Rail transit inspection robot

Abstract

The invention discloses a rail traffic inspection robot, and relates to the technical field of rail traffic, the rail traffic inspection robot comprises a robot main body and a cleaning assembly, a camera is arranged on one side of the robot main body, sweeping plates are fixed to the two ends of the lower portion of the robot main body, and a mounting plate is arranged at the bottom of the robot main body; and a double-shaft motor is fixed in the lower end of the mounting plate, the cleaning assembly is arranged on one side of the mounting plate, and the cleaning assembly comprises centrifugal blades, a fixing cover, a limiting ring, a filtering cover and an air spraying pipe. According to the rail transit inspection robot, through the arrangement of the cleaning assembly, when a double-shaft motor drives walking wheels to work through a driving gear, a driven gear and a first driving shaft, the robot can move on a rail, and at the moment, impurities on the rail can be automatically cleaned and blocked through a cleaning plate; and meanwhile, the double-shaft motor can push air into the air spraying pipes at the two ends through rotation of the centrifugal blades, and impurities blocked by the sweeping plates are blown off.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, and in particular to a rail transit inspection robot. Background Art

[0002] Rail transit refers to a type of transportation tool or transportation system in which operating vehicles need to travel on specific tracks. With the diversified development of train and railway technology, rail transit has shown more and more types. It is not only used in long-distance land transportation, but also widely used in medium and short-distance urban public transportation. When inspecting rail transit, robots are needed to assist in inspection.

[0003] For example, the invention with publication number CN214507591U discloses a rail transit signal trackside equipment inspection robot. This invention can avoid the problem of being unable to accurately detect the site due to foreign objects on the track, and can detect the contact wire during the inspection process. However, in actual use, this type of equipment requires an additional power source to clean the foreign objects on the track, resulting in increased equipment cost and energy consumption.

[0004] Therefore, in view of this, research and improvement are conducted on the existing structure and deficiencies, and a rail transit inspection robot is provided. Summary of the invention

[0005] The purpose of the present invention is to provide a rail transit inspection robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rail transit inspection robot, comprising a robot body and a cleaning component, a camera is arranged on one side of the robot body, and cleaning plates are fixed at both ends of the lower part of the robot body, a mounting plate is arranged at the bottom of the robot body, and a dual-axis motor is fixed inside the lower end of the mounting plate, the cleaning component is arranged on one side of the mounting plate, the cleaning component comprises a centrifugal blade, a fixed cover, a limit ring, a filter cover and an air jet pipe, one end of the dual-axis motor is connected to the centrifugal blade, and a fixed cover is arranged on the outside of the centrifugal blade, one side of the fixed cover is connected to the limit ring, and the outer side of the limit ring is slidably connected to the filter cover, and both sides of the fixed cover are connected to the air jet pipe.

[0007] Furthermore, a driving gear is fixed to the other end of the dual-axis motor, and a driven gear is meshed on one side of the driving gear. A first driving shaft is fixed inside the driven gear, and the first driving shaft is rotatably connected to the robot body.

[0008] Furthermore, a first synchronous wheel is disposed on the outer side of one end of the first driving shaft, a synchronous belt is sleeved on the outer side of the first synchronous wheel, and a second synchronous wheel is disposed inside one end of the synchronous belt.

[0009] Furthermore, a second drive shaft is fixed inside the second synchronous wheel, and the second drive shaft is rotationally connected to the robot body, and walking wheels are fixed to the ends of the second drive shaft and the first drive shaft.

[0010] Furthermore, the bottom of the fixed cover is connected to an anti-blocking component, and the anti-blocking component includes an eccentric wheel and a pulley. The eccentric wheel is fixed to the outer side of the middle part of the first driving shaft, and a pulley is arranged on one side of the eccentric wheel.

[0011] Furthermore, the anti-blocking component also includes a driving plate and a sliding sleeve, one end of the pulley is connected to the driving plate, and the sliding sleeve is fixed to the upper part of one side of the driving plate.

[0012] Furthermore, the anti-blocking component also includes a sliding rod and a spring. The sliding rod is slidably connected to the inside of the sliding sleeve, and the sliding rod is fixedly connected to the fixed cover. The outer side of the sliding rod is sleeved with a spring. The anti-blocking component also includes a connecting frame and a limiting sleeve. The lower side of the driving plate is connected to the connecting frame, and the connecting frame is fixedly connected to the filter cover. The middle outer side of the connecting frame is slidably connected to the limiting sleeve, and the limiting sleeve is fixedly connected to the fixed cover.

