Intelligent track maintenance robot with obstacle avoidance and buffering functions

Abstract

The invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions, and relates to the technical field of track maintenance robots. The intelligent track maintenance robot comprises a control mechanism, the control mechanism comprises a lower supporting seat, a shell is fixedly arranged at the upper end of the lower supporting seat, a maintenance mechanism is fixedly arranged at the position, close to the middle, of one side of the shell, and a buffer obstacle avoidance mechanism is fixedly arranged at the position, close to the lower end of the maintenance mechanism, of the shell; and track moving mechanisms are fixedly arranged on the two sides of the lower end of the lower supporting seat. In the process that the maintenance robot descends on a rail, a clamping wheel and a power roller are connected to the rail, a power frame and a spring damper are pushed, a rack frame and a gear are made to rotate, and then a power lead screw is rotated. The sliding blocks move inwards along with the sliding blocks, the clamping wheels clamp the rail, and therefore installation is completed. And after the driving motor is started, the robot moves along the track, automation of overhauling work is achieved, and the working efficiency and stability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of track maintenance robots, and in particular to an intelligent track maintenance robot with obstacle avoidance and buffering functions. Background Art

[0002] As an indispensable and important equipment in the electrolytic aluminum workshop, the normal and stable operation of the truss crane is crucial to the entire production process. In order to ensure that the truss crane can work continuously and stably, the high-strength screws on both sides of its track must be tightened regularly. This process involves high-altitude operations, and workers need to work on narrow track installation platforms at a height of more than 8 meters from the ground. The width of these platforms is often less than 1 meter, which undoubtedly poses a great challenge to the personal safety of the workers. Working in such a high-risk environment, the workers must always remain highly vigilant. Due to the small space, once the workers accidentally drop the tools during the operation, this may not only cause serious injuries to the personnel below, but also damage the equipment below, thereby causing a series of safety accidents. Therefore, it is particularly important to ensure safety measures during the operation.

[0003] At present, most electrolytic aluminum workshops still use the traditional operation method, that is, to complete the tightening of bolts by manual or electric tightening tools. After completing the tightening operation, it is necessary to manually use a torque wrench to recheck to ensure that the tightening degree of the bolts meets the standards. However, this operation method not only has safety hazards, but also brings a series of other problems. First, the labor intensity of manual operation is high, and the workers need to perform high-intensity physical labor at high altitudes for a long time, which is a great test for their physical condition and mental state. Secondly, the production efficiency of this operation method is relatively low, because each step of the operation needs to be completed manually, and automation or semi-automation cannot be achieved, which leads to limited production progress. Finally, due to the instability of manual operation, the stability of the process is also difficult to guarantee, which may have a negative impact on product quality. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions, which solves the problem that the instability of manual operation and the difficulty in ensuring the stability of the process may have a negative impact on product quality.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent track maintenance robot with obstacle avoidance and buffering functions, comprising a control mechanism, the control mechanism comprising a lower support seat, a shell is fixedly arranged on the upper end of the lower support seat, a maintenance mechanism is fixedly arranged at a middle position on one side of the shell, a buffer obstacle avoidance mechanism is fixedly arranged at a position of the shell near the lower end of the maintenance mechanism, and track moving mechanisms are fixedly arranged on both sides of the lower end of the lower support seat;

[0008] The track moving mechanism includes a lower connecting frame, two fixed blocks are fixedly provided at the rear position of the lower end of the lower connecting frame, two sliding blocks are slidably provided at the lower end of the lower connecting frame away from the fixed block, two power screws are respectively provided between the two sliding blocks and the two fixed blocks, gears are fixedly provided at the ends of the two power screws away from the fixed blocks, clamping wheels are rotatably provided at the lower ends of the two fixed blocks and the two sliding blocks, and rubber pads are fixedly provided at the lower ends of the four clamping wheels.

[0009] Preferably, the buffer obstacle avoidance mechanism includes two extension rods, a damping rod is slidably sleeved between one side of the two extension rods, a touch connecting frame is fixedly provided at the middle position of the two extension rod bodies, an alarm is fixedly provided at the upper end of the touch connecting frame, a touch button is provided on one side of the alarm, a touch groove is opened at the upper end of the damping rod, the lower end of the touch button is clamped in the touch groove, and a rubber ring is fixedly provided at one end of the damping rod.

