An automatic inspection device for the operation and maintenance of subway tracks

Abstract

An automatic inspection and maintenance device for subway tracks disclosed by the present invention includes a workstation, a walking vehicle, a positioning module, a communication module, and a detection assembly; the walking vehicle is located in the section of the subway track and moves along the rail to be detected; the detection assembly includes a frame and a detection frame, the detection frame is provided with a housing, a track detection unit, and a lifting mechanism, the track detection unit includes two flaw detection modules and a smoothness detection module arranged opposite and at intervals, the lifting mechanism includes a telescopic driving device, a driving member, two first connecting rods, and a second connecting rod, and the driving member drives the first connecting rod and the second connecting rod to move up and down synchronously. The automatic inspection and maintenance device for subway tracks of the present invention uses a walking vehicle to walk along the railway track in the track section for automatic inspection, detects the smoothness of the top surface of the vertical beam and detects the flaws on the side of the vertical beam, reducing the working intensity of the inspection personnel and improving the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of track detection, and particularly relates to an automatic inspection and maintenance device for subway tracks. Background Art

[0002] Subway tracks are usually composed of two parallel steel rails. The area between the two steel rails is the track section. Most of the steel rails are in the structure of I-beams, which include an upper cross beam, a lower cross beam, and a vertical beam. The top surface of the vertical beam cooperates with the upper cross beam, and the steel rail is fixed on the sleeper through the lower cross beam. Due to the very frequent use of the tracks, subway tracks may have defects such as cracks, chipping, and fractures, and the internal defects of the steel rails will also gradually increase. Under the action of fatigue stress, fractures are extremely likely to occur, seriously affecting the safety of train operation. Therefore, after the subway operation ends, it is necessary to perform flaw detection and inspection on the subway operation lines. The work of track flaw detection is generally carried out at night, and inspection personnel need to walk in the track section to inspect the track lines. The inspection method relies on visual inspection by the human eye or the use of flaw detectors. In the prior art, most of the inspection devices have a traveling mechanism that can travel on the tracks. For example, a new type of contact rail detection device disclosed in the Chinese utility model with the publication number CN207510442U includes a detection vehicle adapted to the subway steel rails, and a detection unit and a power supply unit both arranged on the detection vehicle. The detection unit includes a host computer, a driving record module, and a laser scanning sensor. The scanning head of the laser scanning sensor faces the direction of the subway contact rail, and both the driving record module and the laser scanning sensor are connected to the host computer.

[0003] During the operation of the subway, the train travels on the two steel rails, and the vertical beam of the steel rail bears a large pressure. The top surface and the side part of the vertical beam are the parts of the track where problems are likely to occur. The traveling mechanism of the inspection device travels on the vertical beam of the track, and it is difficult to perform targeted detection on the top surface and the side part of the vertical beam during the inspection process. To solve the above problems, it is particularly important to urgently need an automatic inspection and maintenance device for subway tracks. Summary of the Invention

[0004] The purpose of the present invention is to design an automatic inspection and maintenance device for subway tracks to solve the above technical deficiencies. A traveling vehicle travels along the railway tracks in the track section for automatic inspection, performs flatness detection on the top surface of the vertical beam, and performs flaw detection on the side part of the vertical beam, reducing the work intensity of inspection personnel and improving the inspection efficiency.

[0005] To solve the above technical problems, the technical solution of the present invention is: an automatic inspection and maintenance device for subway tracks, including a workstation, a traveling vehicle, a positioning module arranged on the traveling vehicle, a communication module for remote communication with the workstation, and a detection assembly;

[0006] The walking vehicle is located in the section of the subway track and moves along the rail to be detected;

[0007] The positioning module is used to plan the movement route of the walking vehicle according to the route of the rail to be detected, and real-time locate the position information of the walking vehicle, and at the same time, feedback the position information to the workstation through the communication module in real time;