[0013] Furthermore, a debris removal component is arranged on the top of the robot body, and the debris removal component includes a bracket, a servo motor, a rotating plate, a sliding column, a limit plate, a slider, a guide plate and a brush plate. A servo motor is arranged on the top of the bracket, and the bottom of the servo motor is connected to the rotating plate, a sliding column is fixed to the bottom of the rotating plate, and the outer side of the sliding column is slidably connected to the limit plate, the limit plate is rotatably connected to the robot body, and a slider is slidably connected inside one end of the limit plate, the outer side of the slider is slidably connected to the guide plate, and a brush plate is fixed to the bottom of the slider.

[0014] The present invention provides a rail transit inspection robot, which has the following beneficial effects:

[0015] 1. The present invention sets a cleaning component. When the dual-axis motor drives the walking wheel to work through the driving gear, the driven gear and the first driving shaft, the robot can move on the track. At this time, the cleaning plate can be used to automatically clean and block the impurities on the track. At the same time, the dual-axis motor can also rotate through the centrifugal blades to push the air into the air jet pipes at both ends to blow off the impurities blocked by the cleaning plate, and filter the airflow during inhalation through the filter cover. Therefore, during the walking process of the inspection robot, the track surface can be automatically cleaned without adding an additional driving source, the overall integration is higher, and the use cost is saved;

[0016] 2. The present invention sets an anti-blocking component. The spring pushes the sliding sleeve under the limit of the fixed cover, so that the pulley on the driving plate is in close contact with the eccentric wheel, and the pulley is used to reduce friction loss. Therefore, during the rotation of the first driving shaft, the driving plate can be reciprocated, thereby driving the filter cover to slide on the outside of the limit ring through the connecting frame. Therefore, when too many dust particles adhere to the surface of the filter cover, part of the dust impurities can be shaken off, avoiding the blockage of the filter cover and affecting the normal operation of the jet pipe;

[0017] 3. Through the provision of the impurity removal component, during the inspection process of the rail transit inspection robot, when foreign matter is attached to the lens of the camera, the servo motor can be started to drive the rotating plate to rotate, so that the sliding column can push and pull one end of the limit plate to make it reciprocate, thereby driving the slider to move under the limit of the guide plate, so that the brush plate can brush the surface of the camera lens back and forth to clean it, thereby avoiding foreign particles adhering to the surface of the camera and affecting the quality of video shooting during the inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall three-dimensional front view structure of a rail transit inspection robot according to the present invention;

[0019] Figure 2 This is a schematic diagram of the overall three-dimensional structure of a rail transit inspection robot according to the present invention when viewed from above;

[0020] Figure 3 This is a schematic diagram of the three-dimensional structure of a first driving shaft of a rail transit inspection robot according to the present invention;

[0021] Figure 4 This is a schematic diagram of the fixed cover structure of a rail transit inspection robot according to the present invention;

[0022] Figure 5 This is a schematic diagram of the three-dimensional structure of a second drive shaft of a rail transit inspection robot according to the present invention;

[0023] Figure 6 This is a schematic diagram of the three-dimensional structure of a debris removal component of a rail transit inspection robot according to the present invention;.

[0024] In the figure: 1. robot body; 2. camera; 3. cleaning plate; 4. mounting plate; 5. dual-axis motor; 6. cleaning assembly; 601. centrifugal blade; 602. fixing cover; 603. limiting ring; 604. filter cover; 605. jet pipe; 7. driving gear; 8. driven gear; 9. first drive shaft; 10. first synchronous wheel; 11. synchronous belt; 12. second synchronous wheel; 13. second drive shaft; 14. walking wheel; 15. Anti-blocking component; 1501, eccentric wheel; 1502, pulley; 1503, driving plate; 1504, sliding sleeve; 1505, sliding rod; 1506, spring; 1507, connecting frame; 1508, limiting sleeve; 16, debris removal component; 1601, bracket; 1602, servo motor; 1603, rotating plate; 1604, sliding column; 1605, limiting plate; 1606, sliding block; 1607, guide plate; 1608, brush plate. DETAILED DESCRIPTION