[0010] Preferably, two buffering and obstacle avoiding mechanisms are provided, and the two buffering and obstacle avoiding mechanisms are respectively fixedly arranged at positions on one side of the shell opposite to the lower support seat.

[0011] Preferably, the maintenance mechanism includes a horizontal guide rail, a vertical guide rail is slidably provided on one side of the horizontal guide rail, a motor connecting frame is slidably provided on one side of the vertical guide rail, a maintenance motor is fixedly provided on the upper end of the motor connecting frame, and a rotating sleeve is fixedly provided on the output end of the maintenance motor passing through the inside of the motor connecting frame.

[0012] Preferably, an upper connecting frame is fixedly provided on the upper end of the lower connecting frame, and the upper end of the upper connecting frame is fixedly connected to the lower end of the lower supporting seat.

[0013] Preferably, two support blocks are fixedly provided at the front of the upper end of the lower connecting frame, a rack frame is slidably provided between the two support blocks, and the rack frame is meshed and connected with two gears respectively.

[0014] Preferably, a lifting frame is fixedly provided at the upper end of the rack frame, two spring dampers are fixedly provided at the lower end of the lifting frame, a power frame is fixedly provided at the lower ends of the two spring dampers, a power roller is rotatably provided inside the power frame, a driving motor is fixedly provided at the front end of the power frame, and the output end of the driving motor passes through the front side of the power frame and is fixedly connected to the power roller.

[0015] Preferably, a maintenance door is hingedly provided on one side of the front end of the shell, a battery is provided in the shell near the inner position of the maintenance door, and lifting rings are fixedly provided on both sides of the upper end of the shell.

[0016] Preferably, a control panel is embedded in the front end of the shell near the maintenance mechanism, an electric control module is fixedly installed inside the upper end of the shell, and two laser ranging sensors are fixedly installed on the upper end of the shell near the electric control module, and the two laser ranging sensors, the electric control module, the control panel and the maintenance mechanism are electrically connected.

[0017] Working principle: During the working process of this maintenance robot, the robot is first lifted by the lifting device and the lifting ring set inside the robot, and then the robot is lowered to the track. During the lowering process, the clamping wheels on both sides first fall on the two sides of the track, and then the power roller will touch the top of the track. At this time, the robot continues to descend, and the power roller squeezes the entire power frame upward, so that the spring damper above will drive the rack frame to move upward. When the rack frame moves upward, it will drive the gears on both sides to rotate, and then the gears will drive the power screws on both sides to rotate. At the same time, because the sliding block is slidable and threaded on the power screw, when the screw rotates, it will drive the sliding block to move inward. At this time, the clamping wheels on both sides will gradually move closer to the inside and clamp the track. At this time, the installation of the robot is completed, and then the drive motor is started to drive the power roller to drive the entire robot to move on the track;

[0018] When the robot moves on the track, the laser ranging sensor will scan the position of the high-strength screws on both sides of the track in real time. When the specific position of the screw is obtained, the horizontal guide rail inside the detection mechanism will drive the motor connecting frame to move to the corresponding position, so that the maintenance motor and the rotating sleeve move to the position just above the screw. At this time, the vertical guide rail will drive it down until it covers the nut, and then start the maintenance motor to tighten and fix the nut.

[0019] When the robot moves on the track and approaches an obstacle, it will first be contacted by the buffer obstacle avoidance mechanisms on both sides. When the buffer obstacle avoidance mechanisms contact the obstacle, the damping rod will be compressed to shorten it, thereby realizing the buffering function. When the damping rod is shortened, the touch slot set above it will drive the touch button to move, thereby causing the alarm to sound an alarm. At the same time, the electronic control module will obtain the information of contact with the obstacle and stop moving.

