Railway locomotive bogie inspection robot

Abstract

The invention relates to the field of robots, and discloses a railway locomotive bogie inspection robot which comprises a moving vehicle, four walking wheels are arranged at the bottom of the moving vehicle, a bottom frame is fixedly installed at the bottom of the moving vehicle, an opening is formed in the bottom frame, and the four walking wheels are used for driving the moving vehicle to move in an inspection channel; the mobile vehicle stops moving in the inspection area, the driving assembly drives the lifting platform and the connecting plate to synchronously ascend, the connecting plate ascends to drive the abutting plate to descend through the linkage assembly, and finally the abutting plate can abut against a bottom plate of the inspection channel; at the moment, the contact points of the mobile vehicle and the inspection channel bottom plate are not just the contact points of the four walking wheels and the inspection channel, and also include the contact area of the abutting plate and the inspection channel bottom plate, and the bottom of the abutting plate is a rough surface, so that the frictional resistance is improved to limit the movement of the mobile vehicle; and the problem that the moving vehicle shakes and deviates due to counter-acting force generated in the shooting process of the multi-axis mechanical arm moving the high-definition camera is solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a railway locomotive bogie inspection robot. Background Art

[0002] The rapid development of the railway industry has increased the requirements for locomotive bogie inspection, but traditional manual inspections are difficult to meet the needs of large-scale, high-density tasks. The development of technologies such as robots, sensors, and image processing has provided support for the research and development of bogie inspection robots, making inspection robots the mainstream trend of inspection.

[0003] When the railway locomotive bogie inspection robot is working, the train is first stopped above the inspection channel of the maintenance platform. The mobile vehicle of the inspection robot will pass through the inspection channel under the train or approach the bogie from both sides of the train according to the preset path. After arriving at the inspection position, the robot arm flexibly adjusts its posture and position according to the pre-set program, and aims the high-definition camera at various key parts of the bogie, such as the frame, wheelset, suspension system, etc., to obtain clear image data. By processing and analyzing the image, the operating status and health status of the bogie can be obtained; When the inspection robot takes pictures of the bottom of the train, in order to obtain clear pictures of the frame details, the robotic arm needs to drive the camera up to make it as close to the bottom of the car as possible, and the camera needs to be moved left and right for shooting. However, in the process of the robotic arm driving the camera to move frequently, a reaction force will be generated and act on the mobile car. This reaction force will cause the mobile car to deviate from the preset position, thereby causing a series of problems, such as focus failure, resulting in blurred images; the shooting area changes, making it impossible to accurately capture the key parts originally planned to be shot, affecting the inspection effect and the accuracy of the data, and the position of the mobile car is offset, and the risk of colliding with the bottom of the car during the movement of the camera driven by the robotic arm will increase. Based on this, the present invention purposely provides a railway locomotive bogie inspection robot that can ensure that the mobile car does not deviate from the preset position when acquiring images. Summary of the invention

[0004] The purpose of the present invention is to provide a railway locomotive bogie inspection robot to solve the technical problems in the prior art in view of the deficiencies in the prior art.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A railway locomotive bogie inspection robot, comprising: A mobile vehicle is provided with four running wheels at the bottom, and a base frame is fixedly installed at the bottom, an opening is opened on the base frame, and the four running wheels are used to drive the mobile vehicle to move in the inspection channel. A multi-axis mechanical arm is provided on the top of the mobile vehicle, and a high-definition camera is fixedly installed on the multi-axis mechanical arm. A linkage component is provided in the mobile vehicle; A lifting platform is slidably mounted on the top of the mobile vehicle and driven by a driving assembly to perform lifting motion. The multi-axis mechanical arm is fixedly mounted on the lifting platform. A connecting plate is fixedly connected to the bottom of the lifting platform, and one end of the connecting plate extends into the interior of the mobile vehicle. The abutment plate is slidably installed in the opening and is driven by a linkage assembly to perform lifting movements. The bottom of the abutment plate is a rough surface. When the driving assembly drives the lifting platform to rise, the connecting plate rises and drives the abutment plate to descend through the linkage assembly, so that the abutment plate abuts against the bottom plate of the inspection channel.