[0025] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] like Figures 1 to 5As shown, a rail transit inspection robot includes a robot body 1 and a cleaning component 6. A camera 2 is arranged on one side of the robot body 1, and cleaning plates 3 are fixed at both ends of the lower part of the robot body 1. The cleaning plates 3 are used to automatically clean and block impurities on the track during the movement of the robot. A mounting plate 4 is arranged at the bottom of the robot body 1, and a dual-axis motor 5 is fixed inside the lower end of the mounting plate 4. The cleaning component 6 is arranged on one side of the mounting plate 4. The cleaning component 6 includes a centrifugal blade 601, a fixing cover 602, a limiting ring 603, a filter cover 604 and The centrifugal blade 601 is connected to one end of the dual-axis motor 5, and a fixed cover 602 is arranged outside the centrifugal blade 601, and a limit ring 603 is connected to one side of the fixed cover 602, and a filter cover 604 is slidably connected to the outer side of the limit ring 603, and the airflow during inhalation is filtered through the filter cover 604, and the two sides of the fixed cover 602 are connected with the jet pipe 605, and the dual-axis motor 5 can also push the air into the jet pipe 605 at both ends through the rotation of the centrifugal blade 601, and the impurities blocked by the cleaning plate 3 are blown off, so that when the inspection robot is in motion During walking, the track surface can be automatically cleaned without adding an additional driving source, and the overall integration is higher. A driving gear 7 is fixed to the other end of the dual-axis motor 5, and a driven gear 8 is meshed on one side of the driving gear 7. Since the size of the driving gear 7 is smaller than that of the driven gear 8, a reduction structure can be used to provide a larger driving force. A first driving shaft 9 is fixed inside the driven gear 8, and the first driving shaft 9 is rotatably connected to the robot body 1. The dual-axis motor 5 will drive the first driving shaft 9 to rotate through the driving gear 7 and the driven gear 8. A first synchronous wheel 10 is arranged on the outer side of one end, and a synchronous belt 11 is sleeved on the outer side of the first synchronous wheel 10, and a second synchronous wheel 12 is arranged inside one end of the synchronous belt 11, a second driving shaft 13 is fixed inside the second synchronous wheel 12, and the second driving shaft 13 is rotatably connected to the robot body 1, and walking wheels 14 are fixed to the ends of the second driving shaft 13 and the first driving shaft 9. When the first driving shaft 9 rotates, the second driving shaft 13 can be driven to rotate through the first synchronous wheel 10, the synchronous belt 11 and the second synchronous wheel 12, so that all the walking wheels 14 work.