[0020] (III) Beneficial effects

[0021] The present invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions. It has the following beneficial effects:

[0022] 1. The present invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions. When the maintenance robot is working, it first uses a lifting device and a built-in lifting ring to lift itself. Then, the robot is aligned with the track for positioning and lowered. During the descent process, the clamping wheels on both sides first contact the two sides of the track, and then the power roller touches the top of the track. When the robot continues to descend, the power roller pushes the power frame upward, causing the spring damper above to drive the rack frame to move upward. When the rack frame moves upward, it drives the gears on both sides to rotate, thereby rotating the power screw. Since the sliding block is slidable and the threaded sleeve is connected to the power screw, the rotation of the screw will cause the sliding block to move inward. Finally, the clamping wheels on both sides gradually move inward and clamp the track, completing the installation of the robot. Subsequently, the drive motor is started, and the power roller drives the robot to move along the track, which facilitates the installation and disassembly work between the track and the track, realizes the full automation of the maintenance work, and thus improves the work efficiency and stability.

[0023] 2. The present invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions. During the movement, the robot uses a laser ranging sensor to scan the position of high-strength screws on both sides of the track in real time. Once the specific position of the screw is determined, the horizontal guide rail in the detection mechanism will guide the motor connecting frame to move to the corresponding position to ensure that the maintenance motor and the rotating sleeve are accurately aligned above the screw. Subsequently, the vertical guide rail will drive the motor to descend until the sleeve completely covers the nut. At this time, starting the maintenance motor can complete the tightening and fixing of the nut, thereby improving the intelligence level of the operation. When the robot approaches an obstacle, it will first trigger the buffering and obstacle avoidance mechanisms on both sides of it. Once the buffering and obstacle avoidance mechanism contacts the obstacle, the damping rod will shorten due to compression to achieve a buffering effect. At the same time, when the damping rod shortens, the touch slot will push the touch button to move, triggering the alarm to sound an alarm. In addition, the electronic control module will receive a signal of contact with the obstacle and then instruct the robot to stop moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the axial side of the present invention;

[0025] Figure 2 It is a bottom-up axial schematic diagram of the present invention;

[0026] Figure 3 It is a schematic diagram of the axial side of the buffer obstacle avoidance mechanism of the present invention;

[0027] Figure 4It is a schematic diagram of the axial side of the maintenance mechanism of the present invention;

[0028] Figure 5 It is a schematic diagram of the axial side of the track moving mechanism of the present invention;

[0029] Figure 6 It is a schematic diagram of the bottom-up axial side of the track moving mechanism of the present invention.

[0030] Among them, 1. Buffer obstacle avoidance mechanism; 2. Maintenance mechanism; 3. Track moving mechanism; 4. Control mechanism; 101. Extension rod; 102. Damping rod; 103. Alarm; 104. Touch button; 105. Touch connecting frame; 106. Touch slot; 107. Rubber ring; 201. Horizontal guide rail; 202. Vertical guide rail; 203. Maintenance motor; 204. Motor connecting frame; 205. Rotating sleeve; 301. Upper connecting frame; 302. Lower connecting frame; 303. Motion Force frame; 304, lifting frame; 305, spring damper; 306, fixed block; 307, gear; 308, clamping wheel; 309, driving motor; 310, rack frame; 311, sliding block; 312, power screw; 313, support block; 314, rubber pad; 315, power roller; 401, laser ranging sensor; 402, electronic control module; 403, housing; 404, maintenance door; 405, lifting ring; 406, control panel; 407, lower support seat. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example:

[0033] like Figure 1 and 2 As shown, an embodiment of the present invention provides an intelligent track maintenance robot with obstacle avoidance and buffering functions, including a control mechanism 4, the control mechanism 4 includes a lower support seat 407, a shell 403 is fixedly provided on the upper end of the lower support seat 407, a maintenance mechanism 2 is fixedly provided at a middle position on one side of the shell 403, a buffer obstacle avoidance mechanism 1 is fixedly provided at a position of the shell 403 near the lower end of the maintenance mechanism 2, and track moving mechanisms 3 are fixedly provided on both sides of the lower end of the lower support seat 407;

[0034] Specifically, in the above specific embodiment, the track moving mechanism 3 enables the robot to be stably installed on the track that needs to be repaired, and then driven by the track moving mechanism 3, the entire robot can move on the track. When it moves to the screw position, the nut can be tightened and fixed by the repair mechanism 2. At the same time, during the movement, the buffering and obstacle avoidance mechanism 1 can contact with obstacles to achieve the effect of buffering and obstacle avoidance.