[0008] The detection assembly includes a frame, a detection frame arranged on the frame. On the position of the detection frame relative to the rail, there is a housing, and a track detection unit and a lifting mechanism arranged in the housing. The track detection unit includes two flaw detection modules arranged opposite and at intervals, a smoothness detection module arranged in the middle and separated between the two flaw detection modules. The lifting mechanism includes a telescopic driving device, driving members arranged parallel and at intervals in the housing, two first connecting rods, and a second connecting rod. The movable end of the telescopic driving device is fixedly connected to the driving member. The two flaw detection modules are respectively fixedly arranged on the two first connecting rods. The smoothness detection module is telescopically arranged on the second connecting rod. A first direction-changing transmission member is movably arranged between the driving member and the first connecting rod. A second direction-changing transmission member is movably arranged between the driving member and the second connecting rod, so that the driving member drives the first connecting rod and the second connecting rod to move up and down synchronously. When detecting the rail, the detection ends of the two flaw detection modules respectively correspond to the two side parts of the vertical beam for flaw detection, and the smoothness detection module corresponds to the supporting surface of the vertical beam for smoothness detection. When a defect is detected in the rail, each flaw detection module and the smoothness detection module of the track detection unit will feedback the detection information and the position information of the walking vehicle to the workstation.

[0009] Preferably, the flaw detection module includes an ultrasonic flaw detection device and a first detection camera. The probe of the ultrasonic flaw detection device corresponds to the side part of the vertical beam for ultrasonic flaw detection, and the acquisition end of the first detection camera corresponds to the side part of the vertical beam for visual flaw detection.

[0010] Preferably, the smoothness detection module includes a mounting block, a plurality of detection rods arranged at intervals along the length direction of the mounting block, and a second detection camera disposed on the mounting block. The mounting block is penetrated with an activity hole for the detection rod to be slidably connected. The inner wall of the activity hole is penetrated with a limiting groove. The detection rod is provided with a limiting portion slidably connected in the limiting groove. A first elastic member is disposed between the limiting portion and the limiting groove. The mounting block is further penetrated with an observation space communicated with each activity hole. The portion of the lower end of the detection rod extending out of the activity hole is provided with a matching portion adapted to the top surface of the vertical beam. The portion of the upper end of the detection rod extending out of the activity hole is provided with an observation portion. The acquisition end of the second detection camera faces the observation space to acquire images of the observation portions in the observation space.

[0011] Preferably, the mounting block is provided with a movable rod. The second connecting rod is sleeved and fitted with the movable rod, and a second elastic member is disposed between the second connecting rod and the mounting block.

[0012] Preferably, a first linear slide rail is disposed on the inner wall of the housing relative to the position of the first connecting rod. The first connecting rod is slidably connected to the corresponding first linear slide rail;

[0013] A second linear slide rail is disposed on the inner wall of the housing relative to the position of the second connecting rod. The second connecting rod is slidably connected to the second linear slide rail.

[0014] Preferably, two third linear slide rails are symmetrically disposed on the inner wall of the housing relative to the position of the driving member. The driving member is slidably connected to the two third linear slide rails;

[0015] At least one ball screw is detachably connected between the two third linear slide rails on the inner wall of the housing. A plurality of grooves are uniformly arranged on the side portion of the driving member close to the ball screw along the length direction of the third linear slide. The inner wall of the groove is in abutting and cooperating with the steel ball of the ball screw.

[0016] Preferably, both the first direction-changing transmission member and the second direction-changing transmission member are rotatably connected to the inner wall of the housing, and the axial direction of the first direction-changing transmission member is perpendicular to the axial direction of the second direction-changing transmission member.

[0017] Preferably, a rack transmission cooperation is formed between the opposite sides of the driving member and the first connecting rod and the first direction-changing transmission member respectively. First rack segments are disposed on the opposite sides of the driving member and the first connecting rod. The first direction-changing transmission member is of a gear structure, and the first direction-changing transmission member meshes with the first rack segment.

[0018] Preferably, rack-and-pinion transmission fits are respectively formed between the opposite sides of the driving member and the second connecting rod and the second direction-changing transmission member. Second rack segments are provided on the opposite sides of the driving member and the second connecting rod. The second direction-changing transmission member is of a gear structure and meshes with the second rack segments.