[0027] like Figure 1 , Figure 3 , Figure 4 and Figure 6As shown, the bottom of the fixed cover 602 is connected with an anti-blocking component 15, and the anti-blocking component 15 includes an eccentric wheel 1501 and a pulley 1502. The eccentric wheel 1501 is fixed to the outer side of the middle part of the first driving shaft 9, and the pulley 1502 is arranged on one side of the eccentric wheel 1501. The rolling of the pulley 1502 is used to reduce the friction loss. The anti-blocking component 15 also includes a driving plate 1503 and a sliding sleeve 1504. One end of the pulley 1502 is connected to the driving plate 1503, and the sliding sleeve 1504 is fixed to the upper part of one side of the driving plate 1503. The anti-blocking component 15 also includes a sliding rod 1505 and a spring 1506. The sliding rod 1505 is slidably connected to the inside of the sliding sleeve 1504, and the sliding rod 1505 is fixedly connected to the fixed cover 602. Then, the outer side of the slide rod 1505 is sleeved with a spring 1506, and the spring 1506 will push the sliding sleeve 1504 under the limit of the fixed cover 602, so that the pulley 1502 on the driving plate 1503 is in close contact with the eccentric wheel 1501, and the anti-blocking component 15 also includes a connecting frame 1507 and a limiting sleeve 1508. The lower side of the driving plate 1503 is connected with a connecting frame 1507, and the connecting frame 1507 is fixedly connected to the filter cover 604, and the middle outer side of the connecting frame 1507 is slidably connected to the limiting sleeve 1508, and the limiting sleeve 1508 is fixedly connected to the fixed cover 602. The driving plate 1503 drives the filter cover 604 to slide on the outer side of the limiting ring 603 through the connecting frame 1507, so when there are too many dust particles When attached to the surface of the filter cover 604, some dust impurities can be shaken off to avoid the filter cover 604 from being blocked and affecting the normal operation of the air jet pipe 605. A dust removal component 16 is arranged on the top of the robot body 1. The dust removal component 16 includes a bracket 1601, a servo motor 1602, a rotating plate 1603, a slide column 1604, a limit plate 1605, a slider 1606, a guide plate 1607 and a brush plate 1608. A servo motor 1602 is arranged on the top of the bracket 1601, and the bottom of the servo motor 1602 is connected to the rotating plate 1603. The servo motor 1602 can drive the rotating plate 1603 to rotate continuously. The bottom of the rotating plate 1603 is fixed with a slide column 1604, and the slide column 1 The outer side of 604 is slidably connected to a limit plate 1605, the limit plate 1605 is rotatably connected to the robot body 1, and one end of the limit plate 1605 is internally slidably connected to a slider 1606, the slide column 1604 can push and pull one end of the limit plate 1605 to make it reciprocate, the outer side of the slider 1606 is slidably connected to a guide plate 1607, and a brush plate 1608 is fixed to the bottom of the slider 1606, the guide plate 1607 can limit and guide the slider 1606, so when the slider 1606 is pushed and pulled by the limit plate 1605, the brush plate 1608 can be used to brush the surface of the camera lens 2 back and forth to clean it, so as to avoid foreign particles adhering to the surface of the camera 2 and affecting the quality of video shooting during the inspection process.

[0028] In summary, when the rail transit inspection robot is used, it is first Figures 1 to 6In the structure shown in, the inspection robot is first placed on the track, and then the dual-axis motor 5 is started to drive the first drive shaft 9 to rotate through the driving gear 7 and the driven gear 8. At this time, since the size of the driving gear 7 is smaller than that of the driven gear 8, the reduction structure can be used to provide a larger driving force. Secondly, when the first drive shaft 9 rotates, the second drive shaft 13 can be driven to rotate through the first synchronous wheel 10, the synchronous belt 11, and the second synchronous wheel 12, so that all the walking wheels 14 work, so that the inspection robot moves on the track. At this time, the camera 2 on the robot body 1 can perform shooting work. Then, when the robot body 1 moves on the track, the cleaning plate 3 can be used to automatically clean and block the impurities on the track. At the same time, the dual-axis motor 5 will also rotate through the centrifugal blades 601, which can push the air into the jet pipes 605 at both ends, blow off the impurities blocked by the cleaning plate 3, and filter the airflow during inhalation through the filter cover 604, so that when the inspection robot moves on the track, the cleaning plate 3 can automatically clean and block the impurities on the track. At the same time, the dual-axis motor 5 can also rotate through the centrifugal blades 601, so that the airflow can be pushed into the jet pipes 605 at both ends, and the impurities blocked by the cleaning plate 3 can be blown off, and the airflow during inhalation can be filtered through the filter cover 604. During the walking process of the inspection robot, the track surface is automatically cleaned. After that, when the first driving shaft 9 drives the eccentric wheel 1501 to rotate, the spring 1506 pushes the sliding sleeve 1504 under the limit of the fixed cover 602, so that the pulley 1502 on the driving plate 1503 is in close contact with the eccentric wheel 1501, and the pulley 1502 is used to reduce the friction loss, so that the driving plate 1503 can move back and forth, thereby driving the filter cover 604 to move between the limit ring 603 through the connecting frame 1507. It slides on the outside, so when too many dust particles adhere to the surface of the filter cover 604, some of the dust impurities can be shaken off. Finally, during the inspection, the servo motor 1602 can be started as needed to drive the rotating plate 1603 to rotate, so that the sliding column 1604 can push and pull one end of the limiting plate 1605 to make it reciprocate, thereby driving the slider 1606 to move under the limit of the guide plate 1607, so that the brush plate 1608 can brush the surface of the camera lens 2 back and forth to clean it.