[0035] A maintenance door 404 is hingedly provided on one side of the front end of the shell 403, a battery is provided inside the shell 403 near the maintenance door 404, lifting rings 405 are fixedly provided on both sides of the upper end of the shell 403, a control panel 406 is embedded on one side of the front end of the shell 403 near the maintenance mechanism 2, an electric control module 402 is fixedly provided inside the upper end of the shell 403, two laser distance measuring sensors 401 are fixedly provided on one side of the upper end of the shell 403 near the electric control module 402, and the two laser distance measuring sensors 401, the electric control module 402, the control panel 406 and the maintenance mechanism 2 are electrically connected;

[0036] Specifically, in the above specific embodiment, the robot is driven by electricity and the battery is the power source. During use, the robot can be moved to a specified position through the lifting ring 405, which facilitates maintenance work. The robot finally integrates the drive system, tightening device, visual recognition, information processing, etc., and has the characteristics of strong maneuverability and high accuracy. It can simultaneously reduce the daily work intensity of the truss crane maintenance workers, and realize the observation and monitoring of the bolt status on the truss crane, which can greatly reduce the use risk and safety hazards of the equipment, reduce the long-term high-altitude operations of maintenance workers, and avoid the maintenance workers working in a high-dust environment for a long time. It is of great significance to improve the personal safety and occupational health of workers.

[0037] like Figure 5 and 6As shown, the track moving mechanism 3 includes a lower connecting frame 302, two fixed blocks 306 are fixedly provided at the rear position of the lower end of the lower connecting frame 302, two sliding blocks 311 are slidably provided on the side of the lower end of the lower connecting frame 302 away from the fixed block 306, two power screws 312 are respectively provided between the two sliding blocks 311 and the two fixed blocks 306, and gears 307 are fixedly provided on the ends of the two power screws 312 away from the fixed blocks 306, clamping wheels 308 are rotatably provided at the lower ends of the two fixed blocks 306 and the two sliding blocks 311, and rubber pads 314 are fixedly provided at the lower ends of the four clamping wheels 308, and an upper connecting frame 301 is fixedly provided at the upper end of the lower connecting frame 302, and the upper connecting frame 30 The upper end of the lower connecting frame 302 is fixedly connected to the lower end of the lower supporting seat 407, two supporting blocks 313 are fixedly arranged at the front of the upper end of the lower connecting frame 302, a rack frame 310 is slidably arranged between the two supporting blocks 313, and the rack frame 310 is respectively meshed and connected with the two gears 307, a lifting frame 304 is fixedly arranged at the upper end of the rack frame 310, two spring dampers 305 are fixedly arranged at the lower end of the lifting frame 304, a power frame 303 is fixedly arranged at the lower end of the two spring dampers 305, a power roller 315 is rotatably arranged inside the power frame 303, a driving motor 309 is fixedly arranged at the front end of the power frame 303, and the output end of the driving motor 309 passes through the front side of the power frame 303 and is fixedly connected to the power roller 315;

[0038] Specifically, in the above specific embodiment, when aligning the robot with the track and installing it, it is first necessary to ensure that the clamping wheels 308 on both sides accurately fall on the positions on both sides of the track. Then, when the robot starts to descend, the power rollers 315 on both sides will first contact the top of the track. As the robot continues to descend, the power rollers 315 will apply pressure to squeeze the entire power frame 303 upward. This action will cause the spring damper 305 installed on the top to be pressurized, thereby driving the rack frame 310 to move upward. The upward movement of the rack frame 310 will trigger a series of chain reactions: first, the upward movement of the rack frame 310 will drive the gears 307 on both sides to start rotating; then, the rotating gears 307 will further drive the power screws 312 on both sides to start rotating. Since the sliding block 311 has a slidable characteristic and is threadedly sleeved on the power screw 312, the sliding block 311 will be driven to move inward during the rotation of the power screw 312. As the sliding block 311 moves inward, the clamping wheels 308 on both sides will gradually move inward and finally clamp the track, and the installation of the robot is now complete. Next, just start the drive motor 309, and the power roller 315 will start working to drive the entire robot to move along the track. This process greatly simplifies the connection between the robot and the track, making the entire installation process more efficient and convenient.