[0006] As a further solution of the present invention: the linkage assembly includes a first rack plate, a gear and a second rack plate, the first rack plate is fixedly connected to the connecting plate, the second rack plate is slidably installed in the mobile vehicle, and its bottom end is fixedly connected to the top of the abutment plate, the gear is rotatably installed in the mobile vehicle, and it is located between the first rack plate and the second rack plate, the gear is meshed with the first rack plate, and it is meshed with the second rack plate.

[0007] As a further solution of the present invention: insertion rods are provided on both sides of the mobile vehicle, one end of each of the insertion rods is fixedly connected to a fixing plate, the fixing plate is connected to a second mounting seat through a second spring, an auxiliary wheel is rotatably connected to the second mounting seat, and the auxiliary wheel rolls with the side wall of the inspection channel.

[0008] As a further solution of the present invention: the insertion rod is slidably installed on the moving vehicle, and is driven to move by a driving assembly, and its moving direction is perpendicular to the side wall of the inspection channel.

[0009] As a further solution of the present invention: a connecting rod is fixedly installed on the second mounting seat, one end of the connecting rod passes through the fixed plate, and the end is fixedly connected to the limiting plate, the connecting rod and the fixed plate are slidably connected, and the preload force of the second spring makes the second mounting seat move away from the fixed plate, so that the limiting plate abuts against the fixed plate.

[0010] As a further solution of the present invention: the driving assembly includes a trapezoidal block, a first mounting seat, a rotating wheel and a first spring. The trapezoidal block is slidably installed in the mobile vehicle, and the length of its top surface is smaller than the length of its bottom surface. An extension block is fixedly connected to it, and the extension block is driven to rise and fall by a driving source. The first mounting seat is fixedly connected to one end of the insertion rod located in the mobile vehicle. A rotating wheel is rotatably installed on the first mounting seat. The first mounting seat is connected to the inner wall of the mobile vehicle through a first spring. The pre-tightening force of the first spring makes the first mounting seat close to the trapezoidal block, so that the rotating wheel and the hypotenuse of the trapezoidal block roll in cooperation.

[0011] As a further solution of the present invention: the driving assembly further comprises a round rod, which is arranged on the top of the trapezoidal block, and one end of which passes through the moving vehicle and is fixedly connected to the lifting platform.

[0012] As a further solution of the present invention: a slide groove is provided in the trapezoidal block, a slider is slidably installed in the slide groove, the round rod is slidably inserted into the top of the trapezoidal block, and the bottom end of the round rod is fixedly connected to the slider.

[0013] Beneficial effects of the present invention: 1. In the present invention, the mobile vehicle stops moving in the inspection area, the driving component drives the lifting platform and the connecting plate to rise synchronously, and the rising connecting plate drives the abutment plate to descend through the linkage component, and finally the abutment plate will abut against the bottom plate of the inspection channel. At this time, the contact point between the mobile vehicle and the bottom plate of the inspection channel is not only the contact point between the four walking wheels and the inspection channel, but also includes the contact area between the abutment plate and the bottom plate of the inspection channel, and the bottom of the abutment plate is a rough surface, thereby increasing the friction resistance to limit the movement of the mobile vehicle, avoiding the problem of shaking and offset of the mobile vehicle due to the reaction force generated during the shooting process of the multi-axis mechanical arm moving the high-definition camera; 2. In the present invention, the multi-axis mechanical arm is lifted to the working height as the lifting platform rises. At this time, the multi-axis mechanical arm drives the high-definition camera to move and shoots the image of the bottom of the railway locomotive through the high-definition camera. After the shooting is completed, the lifting platform is directly driven to descend to the top of the mobile car through the driving component, thereby reducing the height of the multi-axis mechanical arm as a whole. At this time, even if the multi-axis mechanical arm is fully extended and the high-definition camera is farthest from the multi-axis mechanical arm, there is still a large space between the high-definition camera and the bottom of the railway locomotive, thereby ensuring that the high-definition camera will not hit the bottom of the car. In this way, even when the multi-axis mechanical arm fails and cannot retract the high-definition camera, it can ensure that the high-definition camera is safely moved out of the bottom of the car, and when the lifting platform descends, the abutment plate will rise and retract into the opening synchronously to avoid hindering the movement of the mobile car; 3. In the present invention, when the mobile vehicle moves in the inspection channel, the auxiliary wheels on both sides of the mobile vehicle roll and cooperate on the inspection channel, so that the mobile vehicle can move along the middle of the inspection channel. When encountering an uneven part of the side wall of the inspection channel, the second mounting seat can be moved through the action of the second spring, so that the auxiliary wheels can smoothly pass over the uneven position of the side wall of the inspection channel. When the mobile vehicle stops for filming and inspection, the auxiliary wheels on both sides of the mobile vehicle abut against the side wall of the inspection channel, which also provides additional support for the mobile vehicle, further limiting the movement of the mobile vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the accompanying drawings.