[0019] Preferably, the detection assembly further includes a guide frame disposed on the front side of the frame, and the detection frame is disposed on the rear side of the frame. The bottom surface of the guide frame is adapted to the two steel rails of the track, and a guide member is rotatably connected to the position of the bottom surface of the guide frame relative to the steel rails. At least one guide assembly is detachably connected to the guide member. The guide assembly includes two oppositely arranged guide structures and a detachable structure. The guide member is penetrated with a mounting hole, and the detachable structure positions the two guide structures on the guide member through the mounting hole. The opposite sides of the two guide structures are in concave-convex fit with the upper cross beam of the steel rail, and the two guide structures of the guide assembly cooperate to form a guide groove. Wear-resistant brushes are provided on the inner wall of the guide groove at the positions relative to the upper cross beam and the vertical beam.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The inspection device travels along the steel rail to be inspected through the walking vehicle. The walking vehicle real-time locates the position information through the positioning module, and simultaneously feeds back the position information to the workstation through the communication module. When a defect is detected in the steel rail, the flaw detection module and the smoothness detection module of the track detection unit feed back the detection information and the position information of the walking vehicle to the workstation.

[0022] 2. The lifting mechanism drives the driving member to perform synchronous lifting movement through the telescopic driving device. The two flaw detection modules are respectively fixedly arranged on the two first connecting rods, and the smoothness detection module is telescopically movably arranged on the second connecting rod. The driving member uses the first direction-changing transmission member and the second direction-changing transmission member to link the two first connecting rods and the second connecting rod to perform lifting movement to adjust the height position of the track detection unit, so that the detection ends of the two flaw detection modules respectively correspond to the two side parts of the vertical beam for flaw detection, and the detection end of the smoothness detection module corresponds to the top surface of the vertical beam for smoothness detection. The smoothness detection module can telescopically move relative to the second connecting rod, avoiding interference with the lifting movement of the driving member, so that while the smoothness detection module performs smoothness detection, the height positions of the two flaw detection modules can be adjusted through the telescopic driving device, and the track detection unit can adapt to steel rails of different height specifications, improving the applicability of the inspection device.

[0023] 3. The inspection device uses a walking vehicle to move along the railway track in the track section for automatic inspection, and uses a lifting mechanism to adjust the height position of the track detection unit. The track detection unit detects the smoothness of the top surface of the vertical beam and performs flaw detection on the side of the vertical beam. Compared with the manual method of inspecting the railway track, it reduces the work intensity of the inspection personnel and improves the inspection efficiency. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the inspection device in the embodiment;

[0025] Figure 2 is a schematic structural diagram of the inspection device when it is running in the track section in the embodiment;

[0026] Figure 3 is a cross-section of the track detection unit in the embodiment Figure 1 ;

[0027] Figure 4 is a cross-section of the track detection unit in the embodiment Figure 2 ;

[0028] Figure 5 is a cross-sectional view of the guiding component in the embodiment;

[0029] Figure 6 is a flowchart of the operation of the inspection device in the embodiment.

[0030] In the figure: 1. Workstation; 2. Walking vehicle; 3. Positioning module; 4. Communication module; 5. Frame; 6. Detection frame; 7. Lifting mechanism; 71. Telescopic driving device; 72. Driving part; 73. First connecting rod; 74. Second connecting rod; 8. Flaw detection module; 81. Ultrasonic flaw detector; 82. First detection camera; 9. Smoothness detection module; 91. Mounting block; 92. Detection rod; 93. Second detection camera; 10. Guide frame; 11. Outer shell; 1101. Abutting block; 12. First direction-changing transmission part; 13. Second direction-changing transmission part; 14. Moving hole; 15. Limiting groove; 16. Limiting part; 17. First elastic part; 18. Observation space; 19. Matching part; 20. Observation part; 21. Moving rod; 22. Second elastic part; 23. First linear slide rail; 24. Second linear slide rail; 25. Third linear slide rail; 26. Ball screw; 27. Groove; 28. First rack section; 29. Second rack section; 30. Guiding part; 31. Mounting hole; 32. Guiding structure; 33. Detachable structure; 34. Guiding groove; 35. Wear-resistant brush; 36. Translucent plate; 38. Walking recorder; 39. Rail; 391. Upper cross beam; 392. Lower cross beam; 393. Vertical beam; 40. Sleeper. Detailed Embodiment

[0031] The present invention will be further described below with reference to the accompanying drawings through embodiments.