[0039] like Figure 3As shown, the buffer obstacle avoidance mechanism 1 includes two extension rods 101, a damping rod 102 is slidably sleeved between one side of the two extension rods 101, a touch connection frame 105 is fixedly provided at the middle position of the rod body of the two extension rods 101, an alarm 103 is fixedly provided on the upper end of the touch connection frame 105, a touch button 104 is provided on one side of the alarm 103, a touch groove 106 is opened on the upper end of the damping rod 102, the lower end of the touch button 104 is clamped in the inside of the touch groove 106, a rubber ring 107 is fixedly provided at one end of the damping rod 102, and two buffer obstacle avoidance mechanisms 1 are provided, and the two buffer obstacle avoidance mechanisms 1 are respectively fixedly provided at the side position opposite to the housing 403 and the lower support seat 407;

[0040] Specifically, in the above-mentioned specific embodiment, when the robot moves along the track, it will constantly detect the surrounding environment to ensure safe operation. Once the robot approaches any obstacle, the buffering and obstacle avoidance mechanisms 1 on both sides will first play a role. These mechanisms are designed to be very sensitive and can sense the presence of obstacles in time. When the buffering and obstacle avoidance mechanisms 1 come into contact with the obstacle, they will immediately activate the buffering mechanism. Specifically, the damping rod 102 in the buffering and obstacle avoidance mechanism 1 will be subjected to pressure due to contact with the obstacle, resulting in compression, causing its length to shorten. This compression process effectively absorbs the impact force, plays a buffering role, and reduces the collision force between the robot and the obstacle.

[0041] At the same time, the compression action of the damping rod 102 will trigger a series of chain reactions. A touch groove 106 is arranged above the damping rod 102, and these touch grooves 106 will drive the touch button 104 to move during the process of shortening the damping rod 102. The movement of the touch button 104 will activate the alarm system connected thereto. The alarm will then emit a sound or light signal to alert the operator or the surrounding personnel, and also warn the robot itself of potential danger. In addition, the movement of the touch button 104 will also send a signal to the electronic control module 402, which is the core part of the robot control system and is responsible for processing data from various sensors and actuators. Once a signal of contacting an obstacle is received, the electronic control module 402 will immediately respond and issue a command to stop the robot from moving to prevent further collisions and potential damage. In this way, the robot can respond quickly when encountering an obstacle to ensure the safety of itself and the surrounding environment.

[0042] like Figure 4 As shown, the maintenance mechanism 2 includes a horizontal guide rail 201, a vertical guide rail 202 is slidably provided on one side of the horizontal guide rail 201, a motor connecting frame 204 is slidably provided on one side of the vertical guide rail 202, a maintenance motor 203 is fixedly provided on the upper end of the motor connecting frame 204, and a rotating sleeve 205 is fixedly provided on the output end of the maintenance motor 203 through the motor connecting frame 204;

[0043] Specifically, in the above specific embodiment, while the robot is moving along the track, the laser ranging sensor 401 will continuously scan the high-strength screws on both sides of the track. Once the laser ranging sensor 401 captures the specific position information of the screw, the horizontal guide rail 201 inside the detection mechanism will start, driving the motor connecting frame 204 to move to the corresponding screw position. In this way, the maintenance motor 203 and the rotating sleeve 205 can be accurately moved to the top of the screw to ensure alignment. Subsequently, the vertical guide rail 202 will play a role, driving the maintenance motor 203 and the rotating sleeve 205 to descend until the sleeve completely covers the nut. At this point, just start the maintenance motor 203 to easily complete the tightening and fixing of the nut. The whole process is highly automated, ensuring the efficiency and accuracy of maintenance. Specifically, the laser ranging sensor 401 uses a 3D line scanning laser radar to identify the position of each bolt, and then controls the maintenance mechanism 2 to perform tightening and maintenance. Based on the YOLOv5 framework, starting from the image pre-processing of the intelligent maintenance robot working scene, the parameter adjustment strategy is determined through histogram statistics for the image noise reduction and feature enhancement problems under the multi-parameter coupling of the working scene, and the filter and enhancement model are designed according to the given parameters. After completing the image pre-processing, the target edge detection depth model is designed and implemented to complete the accurate detection and maintenance judgment of the target object, and the robot can feedback the position information to the electronic control module 402 after the online laser scanning positioning bolt, and the electronic control module 402 issues a work instruction to realize fully automatic intelligent maintenance.