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the bottom plate of the present invention; Figure 3 It is a structural schematic diagram of the connecting plate in the present invention; Figure 4 It is a structural schematic diagram of the trapezoidal block in the present invention; Figure 5 It is a schematic diagram of the cross-sectional structure of the trapezoidal block in the present invention; Figure 6 It is a structural schematic diagram of the connecting rod in the present invention; Figure 7 It is a schematic diagram of the mobile vehicle in the present invention being located in the inspection channel.

[0016] In the figure: 1. mobile vehicle; 2. walking wheel; 3. lifting platform; 4. multi-axis robot arm; 5. high-definition camera; 6. base frame; 7. opening; 8. abutment plate; 9. auxiliary wheel; 10. connecting plate; 11. first rack plate; 12. gear; 13. second rack plate; 14. trapezoidal block; 15. first mounting seat; 16. rotating wheel; 17. first spring; 18. plug rod; 19. fixing plate; 20. second mounting seat; 21. second spring; 22. connecting rod; 23. limit plate; 24. extension block; 25. round rod; 26. slider; 27. slide groove; 28. inspection channel. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-Figure 7As shown, the present invention is a railway locomotive bogie inspection robot, comprising: A mobile vehicle 1 is provided with four running wheels 2 at the bottom, and a base frame 6 is fixedly installed at the bottom, an opening 7 is provided on the base frame 6, and the four running wheels 2 are used to drive the mobile vehicle 1 to move in the inspection channel 28. A multi-axis mechanical arm 4 is provided on the top of the mobile vehicle 1, and a high-definition camera 5 is fixedly installed on the multi-axis mechanical arm 4. A linkage component is provided in the mobile vehicle 1; The lifting platform 3 is slidably mounted on the top of the mobile vehicle 1 and driven by a driving assembly to perform lifting motion. The multi-axis mechanical arm 4 is fixedly mounted on the lifting platform 3. A connecting plate 10 is fixedly connected to the bottom of the lifting platform 3, and one end of the connecting plate 10 extends into the interior of the mobile vehicle 1. The abutment plate 8 is slidably installed in the opening 7, and is driven by the linkage assembly to perform lifting movement. The bottom of the abutment plate 8 is a rough surface. When the driving assembly drives the lifting platform 3 to rise, the connecting plate 10 rises and drives the abutment plate 8 to descend through the linkage assembly, so that the abutment plate 8 abuts against the bottom plate of the inspection channel 28.

[0019] In one case of this embodiment, it should be noted that the multi-axis robotic arm 4 and high-definition camera 5 described in the present invention are both prior arts, and the present invention does not improve them. Therefore, there is no need to disclose their specific mechanical structure and circuit structure, which does not affect the integrity of the present invention.