[0032] Reference Figures 1 to 6 , an automatic inspection and maintenance device for subway tracks, including a workstation 1, a walking vehicle 2, and a positioning module 3, a communication module 4, and a detection assembly disposed on the walking vehicle 2. The workstation 1 is a computer, which includes a data storage module, a data processing module, a wireless communication module, and an image information display module. Functions such as remote control, data collection, and image monitoring can be realized through the workstation 1, which is prior art and will not be elaborated in detail here.

[0033] The walking vehicle 2 is an electric flat car, which is composed of wheels, a chassis, a driving module, a power supply battery, a vehicle body, etc. The walking vehicle 2 is located in the interval of the subway track and moves along the rail 39 to be detected; the positioning module 3 can be a GPS wireless module. The positioning module 3 communicates remotely with the workstation 1, and is used to plan the movement route of the walking vehicle 2 according to the route of the rail 39 to be detected, and real-time position the position information of the walking vehicle 2, and at the same time, feedback the position information to the workstation 1 in real time through the communication module 4.

[0034] The detection assembly includes a frame 5, a detection frame 6 and a guiding frame 10 disposed on the frame 5. The guiding frame 10 is disposed on the front side of the frame 5, and the detection frame 6 is disposed on the rear side of the frame 5. The bottom surface of the guiding frame 10 is adapted to the two rails 39 of the track, and a guiding member 30 is rotatably connected to the position of the bottom surface of the guiding frame 10 relative to the rail 39. A plurality of guiding components are detachably connected along the length direction of the guiding member 30. The guiding component includes two oppositely arranged guiding structures 32 and a detachable structure 33. The guiding member 30 is penetrated with an installation hole 31 for installing the guiding component. The detachable structure 33 is a bolt member. The detachable structure 33 positions the two guiding structures 32 on the guiding member 30 through the installation hole 31. The opposite sides of the two guiding structures 32 are in concave-convex fit with the upper cross beam 391 of the rail 39, so that the guiding frame 10 is slidably connected to the two rails 39, guiding the driving movement of the inspection device in the track interval. And the two guiding structures 32 of the guiding component cooperate to form a guiding groove 34. A clearance fit is formed between the inner wall of the guiding groove 34 and the outer wall of the rail 39. And a wear-resistant brush 35 is disposed on the position of the inner wall of the guiding groove 34 relative to the upper cross beam 391 and the vertical beam 393. The brush head of the wear-resistant brush 35 abuts against the two side parts of the vertical beam 393 and the top surface of the upper cross beam 391. Through the wear-resistant brush 35, the sundries adhered to the rail 39 can be cleaned, avoiding the influence of the sundries on the rail 39 on the detection operation of the inspection device and causing misdetection, and ensuring the detection accuracy of the subway track.

[0035] A light-transmitting plate 36 is provided on the front side of the guiding frame 10. A lighting device is provided inside the guiding frame 10. The lighting side of the lighting device corresponds to the light-transmitting plate 36. The emitted light of the lighting device illuminates outward through the light-transmitting plate 36. A traveling recorder 38 is also provided on the guiding frame 10. The traveling recorder 38 is used to collect the road condition images in front of the inspection device and feedback the road condition images to the workstation 1 through the communication module 4. Thus, in the case of an obstacle appearing in the section of the subway track, the driving of the traveling vehicle 2 is stopped. After the staff removes the obstacle, the traveling vehicle 2 is remotely controlled by the workstation 1 to continue driving. The traveling vehicle 2 stops after the driving distance reaches the preset distance.

