame body. The frame body is equipped with a drive motor and a transmission assembly connected to the drive motor. The transmission assembly is respectively connected to the running gear at both ends of the frame body.

5. A modular track inspection robot according to claim 4, characterized in that: The main body of the vehicle frame is equipped with at least one of the following: a chassis processing module, a safety edge, and a supplementary light.

6. A modular track inspection robot according to claim 1, characterized in that: The walking components and body assembly are equipped with telescopic casters.

7. A modular track inspection robot according to claim 1, characterized in that: The wedge-shaped guide assembly includes a wedge-shaped guide block and a guide wheel. The wedge-shaped guide block has a symmetrical design, the guide wheel is located in the middle of the wedge-shaped guide block, and the two sides of the wedge-shaped guide block are inclined surfaces, with wear-resistant blocks provided on the inclined surfaces.

8. A modular track inspection robot according to claim 1, characterized in that: It also includes a distance sensor for detecting the moving swing arm.

9. A modular track inspection robot according to claim 1, characterized in that: The movable swing arm is connected to the guide shaft via a linear bearing.

10. A modular track inspection robot according to claim 1, characterized in that: The elastic-damping mechanism includes a spring and a hydraulic damper.

11. A modular track inspection robot according to any one of claims 1 to 10, characterized in that: The detection sensor module includes a track detection module and a data acquisition and storage module.

12. A modular track inspection robot according to claim 11, characterized in that: The track detection module includes at least one of the following: a 3D vision component, a clearance detection component, a track bed detection component, and a laser obstacle avoidance component.

13. A modular track inspection robot according to claim 11, characterized in that: The data acquisition and storage module includes a main industrial control computer, a sub-processor module, and communication and connection components.

14. A modular track inspection robot according to claim 11, characterized in that: The data acquisition and storage module includes a sensor module power supply component for providing separate power to the detection sensor module.

15. A modular track inspection robot according to claim 14, characterized in that: The data acquisition and storage module includes a display component that can be externally displayed.

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