[0020] The working principle of the present invention is as follows: first, the railway locomotive to be inspected is stopped above the inspection channel 28, and then the mobile vehicle 1 is allowed to shuttle in the inspection channel 28 through the running wheels 2. When it reaches the inspection area, the mobile vehicle 1 stops moving, and then the lifting platform 3 is driven to rise through the driving component, so that the overall horizontal height of the multi-axis mechanical arm 4 is raised, and when the lifting platform 3 rises, it will drive the connecting plate 10 to rise synchronously. The rising of the connecting plate 10 drives the abutment plate 8 to descend through the linkage component, and finally the abutment plate 8 will abut against the bottom plate of the inspection channel 28. At this time, the contact points between the mobile vehicle 1 and the bottom plate of the inspection channel 28 are not only the contact points between the four running wheels 2 and the inspection channel 28, but also include the contact area between the abutment plate 8 and the bottom plate of the inspection channel 28, and the bottom of the abutment plate 8 is a rough surface, thereby increasing the friction resistance to limit the movement of the mobile vehicle 1, and avoiding the problem of shaking and offset of the mobile vehicle 1 due to the reaction force generated during the shooting process of the high-definition camera 5 moving the multi-axis mechanical arm 4; When the multi-axis robot arm 4 is lifted to the working height as the lifting platform 3 rises, the multi-axis robot arm 4 drives the high-definition camera 5 to move and captures the image of the bottom of the railway locomotive through the high-definition camera 5. After the shooting is completed, the lifting platform 3 is directly driven to descend to the top of the mobile vehicle 1 through the driving component, thereby reducing the height of the multi-axis robot arm 4 as a whole. At this time, even if the multi-axis robot arm 4 is fully extended and the high-definition camera 5 is farthest away from the multi-axis robot arm 4, there is still a large space between the high-definition camera 5 and the bottom of the railway locomotive, thereby ensuring that the high-definition camera 5 will not hit the bottom of the vehicle. In this way, even when the multi-axis robot arm 4 fails and cannot retract the high-definition camera 5, it can ensure that the high-definition camera 5 is safely moved out from the bottom of the vehicle, and when the lifting platform 3 descends, the abutment plate 8 will synchronously rise and retract into the opening 7 to avoid hindering the movement of the mobile vehicle 1.

[0021] like Figure 1-Figure 3 As shown, as a preferred embodiment of the present invention, the linkage assembly includes a first rack plate 11, a gear 12 and a second rack plate 13, the first rack plate 11 is fixedly connected to the connecting plate 10, the second rack plate 13 is slidably installed in the mobile vehicle 1, and its bottom end is fixedly connected to the top of the abutment plate 8, the gear 12 is rotatably installed in the mobile vehicle 1, and it is located between the first rack plate 11 and the second rack plate 13, the gear 12 is meshed with the first rack plate 11, and it is meshed with the second rack plate 13.

[0022] When the present embodiment is actually applied, when the connecting plate 10 rises, the first rack plate 11 will be driven to rise synchronously, and the first rack plate 11 is meshed with the gear 12, so the rising of the first rack plate 11 drives the gear 12 to rotate, and because the gear 12 and the second rack plate 13 are meshed, the rotation of the gear 12 will drive the second rack plate 13 to descend, and then drive the abutment plate 8 to descend through the second rack plate 13; conversely, when the connecting plate 10 drives the first rack plate 11 to descend, the abutment plate 8 rises, so that it can be ensured that the lifting platform 3 and the abutment plate 8 always move in opposite directions, and before the multi-axis robot arm 4 is ready to drive the high-definition camera 5 to move and shoot, it is ensured that the abutment plate 8 will abut against the bottom plate of the inspection channel 28 in advance, thereby providing stable support for the mobile vehicle 1, ensuring the stability of the mobile vehicle 1 during shooting, and preventing the mobile vehicle 1 from deviating from the original position.

[0023] like Figure 1-Figure 7 As shown, as a preferred embodiment of the present invention, the mobile vehicle 1 is provided with an insertion rod 18 on both sides, and each of the insertion rods 18 is fixedly connected to a fixing plate 19 at one end, and the fixing plate 19 is connected to a second mounting seat 20 through a second spring 21, and an auxiliary wheel 9 is rotatably connected to the second mounting seat 20, and the auxiliary wheel 9 rolls with the side wall of the inspection channel 28.