[0044] 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 track maintenance robot with obstacle avoidance and buffering functions, comprising a control mechanism (4), characterized in that: The control mechanism (4) comprises a lower support seat (407), a housing (403) is fixedly provided on the upper end of the lower support seat (407), a maintenance mechanism (2) is fixedly provided at a middle position on one side of the housing (403), a buffer obstacle avoidance mechanism (1) is fixedly provided at a position of the housing (403) close to the lower end of the maintenance mechanism (2), and track moving mechanisms (3) are fixedly provided on both sides of the lower end of the lower support seat (407); The track moving mechanism (3) comprises a lower connecting frame (302), two fixed blocks (306) are fixedly provided at the rear position of the lower end of the lower connecting frame (302), two sliding blocks (311) are slidably provided at the side of the lower end of the lower connecting frame (302) away from the fixed blocks (306), two power screws (312) are respectively provided between the two sliding blocks (311) and the two fixed blocks (306), gears (307) are fixedly provided at the ends of the two power screws (312) away from the fixed blocks (306), clamping wheels (308) are rotatably provided at the lower ends of the two fixed blocks (306) and the two sliding blocks (311), and rubber pads (314) are fixedly provided at the lower ends of the four clamping wheels (308).

2. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: The buffer obstacle avoidance mechanism (1) comprises two extension rods (101), a damping rod (102) is slidably sleeved between one side of the two extension rods (101), a touch connection frame (105) is fixedly arranged at the middle position of the rod body of the two extension rods (101), an alarm (103) is fixedly arranged at the upper end of the touch connection frame (105), a touch button (104) is arranged on one side of the alarm (103), a touch groove (106) is opened at the upper end of the damping rod (102), the lower end of the touch button (104) is clamped in the inside of the touch groove (106), and a rubber ring (107) is fixedly arranged at one end of the damping rod (102).

3. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: Two of the buffering and obstacle avoiding mechanisms (1) are provided, and the two buffering and obstacle avoiding mechanisms (1) are respectively fixedly arranged at positions on one side of the housing (403) opposite to the lower support seat (407).

4. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: The maintenance mechanism (2) comprises a horizontal guide rail (201), a vertical guide rail (202) is slidably disposed on one side of the horizontal guide rail (201), a motor connecting frame (204) is slidably disposed on one side of the vertical guide rail (202), a maintenance motor (203) is fixedly disposed on the upper end of the motor connecting frame (204), and a rotating sleeve (205) is fixedly disposed on the output end of the maintenance motor (203) passing through the interior of the motor connecting frame (204).

5. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: An upper connecting frame (301) is fixedly arranged on the upper end of the lower connecting frame (302), and the upper end of the upper connecting frame (301) is fixedly connected to the lower end of the lower supporting seat (407).

6. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: Two support blocks (313) are fixedly arranged at the front of the upper end of the lower connecting frame (302), and a rack frame (310) is slidably arranged between the two support blocks (313), and the rack frame (310) is meshedly connected with the two gears (307) respectively.

7. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 6, characterized in that: A lifting frame (304) is fixedly arranged at the upper end of the rack frame (310), two spring dampers (305) are fixedly arranged at the lower end of the lifting frame (304), a power frame (303) is fixedly arranged at the lower ends of the two spring dampers (305), a power roller (315) is rotatably arranged inside the power frame (303), a driving motor (309) is fixedly arranged at the front end of the power frame (303), and an output end of the driving motor (309) passes through the front side of the power frame (303) and is fixedly connected to the power roller (315).

8. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: A maintenance door (404) is hingedly provided at one side of the front end of the housing (403), a storage battery is provided at an inner position of the housing (403) close to the maintenance door (404), and lifting rings (405) are fixedly provided at both sides of the upper end of the housing (403).

9. The intelligent track maintenance robot with obstacle avoidance and buffering functions according to claim 1, characterized in that: A control panel (406) is embedded in the front end of the housing (403) close to the maintenance mechanism (2); an electric control module (402) is fixedly arranged inside the upper end of the housing (403); two laser distance measuring sensors (401) are fixedly arranged on the upper end of the housing (403) close to the electric control module (402); the two laser distance measuring sensors (401), the electric control module (402), the control panel (406) and the maintenance mechanism (2) are electrically connected.

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