[0036] On the position of the detection frame 6 relative to the rail 39, a housing 11, an orbital detection unit and a lifting mechanism 7 provided inside the housing 11 are provided. The lifting mechanism 7 includes a telescopic driving device 71, driving members 72 arranged in parallel and spaced apart inside the housing 11, two first connecting rods 73, and a second connecting rod 74. The movable end of the telescopic driving device 71 is fixedly connected to the driving member 72. Two flaw detection modules 8 are respectively and fixedly arranged on the two first connecting rods 73. The distance between the two first connecting rods 73 is greater than the width of the upper cross beam 391. On the position of the inner wall of the housing 11 relative to the first connecting rod 73, a first linear slide rail 23 is provided. The first connecting rod 73 is slidably connected to the corresponding first linear slide rail 23; on the position of the inner wall of the housing 11 relative to the second connecting rod 74, a second linear slide rail 24 is provided. The second connecting rod 74 is slidably connected to the second linear slide rail 24; on the position of the inner wall of the housing 11 relative to the driving member 72, two third linear slide rails 25 are symmetrically provided. The driving member 72 is slidably connected to the two third linear slide rails 25; on the position between the two third linear slide rails 25 on the inner wall of the housing 11, a contact block 1101 is provided. A ball screw 26 is detachably connected to the contact block 1101. On the side of the driving member 72 close to the ball screw 26, a plurality of grooves 27 are uniformly arranged along the length direction of the third linear slide rail 25. The inner wall of the groove 27 is in contact and cooperation with the steel ball of the ball screw 26, realizing the stepped lifting adjustment of the driving member 72.

[0037] A first direction-changing transmission member 12 is movably arranged between the driving member 72 and the first connecting rod 73, and a second direction-changing transmission member 13 is movably arranged between the driving member 72 and the second connecting rod 74. The first direction-changing transmission member 12 and the second direction-changing transmission member 13 are both rotatably connected to the inner wall of the housing 11, and the axial direction of the first direction-changing transmission member 12 is perpendicular to the axial direction of the second direction-changing transmission member 13. Rack transmission fits are respectively formed between the opposite sides of the driving member 72 and the first connecting rod 73 and the first direction-changing transmission member 12. First rack segments 28 are arranged on the opposite sides of the driving member 72 and the first connecting rod 73. The first direction-changing transmission member 12 is of a gear structure and meshes with the first rack segments 28; Rack transmission fits are respectively formed between the opposite sides of the driving member 72 and the second connecting rod 74 and the second direction-changing transmission member 13. Second rack segments 29 are arranged on the opposite sides of the driving member 72 and the second connecting rod 74. The second direction-changing transmission member 13 is of a gear structure and meshes with the second rack segments 29, so that the driving member 72 drives the first connecting rod 73 and the second connecting rod 74 to move up and down synchronously. Preferably, the first direction-changing transmission member 12 and the second direction-changing transmission member 13 can also adopt chain drive or belt drive and other methods to realize the synchronous up and down movement of the driving member 72 driving the first connecting rod 73 and the second connecting rod 74.

[0038] The track detection unit includes two opposite and spaced-apart flaw detection modules 8 and a smoothness detection module 9 arranged separately between the two flaw detection modules 8. The flaw detection module 8 includes an ultrasonic flaw detector 81 and a first detection camera 82. The probe of the ultrasonic flaw detector 81 faces the side of the vertical beam 393 for ultrasonic flaw detection, and the acquisition end of the first detection camera 82 faces the side of the vertical beam 393 for visual flaw detection. Preferably, the first detection camera 82 is a multispectral camera. The first detection camera 82 extends in two directions, infrared light and ultraviolet light, on the basis of visible light. By receiving the information radiated or reflected by the same target on different narrow spectral bands, several photos of the target in different spectral bands are obtained, which is prior art and will not be elaborated here in detail. The first detection camera 82 realizes image acquisition and processing of the side surface of the vertical beam 393 of the steel rail 39, so as to identify the defects of the steel rail 39 that are invisible to the naked eye.