[0024] In actual application of this embodiment, when the mobile vehicle 1 moves in the inspection channel 28, the auxiliary wheels 9 on both sides of the mobile vehicle 1 roll and cooperate on the inspection channel 28, so that the mobile vehicle 1 can move along the middle of the inspection channel 28. When encountering an uneven part on the side wall of the inspection channel 28, the second mounting seat 20 can be moved through the action of the second spring 21, so that the auxiliary wheels 9 can smoothly pass over the uneven part of the side wall of the inspection channel 28. When the mobile vehicle 1 stops for filming and inspection, the auxiliary wheels 9 on both sides of the mobile vehicle 1 abut against the side wall of the inspection channel 28, which also provides additional support for the mobile vehicle 1 and limits the movement of the mobile vehicle 1.

[0025] like Figure 1-Figure 5 As shown, as a preferred embodiment of the present invention, the insertion rod 18 is slidably installed on the mobile vehicle 1, and is driven to move by a driving assembly, and its moving direction is perpendicular to the side wall of the inspection channel 28.

[0026] In actual application of this embodiment, due to the slidable setting of the insertion rod 18, when the mobile vehicle 1 stops to take pictures, the driving component drives the insertion rod 18 to move, so that the insertion rod 18 moves toward the side wall of the inspection channel 28. At this time, the second spring 21 will be squeezed more fully. At this time, the mobile vehicle 1, the insertion rod 18, the fixed plate 19, the second mounting seat 20, the second spring 21, the auxiliary wheel 9 and the side wall of the inspection channel 28 establish a relationship close to a rigid connection, thereby better counteracting the reaction force generated when the multi-axis robotic arm 4 drives the high-definition camera 5 to move.

[0027] like Figure 1-Figure 6 As shown, as a preferred embodiment of the present invention, a connecting rod 22 is fixedly installed on the second mounting seat 20, one end of the connecting rod 22 passes through the fixed plate 19, and the end is fixedly connected to the limiting plate 23, the connecting rod 22 and the fixed plate 19 are slidably connected, and the preload force of the second spring 21 makes the second mounting seat 20 move away from the fixed plate 19, so that the limiting plate 23 abuts against the fixed plate 19.

[0028] In actual application, the connecting rod 22 is slidably inserted into the fixed plate 19 to avoid the problem that only the second spring 21 is connected between the second mounting seat 20 and the fixed plate 19, which causes the auxiliary wheel 9 to droop. This ensures that the auxiliary wheel 9 is always perpendicular to the side wall of the inspection channel 28, allowing the auxiliary wheel 9 to fully abut against the side wall of the inspection channel 28.

[0029] like Figure 1-Figure 5As shown, as a preferred embodiment of the present invention, the driving assembly includes a trapezoidal block 14, a first mounting seat 15, a rotating wheel 16 and a first spring 17. The trapezoidal block 14 is slidably installed in the mobile vehicle 1, and its top surface length is less than its bottom length, and an extension block 24 is fixedly connected thereto, and the extension block 24 is driven by a driving source to be raised and lowered, and the first mounting seat 15 is fixedly connected to one end of the insertion rod 18 located in the mobile vehicle 1, and a rotating wheel 16 is rotatably installed on the first mounting seat 15, and the first mounting seat 15 is connected to the inner wall of the mobile vehicle 1 through the first spring 17. The pre-tightening force of the first spring 17 makes the first mounting seat 15 close to the trapezoidal block 14, so that the rotating wheel 16 and the bevel of the trapezoidal block 14 roll in cooperation.

[0030] In one case of this embodiment, the driving source may be an electric cylinder, an electric telescopic rod or other components, or other mechanisms capable of achieving lifting motion, which is not specifically limited in this embodiment.

