Intelligent maintenance inspection robot for rail transit

Abstract

The invention relates to the technical field of intelligent inspection robots, and discloses a rail transit intelligent maintenance inspection robot which comprises a base, first bidirectional motors are fixedly connected to the interiors of the four corners of the base correspondingly, and first rotating shafts are fixedly connected to the two ends of the four first bidirectional motors correspondingly; the two first rotating shafts penetrate through the middle of the base and are rotationally connected with movable frames, a connecting arm is arranged at the other end of each movable frame, second bidirectional motors are fixedly connected to the two sides of the interior of each connecting arm, and second rotating shafts are fixedly connected to the two ends of the two second bidirectional motors; the second rotating shafts penetrate through the middle of the connecting arm and are rotationally connected to the middle of the movable frame. Through the improved design of the robot, the robot can slide on the rail while walking on the rail, and through the adjustable design of the robot, the robot can adapt to maintenance inspection work in different places and under different conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection robots, and in particular to an intelligent maintenance inspection robot for rail transit. Background Art

[0002] With the development of social economy, my country's railway industry is also developing rapidly. As a result, the railways are getting longer and longer, and the workload of railway track inspection is also increasing. In order to eliminate hidden dangers of faults in time, it is necessary to conduct safety inspections on the infrastructure of the rail transit system regularly. At present, such inspection tasks are mainly manual static inspections. Although the method is simple and easy, it has problems such as slow inspection speed, long line occupancy time, and low work efficiency. It is also necessary to reserve a corresponding window period for rail transit operation, which affects the efficiency of rail transit operation.

[0003] There are few projects that use vehicle-mounted inspection equipment in the existing technology. It requires manual driving, and the unmanned automatic equipment is still imperfect and has poor operating capabilities. When dealing with the rugged stone road surface on the track, it is easy to have problems such as rollover and chassis damage. At the same time, it cannot adapt to more remote mountainous areas and railways in harsh environments. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an intelligent rail transit maintenance and inspection robot, which solves the problems that the unmanned rail transit maintenance and inspection equipment in the prior art cannot adapt to the track pavement, is prone to rollover and chassis damage, and cannot adapt to railways in more remote mountainous areas and harsh environments.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a rail transit intelligent maintenance and inspection robot, comprising a base, four corners of the base are fixedly connected with a bidirectional motor 1, both ends of the four bidirectional motors 1 are fixedly connected with a rotating shaft 1, two of the rotating shafts 1 pass through the middle of the base and are rotatably connected to a movable frame, and the other end of each of the movable frames is provided with a connecting arm, both sides of the inside of the connecting arm are fixedly connected with a bidirectional motor 2, both ends of the two bidirectional motors 2 are fixedly connected with a rotating shaft 2, one group of the rotating shafts 2 pass through the middle of the connecting arm and are rotatably connected to the middle of the movable frame, and the other group of the rotating shafts 2 pass through the middle of the connecting arm and are rotatably connected to the middle of the movable frame. A walking claw is connected, and the other end of the walking claw is rotatably connected to an adjusting seat. Dampers are rotatably connected to both sides of the walking claw. The other ends of the two dampers are rotatably connected to the outer wall of the adjusting seat. Walking wheels are provided at the bottom of the adjusting seat. A limited position protection component is provided on the outer wall of the adjusting seat. The top of the bidirectional motor is connected to a collecting box, and an automatic door is provided on the top of the collecting box. A material unloading component is provided inside the collecting box, and a mobile grabbing component is provided on the outer wall of the collecting box. Marking components are provided on both sides of the outer wall of the collecting box, and an angle adjustment component is provided at the bottom of the collecting box, and an information collection component is provided on the angle adjustment component.

[0006] Preferably, two mounting frames three are fixedly connected to the outer wall of the collection box, and solar panels are fixedly connected to the tops of the two mounting frames three.