[0029] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A rail transit inspection robot, comprising a robot body (1) and a cleaning component (6), characterized in that: A camera (2) is arranged on one side of the robot body (1), and cleaning plates (3) are fixed at both ends of the lower part of the robot body (1). A mounting plate (4) is arranged at the bottom of the robot body (1), and a dual-axis motor (5) is fixed inside the lower end of the mounting plate (4). The cleaning component (6) is arranged on one side of the mounting plate (4), and the cleaning component (6) comprises a centrifugal blade (601), a fixed cover (602), a limit ring (603), a filter cover (604) and an air jet pipe (605). One end of the dual-axis motor (5) is connected to the centrifugal blade (601), and a fixed cover (602) is arranged outside the centrifugal blade (601). One side of the fixed cover (602) is connected to the limit ring (603), and the outer side of the limit ring (603) is slidably connected to the filter cover (604), and both sides of the fixed cover (602) are connected to the air jet pipe (605).

2. A rail transit inspection robot according to claim 1, characterized in that: A driving gear (7) is fixed to the other end of the dual-axis motor (5), and a driven gear (8) is meshed on one side of the driving gear (7). A first driving shaft (9) is fixed inside the driven gear (8), and the first driving shaft (9) is rotationally connected to the robot body (1).

3. A rail transit inspection robot according to claim 2, characterized in that: A first synchronous wheel (10) is disposed on the outer side of one end of the first driving shaft (9), a synchronous belt (11) is sleeved on the outer side of the first synchronous wheel (10), and a second synchronous wheel (12) is disposed inside one end of the synchronous belt (11).

4. A rail transit inspection robot according to claim 3, characterized in that: A second drive shaft (13) is fixed inside the second synchronous wheel (12), and the second drive shaft (13) is rotationally connected to the robot body (1), and walking wheels (14) are fixed at the ends of the second drive shaft (13) and the first drive shaft (9).

5. A rail transit inspection robot according to claim 3, characterized in that: The bottom of the fixed cover (602) is connected to an anti-blocking component (15), and the anti-blocking component (15) comprises an eccentric wheel (1501) and a pulley (1502). The eccentric wheel (1501) is fixed to the outer side of the middle part of the first drive shaft (9), and a pulley (1502) is arranged on one side of the eccentric wheel (1501).

6. A rail transit inspection robot according to claim 5, characterized in that: The anti-blocking component (15) further comprises a driving plate (1503) and a sliding sleeve (1504); one end of the pulley (1502) is connected to the driving plate (1503), and the sliding sleeve (1504) is fixed to an upper portion of one side of the driving plate (1503).

7. A rail transit inspection robot according to claim 6, characterized in that: The anti-blocking component (15) also includes a sliding rod (1505) and a spring (1506); the sliding rod (1505) is slidably connected inside the sliding sleeve (1504), and the sliding rod (1505) is fixedly connected to the fixed cover (602); the spring (1506) is sleeved on the outer side of the sliding rod (1505); the anti-blocking component (15) also includes a connecting frame (1507) and a limiting sleeve (1508); the lower side of the driving plate (1503) is connected to the connecting frame (1507), and the connecting frame (1507) is fixedly connected to the filter cover (604); the middle outer side of the connecting frame (1507) is slidably connected to the limiting sleeve (1508), and the limiting sleeve (1508) is fixedly connected to the fixed cover (602).

8. The rail transit inspection robot according to claim 1, characterized in that: A debris removal component (16) is arranged on the top of the robot body (1), and the debris removal component (16) comprises a bracket (1601), a servo motor (1602), a rotating plate (1603), a sliding column (1604), a limiting plate (1605), a slider (1606), a guide plate (1607) and a brush plate (1608). The servo motor (1602) is arranged on the top of the bracket (1601), and the rotating plate (1603) is connected to the bottom of the servo motor (1602).

9. A rail transit inspection robot according to claim 8, characterized in that: A sliding column (1604) is fixed at the bottom of the rotating plate (1603), and the outer side of the sliding column (1604) is slidably connected to a limiting plate (1605), the limiting plate (1605) is rotatably connected to the robot body (1), and a slider (1606) is slidably connected inside one end of the limiting plate (1605).

10. A rail transit inspection robot according to claim 9, characterized in that: The outer side of the slider (1606) is slidably connected to a guide plate (1607), and the bottom of the slider (1606) is fixed with a brush plate (1608).

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