[0039] The smoothness detection module 9 includes a mounting block 91, a detection rod 92, and a second detection camera 93 disposed on the mounting block 91. The mounting block 91 is provided with a movable rod 21. The bottom surface of the second connecting pipe is open for the movable rod 21 to be inserted, so that the second connecting rod 74 is sleeved and fitted with the movable rod 21. And a second elastic member 22 is provided between the second connecting rod 74 and the mounting block 91. The second elastic member 22 is sleeved on the movable rod 21, so that the smoothness detection module 9 is telescopically movably disposed on the second connecting rod 74, and the smoothness detection module 9 has a tendency to translate downward. The mounting block 91 is penetrated with a movable hole 14 for the detection rod 92 to slidably connect. The inner wall of the movable hole 14 is penetrated with a limiting groove 15. The detection rod 92 is provided with a limiting portion 16 slidably connected in the limiting groove 15. A first elastic member 17 is provided between the limiting portion 16 and the limiting groove 15, so that the detection rod 92 has a tendency to move downward close to the top surface of the vertical beam 393. The mounting block 91 is also penetrated with an observation space 18 communicating with each movable hole 14. A portion of the lower end of the detection rod 92 extending out of the movable hole 14 is provided with a mating portion 19 adapted to the top surface of the vertical beam 393. The mating portion 19 can be a roller. Under the action of the first elastic member 17, the mating portion 19 always abuts against the top surface of the vertical beam 393. A portion of the upper end of the detection rod 92 extending out of the movable hole 14 is provided with an observation portion 20. The acquisition end of the second detection camera 93 faces the observation space 18 to acquire images of each observation portion 20 in the observation space 18. Preferably, the observation portion 20 can be made of a fluorescent material. If the top surface of the vertical beam 393 is flat, the height positions of the observation portions 20 in the observation space 18 are the same; if the top surface of the vertical beam 393 is bent and deformed, the top surface of the vertical beam 393 drives the corresponding detection rod 92 to move up and down, resulting in inconsistent height positions of the observation portions 20 in the observation space 18.

[0040] When detecting the rail 39, the inspection device travels along the rail 39 to be detected by the traveling vehicle 2 for automatic inspection. The traveling vehicle 2 real-time locates the position information through the positioning module 3, and simultaneously feeds back the position information to the workstation 1 through the communication module 4 in real time. Through the traveling recorder 38 on the guiding frame 10, it is detected whether there are obstacles in front of the traveling vehicle 2. When encountering an obstacle, the traveling vehicle 2 can be remotely controlled to stop through the workbench to achieve fixed-point parking and prevent the obstacle from interfering with the automatic inspection of the inspection device.

[0041] During the traveling process of the traveling vehicle 2, the lifting mechanism 7 drives the driving member 72 to perform synchronous lifting and lowering movements through the telescopic driving device 71. The driving member 72 uses the first direction-changing transmission member 12 and the second direction-changing transmission member 13 to link the two first connecting rods 73 and the second connecting rod 74 to perform lifting and lowering movements. When the driving member 72 translates upward, the two first connecting rods 73 and the second connecting rod 74 translate downward. When the driving member 72 translates downward, the two first connecting rods 73 and the second connecting rod 74 translate upward.

[0042] The inspection device uses the lifting mechanism 7 to adjust the height position of the track detection unit, so that the detection ends of the two flaw detection modules 8 respectively correspond to the two side parts of the vertical beam 393 for flaw detection, and the detection end of the smoothness detection module 9 corresponds to the top surface of the vertical beam 393 for smoothness detection. Compared with the method of manually inspecting the rails, the working intensity of the inspection personnel is reduced and the inspection efficiency is improved. When a defect is detected in the rail 39, the flaw detection module 8 and the smoothness detection module 9 of the track detection unit feed back the detection information and the position information of the walking vehicle 2 to the workstation 1. After the inspection device completes the inspection task, the staff can obtain the track section to be maintained according to the information fed back by the workstation 1, improving the maintenance efficiency of the track.

[0043] Since the smoothness detection module 9 can be telescoped relative to the second connecting rod 74, when the smoothness detection module 9 detects the smoothness of the top surface of the vertical beam 393, the telescopic driving device 71 can drive the driving member 72 to continue to move upward to drive the two flaw detection modules 8 to continue to move downward, and the movable rod 21 telescopically moves relative to the second connecting rod 74. Under the action of the second elastic member 22, the height position of the smoothness detection module 9 is limited to the top surface of the vertical beam 393, which can avoid the interference of the smoothness detection module 9 on the lifting movement of the driving member 72 to a certain extent, so that the track detection unit can adapt to rails 39 of different heights and improve the applicability of the inspection device.