[0007] Preferably, the limit protection assembly includes a mounting seat 1, the outer wall of the mounting seat 1 is fixedly connected to the outer wall of the adjusting seat, the top of the mounting seat 1 is slidably connected to two movable rods 1, the bottoms of the two movable rods 1 are rotatably connected to an obstruction shaft 1, the outer wall of the obstruction shaft 1 is fixedly connected to a roller 1, the outer sleeves of the two movable rods 1 are provided with a spring 1, the bottom of the spring 1 is arranged above the obstruction shaft 1, the middle parts of both sides of the mounting seat 1 are slidably connected to movable rods 2, the opposite sides of the two groups of movable rods 2 are rotatably connected to the obstruction shaft 2, the outer wall of each obstruction shaft 2 is fixedly connected to a roller 2, the outer sleeves of the two groups of movable rods 2 are provided with a spring 2, the outside of each spring 2 is arranged between the obstruction shaft 2 and the mounting seat 1, and the lower surface of the mounting seat 1 is connected to a metal flaw detector.

[0008] Preferably, the automatic door comprises two opening and closing doors, the outer walls of the two opening and closing doors are respectively rotatably connected to the two sides of the surface of the collecting box, both sides of the outer walls of the collecting box are fixedly connected with a fixing seat two, the middle parts of the two fixing seats two are rotatably connected with an electric telescopic rod two, and the driving ends of the two electric telescopic rods two are respectively fixedly connected to the surfaces of the two opening and closing doors.

[0009] Preferably, the unloading assembly includes a fixed seat, the bottom of which is fixedly connected to the inner bottom wall of the collecting box, the middle part of the fixed seat is rotatably connected to an electric telescopic rod, the outer wall of the collecting box is rotatably connected to a rotating rod, the outer wall of the rotating rod is fixedly connected to a movable plate, the outer wall of the rotating rod is fixedly connected to a sewage door, the sewage door is flush with the side of the collecting box, the bottom of the movable plate is fixedly connected to a connecting seat, the driving end of the electric telescopic rod is fixedly connected to a movable seat, and the outer wall of the movable seat is rotatably connected to the middle part of the connecting seat.

[0010] Preferably, the dynamic grasping assembly includes two mounting seats 2, the bottoms of the two mounting seats 2 are respectively fixedly connected to both sides of the outer wall of the collecting box, the outer walls of the two mounting seats 2 are fixedly connected to a servo motor 1, the driving ends of the two servo motors 1 are fixedly connected to a reciprocating screw rod, the outer walls of the collecting box are fixedly connected to a mounting frame 1, the outer walls of the two reciprocating screw rods are threadedly connected to a moving frame, and a limiting rod is fixedly connected between the two groups of mounting seats 2 and the mounting frame 1. The middle parts of the two moving frames are respectively slidably connected to the outer walls of the two limiting rods, and the tops of the two moving frames are provided with linear guide rails, and the outer walls of the linear guide rails are provided with a moving seat, and the outer wall of the moving seat is fixedly connected to an electric telescopic rod 3, the driving end of the electric telescopic rod 3 is fixedly connected to the mounting frame 2, and a mechanical claw is provided in the middle part of the mounting frame 2.

[0011] Preferably, the two marking assemblies each include a material storage box, the outer walls of the two material storage boxes are respectively fixedly connected to the two sides of the collecting box, both sides of the collecting box are fixedly connected with a fixing frame, the middle part of the fixing frame is fixedly connected with a nozzle, the output part of the material storage box is connected with a conduit, and the other end of the conduit is connected to the connecting end of the nozzle.

[0012] Preferably, the angle adjustment assembly includes a limit seat, the top of the limit seat is fixedly connected to the bottom of the collection box, the interior of the limit seat is slidably connected to an arc-shaped gear seat, the bottom of the collection box is fixedly connected to a servo motor 2, the driving end of the servo motor 2 is fixedly connected to a gear, and the outside of the gear is meshingly connected to the outside of the arc-shaped gear seat.

[0013] Preferably, the information acquisition component includes a connecting frame, the top of the connecting frame is fixedly connected to the bottom of the arc-shaped gear seat, the bottom of the connecting frame is fixedly connected to an industrial camera, and the bottom of the industrial camera is provided with a laser rangefinder.