[0031] In actual application of this embodiment, due to the elastic force of the first spring 17, the rotating wheel 16 abuts against the hypotenuse of the trapezoidal block 14, and the extension block 24 is driven to rise by the driving source, and the extension block 24 will drive the trapezoidal block 14 to rise synchronously. When the trapezoidal block 14 rises, its hypotenuse will squeeze the rotating wheel 16, so that the rotating wheel 16 pushes the first mounting seat 15 away from the trapezoidal block 14 and compresses the first spring 17. At this time, the movement of the first mounting seat 15 also drives the insertion rod 18 to move toward the side wall of the inspection channel 28, so that the auxiliary wheel 9 is tightly abutted against the inspection channel 28. The inspection channel 28 is attached to the side wall, thereby enhancing the stability of the mobile vehicle 1. Conversely, when the trapezoidal block 14 descends, the elastic force of the first spring 17 makes the first mounting seat 15 approach the trapezoidal block 14 again. At this time, the insertion rod 18 will move away from the side wall of the inspection channel 28, thereby relaxing the squeezing of the inspection channel 28 by the auxiliary wheel 9, and restoring the mobile vehicle 1 to a normal moving state. The rotating connection between the rotating wheel 16 and the first mounting seat 15 allows the trapezoidal block 14 to squeeze the rotating wheel 16 and move it. The rotating wheel 16 will roll on the oblique side of the trapezoidal block 14, and the rolling friction is relatively small at this time.

[0032] like Figure 1-Figure 5 As shown, as a preferred embodiment of the present invention, the driving assembly further includes a round rod 25 , which is disposed on the top of the trapezoidal block 14 , and one end of which passes through the moving vehicle 1 and is fixedly connected to the lifting platform 3 .

[0033] In actual application of this embodiment, when the trapezoidal block 14 rises, the trapezoidal block 14 synchronously drives the round rod 25 to rise, and the round rod 25 drives the lifting platform 3 to rise. When the lifting platform 3 rises, the abutment plate 8 will abut against the bottom plate of the inspection channel 28. This means that the abutment plate 8 abuts against the bottom plate of the inspection channel 28 to increase the friction force and strengthen the abutment force of the auxiliary wheel 9 on the side wall of the inspection channel 28. The combination of the two further ensures that the reaction force when the multi-axis robotic arm 4 drives the high-definition camera 5 to move cannot cause the mobile vehicle 1 to deviate from the original position.

[0034] like Figure 1-Figure 5 As shown, as a preferred embodiment of the present invention, a slide groove 27 is opened in the trapezoidal block 14, a slider 26 is slidably installed in the slide groove 27, the round rod 25 is slidably inserted into the top of the trapezoidal block 14, and the bottom end of the round rod 25 is fixedly connected to the slider 26.

[0035] In practical application, if Figure 5 As shown in the figure, the slider 26 has abutted against the bottom of the slide groove 27. At this time, the trapezoidal block 14 rises, and its hypotenuse will squeeze the rotating wheel 16, and it will push the slider 26 and the round rod 25 to rise synchronously, thereby driving the lifting platform 3 to rise. When the trapezoidal block 14 falls, gravity will make the lifting platform 3 fall synchronously, and the slider 26 will always abut against the bottom of the slide groove 27, but when the lifting platform 3 falls to the top of the mobile vehicle 1, the lifting platform 3 cannot continue to fall. At this time, the trapezoidal block 14 continues to fall, and the slider 26 will slide upward in the slide groove 27, and the elastic force of the first spring 17 will make the first mounting seat 15 and the plug rod 18 move in the direction away from the side wall of the inspection channel 28, so that the auxiliary wheel 9 is away from the side wall of the inspection channel 28, so that the two are not in contact. In this way, not only can the horizontal length of the mobile vehicle 1 be shortened to adapt to other usage scenarios, but also after the detection is completed, the auxiliary wheel 9 can be kept away from the side wall of the inspection channel 28 to avoid friction between the two, thereby increasing the moving speed of the mobile vehicle 1 in the inspection channel 28 and moving out of the inspection channel 28 faster.