[0044] Of course, the above are only typical examples of the present invention. In addition, the present invention can also have many other specific implementation manners. Any technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. An automatic inspection device for the operation and maintenance of subway tracks, characterized in that: It includes a workstation (1), a walking vehicle (2), a positioning module (3) provided on the walking vehicle (2), a communication module (4) for remote communication with the workstation (1), and a detection assembly; The walking vehicle (2) is located in the section of the subway track and moves along the rail (39) to be detected; the rail (39) includes an upper cross beam (391), a lower cross beam (392), and a vertical beam (393); The positioning module (3) is used to plan the movement route of the walking vehicle (2) according to the route of the rail (39) to be detected, and real-time position the position information of the walking vehicle (2), and at the same time feedback the position information to the workstation (1) in real time through the communication module (4); The detection assembly includes a frame (5) and a detection frame (6) provided on the frame (5). An outer shell (11) is provided at the position of the detection frame (6) relative to the rail (39), and an orbit detection unit and a lifting mechanism (7) are provided in the outer shell (11). The orbit detection unit includes two flaw detection modules (8) arranged opposite and spaced apart, and a smoothness detection module (9) arranged separately between the two flaw detection modules (8). The lifting mechanism (7) includes a telescopic driving device (71), driving members (72) arranged parallel and spaced apart in the outer shell (11), two first connecting rods (73), and a second connecting rod (74). The movable end of the telescopic driving device (71) is fixedly connected to the driving member (72). The two flaw detection modules (8) are respectively fixedly arranged on the two first connecting rods (73) and extend out of the bottom surface of the outer shell (11). The smoothness detection module (9) is telescopically movably arranged on the second connecting rod (74) and extends out of the bottom surface of the outer shell (11). A first direction-changing transmission member (12) is movably arranged between the driving member (72) and the first connecting rod (73), and a second direction-changing transmission member (13) is movably arranged between the driving member (72) and the second connecting rod (74), so that the driving member (72) drives the first connecting rod (73) and the second connecting rod (74) to perform synchronous lifting movement. When detecting the rail (39), the detection ends of the two flaw detection modules (8) respectively correspond to the two side parts of the vertical beam (393) for flaw detection, and the smoothness detection module (9) corresponds to the top surface of the vertical beam (393) for smoothness detection. When a defect is detected in the rail (39), each flaw detection module (8) and the smoothness detection module (9) of the orbit detection unit feedback the detection information and the position information of the walking vehicle (2) to the workstation (1); The flaw detection module (8) includes an ultrasonic flaw detection device (81) and a first detection camera (82). The probe of the ultrasonic flaw detection device (81) faces the side part of the vertical beam (393) for ultrasonic flaw detection, and the acquisition end of the first detection camera (82) faces the side part of the vertical beam (393) for visual flaw detection; The smoothness detection module (9) includes a mounting block (91), a detection rod (92), and a second detection camera (93) disposed on the mounting block (91). The mounting block (91) is penetrated with a movable hole (14) for slidably connecting the detection rod (92). The inner wall of the movable hole (14) is penetrated with a limiting groove (15). The detection rod (92) is provided with a limiting portion (16) slidably connected in the limiting groove (15). A first elastic member (17) is disposed between the limiting portion (16) and the limiting groove (15). The mounting block (91) is further penetrated with an observation space (18) communicating with each of the movable holes (14). A portion of the lower end of the detection rod (92) extending out of the movable hole (14) is provided with a mating portion (19) adapted to the top surface of the vertical beam (393). The mating portion (19) is a roller. A portion of the upper end of the detection rod (92) extending out of the movable hole (14) is provided with an observation portion (20). The acquisition end of the second detection camera (93) faces the observation space (18) to acquire images of the observation portions (20) in the observation space (18); The mounting block (91) is provided with a movable rod (21). The second connecting rod (74) is sleeved and fitted with the movable rod (21), and a second elastic member (22) is disposed between the second connecting rod (74) and the mounting block (91); The detection assembly further includes a guiding frame (10). The guiding frame (10) is disposed on the front side of the frame (5). The detection frame (6) is disposed on the rear side of the frame (5). The bottom surface of the guiding frame (10) is adapted to the two steel rails (39) of the track. A guiding member (30) is rotatably connected at a position of the bottom surface of the guiding frame (10) relative to the steel rail (39). The guiding member (30) is detachably connected with at least one guiding assembly. The guiding assembly includes two oppositely arranged guiding structures (32) and a detachable structure (33). The guiding member (30) is penetrated with a mounting hole (31). The detachable structure (33) is a bolt member. The detachable structure (33) positions the two guiding structures (32) on the guiding member (30) through the mounting hole (31). Opposite sides of the two guiding structures (32) are in concave-convex fit with the upper cross beam (391) of the steel rail (39). The two guiding structures (32) of the guiding assembly cooperate to form a guiding groove (34). A wear-resistant brush (35) is disposed on the inner wall of the guiding groove (34) at positions relative to the upper cross beam (391) and the vertical beam (393); A light-transmitting plate (36) is provided on the front side of the guiding frame (10). A lighting device is arranged inside the guiding frame (10). The lighting side of the lighting device corresponds to the light-transmitting plate (36). The emitted light of the lighting device illuminates outward through the light-transmitting plate (36). A traveling recorder (38) is also arranged on the guiding frame (10). The traveling recorder (38) is used to collect the road condition images in front of the inspection device and feedback the road condition images to the workstation (1) through the communication module (4). Thus, in the case of obstacles in the section of the subway track, the driving of the traveling vehicle (2) is stopped. After the staff removes the obstacles, the traveling vehicle (2) is remotely controlled to continue driving through the workstation (1). The traveling vehicle (2) stops after the driving distance reaches the preset distance.

2. The automatic inspection and maintenance device for subway tracks according to claim 1, characterized in that: A first linear slide rail (23) is arranged on the inner wall of the housing (11) relative to the position of the first connecting rod (73). The first connecting rod (73) is slidably connected to the corresponding first linear slide rail (23). A second linear slide rail (24) is arranged on the inner wall of the housing (11) relative to the position of the second connecting rod (74). The second connecting rod (74) is slidably connected to the second linear slide rail (24).

3. The operation and maintenance automatic inspection device for a subway track according to claim 2, characterized in that: Two third linear slide rails (25) are symmetrically arranged on the inner wall of the housing (11) relative to the position of the driving member (72). The driving member (72) is slidably connected to the two third linear slide rails (25). At least one ball screw (26) is detachably connected to the inner wall of the housing (11) between the two third linear slide rails (25). A plurality of grooves (27) are uniformly arranged on the side of the driving member (72) close to the ball screw (26) along the length direction of the third linear slide. The inner wall of the groove (27) is in contact and cooperation with the steel ball of the ball screw (26).

4. The automatic inspection equipment for the operation and maintenance of a subway track according to claim 1, characterized in that: The first direction-changing transmission member (12) and the second direction-changing transmission member (13) are both rotatably connected to the inner wall of the housing (11), and the axial direction of the first direction-changing transmission member (12) is perpendicular to the axial direction of the second direction-changing transmission member (13).

5. The operation and maintenance automatic inspection device for a subway track according to claim 4, characterized in that: A rack transmission cooperation is formed between the opposite sides of the driving member (72) and the first connecting rod (73) and the first direction-changing transmission member (12) respectively. First rack segments (28) are arranged on the opposite sides of the driving member (72) and the first connecting rod (73). The first direction-changing transmission member (12) is a gear structure, and the first direction-changing transmission member (12) meshes with the first rack segment (28).

6. The operation and maintenance automatic inspection device for a subway track according to claim 5, characterized in that: A rack transmission cooperation is formed between the opposite sides of the driving member (72) and the second connecting rod (74) and the second direction-changing transmission member (13) respectively. Second rack segments (29) are arranged on the opposite sides of the driving member (72) and the second connecting rod (74). The second direction-changing transmission member (13) is a gear structure, and the second direction-changing transmission member (13) meshes with the second rack segment (29).

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