[0036] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A railway locomotive bogie inspection robot, characterized in that: include: A mobile vehicle (1) is provided with four running wheels (2) at the bottom thereof, and a base frame (6) is fixedly mounted at the bottom thereof, the base frame (6) is provided with an opening (7), the four running wheels (2) are used to drive the mobile vehicle (1) to move in an inspection channel (28), a multi-axis mechanical arm (4) is provided on the top of the mobile vehicle (1), a high-definition camera (5) is fixedly mounted on the multi-axis mechanical arm (4), and a linkage component is provided in the mobile vehicle (1); A lifting platform (3) is slidably mounted on the top of the moving vehicle (1) and is driven by a driving assembly to perform lifting motion. The multi-axis mechanical arm (4) is fixedly mounted on the lifting platform (3). A connecting plate (10) is fixedly connected to the bottom of the lifting platform (3), and one end of the connecting plate (10) extends into the interior of the moving vehicle (1); The abutment plate (8) is slidably mounted in the opening (7) and is driven by a linkage assembly to perform lifting motion. The bottom of the abutment plate (8) is a rough surface. When the driving assembly drives the lifting platform (3) to rise, the connecting plate (10) rises and drives the abutment plate (8) to descend through the linkage assembly, so that the abutment plate (8) abuts against the bottom plate of the inspection channel (28).

2. A railway locomotive bogie inspection robot according to claim 1, characterized in that: The linkage assembly comprises a first rack plate (11), a gear (12) and a second rack plate (13); the first rack plate (11) is fixedly connected to the connecting plate (10); the second rack plate (13) is slidably mounted in the moving vehicle (1), and its bottom end is fixedly connected to the top of the abutment plate (8); the gear (12) is rotatably mounted in the moving vehicle (1), and is located between the first rack plate (11) and the second rack plate (13); the gear (12) is meshed with the first rack plate (11), and is meshed with the second rack plate (13).

3. A railway locomotive bogie inspection robot according to claim 1, characterized in that: Insertion rods (18) are provided on both sides of the mobile vehicle (1), one end of each of the insertion rods (18) is fixedly connected to a fixing plate (19), the fixing plate (19) is connected to a second mounting seat (20) via a second spring (21), an auxiliary wheel (9) is rotatably connected to the second mounting seat (20), and the auxiliary wheel (9) is in rolling engagement with the side wall of the inspection channel (28).

4. A railway locomotive bogie inspection robot according to claim 3, characterized in that: The insertion rod (18) is slidably mounted on the moving vehicle (1), and is driven to move by a driving assembly, and its moving direction is perpendicular to the side wall of the inspection channel (28).

5. The railway locomotive bogie inspection robot according to claim 4, characterized in that: A connecting rod (22) is fixedly mounted on the second mounting seat (20), one end of the connecting rod (22) passes through the fixed plate (19), and the end is fixedly connected to the limiting plate (23), the connecting rod (22) and the fixed plate (19) are slidably connected, and the preload force of the second spring (21) causes the second mounting seat (20) to move away from the fixed plate (19), so that the limiting plate (23) abuts against the fixed plate (19).

6. The railway locomotive bogie inspection robot according to claim 4, characterized in that: The driving assembly comprises a trapezoidal block (14), a first mounting seat (15), a rotating wheel (16) and a first spring (17); the trapezoidal block (14) is slidably mounted in the moving vehicle (1); the length of its top surface is shorter than the length of its bottom surface; an extension block (24) is fixedly connected thereto; the extension block (24) is driven by a driving source to be raised and lowered; the first mounting seat (15) is fixedly connected to one end of the insertion rod (18) located in the moving vehicle (1); a rotating wheel (16) is rotatably mounted on the first mounting seat (15); the first mounting seat (15) is connected to the inner wall of the moving vehicle (1) via a first spring (17); the preload force of the first spring (17) causes the first mounting seat (15) to be close to the trapezoidal block (14), so that the rotating wheel (16) and the inclined edge of the trapezoidal block (14) are rollingly matched.

7. The railway locomotive bogie inspection robot according to claim 6, characterized in that: The driving assembly further comprises a round rod (25), which is arranged on the top of the trapezoidal block (14) and has one end that passes through the moving vehicle (1) and is fixedly connected to the lifting platform (3).

8. The railway locomotive bogie inspection robot according to claim 7, characterized in that: A slide groove (27) is provided in the trapezoidal block (14), a slider (26) is slidably installed in the slide groove (27), the round rod (25) is slidably inserted into the top of the trapezoidal block (14), and the bottom end of the round rod (25) is fixedly connected to the slider (26).

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