[0014] The present invention provides a rail transit intelligent maintenance inspection robot. It has the following beneficial effects:

[0015] 1. The present invention improves the design of the robot so that the robot can walk on the track and slide on the rails at the same time. Its adjustable design enables the robot to adapt to maintenance and inspection work in different locations and situations, thereby increasing the scope of use of the equipment.

[0016] 2. The present invention designs a buffer component on the outside of the walking claw and the adjustment seat, and uses spring 1 and spring 2 in the limit protection component, so that when the walking wheel and other components are in operation, the damage caused by collision can be reduced, the service life of the components can be increased, and the flexibility of the overall equipment can be improved.

[0017] 3. The present invention arranges a garbage collection and processing component on the top of the base, so that when the robot detects garbage on the track, it can automatically pick it up and collect it, saving the sanitation workers from cleaning the garbage on the track.

[0018] 4. The present invention designs a material unloading component inside the collection box so that the robot has an automatic material unloading function, thereby saving the staff from cleaning the garbage inside the collection box, reducing garbage pollution, and effectively improving the efficiency of garbage cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A perspective view of the present invention;

[0020] Figure 2 A perspective view of the present invention from the side;

[0021] Figure 3 A schematic diagram of the present invention viewed from above;

[0022] Figure 4 is a schematic diagram of the robot of the present invention;

[0023] Figure 5 It is a schematic diagram of the internal structure of the connecting arm of the present invention;

[0024] Figure 6 for Figure 2 Enlarged view of point A in the middle;

[0025] Figure 7 It is a schematic diagram of the internal structure of the collection box of the present invention;

[0026] Figure 8 for Figure 7 Enlarged view of point B in the middle;

[0027] Fig. 9 It is a structural schematic diagram of the marking assembly of the present invention;

[0028] Fig.10 It is a schematic diagram of the structure of the gear of the present invention.

[0029] Among them, 1. base; 2. two-way motor 1; 3. rotating shaft 1; 4. movable frame; 5. connecting arm; 6. two-way motors 2; 7. rotating shaft 2; 8. walking claw; 9. adjusting seat; 10. damper; 11. walking wheel; 12. mounting seat 1; 13. movable rod 1; 14. spring 1; 15. blocking shaft 1; 16. roller 1; 17. metal flaw detector; 18. movable rod 2; 19. spring 2; 20. blocking shaft 2; 21. roller 2; 22. collecting box; 23. fixed seat 1; 24. electric telescopic rod 1; 25. rotating rod; 26. movable plate; 27. connecting seat; 28. movable seat; 29. ​​sewage discharge Door; 30. Fixed seat 2; 31. Electric telescopic rod 2; 32. Opening and closing door; 33. Mounting seat 2; 34. Servo motor 1; 35. Reciprocating screw; 36. Mounting frame 1; 37. Limit rod; 38. Moving frame; 39. Linear guide; 40. Moving seat; 41. Electric telescopic rod 3; 42. Mounting frame 2; 43. Mechanical claw; 44. Storage box; 45. Fixed frame; 46. Nozzle; 47. Conduit; 48. Limit seat; 49. Arc gear seat; 50. Servo motor 2; 51. Gear; 52. Connecting frame; 53. Industrial camera; 54. Laser rangefinder; 55. Mounting frame 3; 56. Solar panel. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings 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.

[0031] Example:

[0032] Please see attached Figure 1 -Attached Figure 5The embodiment of the present invention provides a rail transit intelligent maintenance and inspection robot, including a base 1, four corners of the base 1 are fixedly connected with bidirectional motors 2, both ends of the four bidirectional motors 2 are fixedly connected with shafts 3, two shafts 3 pass through the middle of the base 1 and are rotatably connected with a movable frame 4, and the other end of each movable frame 4 is provided with a connecting arm 5, both sides of the inside of the connecting arm 5 are fixedly connected with bidirectional motors 6, both ends of the two bidirectional motors 6 are fixedly connected with shafts 7, one group of shafts 7 passes through the middle of the connecting arm 5 and is rotatably connected to the middle of the movable frame 4, and another group of shafts 7 passes through the middle of the connecting arm 5 and is rotatably connected with a walking claw 8. The other end of the walking claw 8 is rotatably connected to the adjusting seat 9, and dampers 10 are rotatably connected to both sides of the walking claw 8. The other ends of the two dampers 10 are rotatably connected to the outer wall of the adjusting seat 9, and walking wheels 11 are provided at the bottom of the adjusting seat 9. The outer wall of the adjusting seat 9 is provided with a limited position protection component, and the top of the bidirectional motor 2 is connected to a collecting box 22, and an automatic door is provided at the top of the collecting box 22. A material unloading component is provided inside the collecting box 22, and a mobile grabbing component is provided on the outer wall of the collecting box 22. Marking components are provided on both sides of the outer wall of the collecting box 22, and an angle adjustment component is provided at the bottom of the collecting box 22, and an information collection component is provided on the angle adjustment component.

[0033] Specifically, when the robot is working, it can control multiple bidirectional motors 1 2 and bidirectional motors 2 6 to flexibly mobilize and cooperate with the movable frame 4, the connecting arm 5 and the walking claw 8 to achieve walking and moving on the track. When the robot needs to perform metal flaw detection on the rail, the movable frame 4, the connecting arm 5 and the walking claw 8 can be adjusted to make the walking wheel 11 contact with the surface of the rail, and then the driving components inside the base 1 are started to make the walking wheels 11 at the four corners rotate automatically, thereby achieving the purpose of automatic movement of the robot on the rail. During the movement of the walking wheel 11, in order to prevent the walking wheel 11 from being damaged by collision when traveling on the rail, the damper 10 connected to the walking claw 8 and the adjustment seat 9 outside produces a buffering and shock-absorbing effect when the walking wheel 11 is running, thereby eliminating the impact or collision of the walking wheel 11, improving the stability of the running of the walking wheel 11 and its service life. At the same time, the adjustment seat 9 is rotatably connected to the walking claw 8, which can drive the adjustment seat 9 to move when the walking wheel 11 is hit, and has a buffering space. With the cooperation of the above components, the robot can be used in different terrains of rail transit, thus improving the maintenance efficiency of rail transit. The control parts of the robot, as well as sensors and other components are stored inside the base.

[0034] Please see attached Figure 1 The outer wall of the collecting box 22 is fixedly connected to two mounting frames 55 , and the tops of the two mounting frames 55 are fixedly connected to solar panels 56 .

[0035] Specifically, the solar panel 56 can absorb solar light and convert the solar energy into electrical energy through the equipment inside the base 1, which is then used for the operation of the robot, thereby avoiding the situation where the robot stops running due to failure to replenish electrical energy in time during work, ensuring the normal operation of the robot and further improving work efficiency.

[0036] Please see attached Figure 6 The limit protection component includes a mounting seat 12, the outer wall of the mounting seat 12 is fixedly connected to the outer wall of the adjusting seat 9, the top of the mounting seat 12 is slidably connected to two movable rods 13, the bottoms of the two movable rods 13 are rotatably connected to an obstruction shaft 15, the outer wall of the obstruction shaft 15 is fixedly connected to a roller 16, the outer sleeves of the two movable rods 13 are provided with a spring 14, the bottom of the spring 14 is arranged above the obstruction shaft 15, the middle parts of both sides of the mounting seat 12 are slidably connected to movable rods 2 18, the opposite sides of the two groups of movable rods 2 18 are rotatably connected to obstruction shafts 20, the outer wall of each obstruction shaft 20 is fixedly connected to a roller 21, the outer sleeves of the two groups of movable rods 2 18 are provided with springs 2 19, the outside of each spring 2 19 is arranged between the obstruction shaft 20 and the mounting seat 12, and the lower surface of the mounting seat 12 is connected to a metal flaw detector 17.

[0037] Specifically, when the rail is inspected for metal damage, the walking wheel 11 contacts the surface of the rail, and the mounting seat 12 wraps the outside of the rail. The two rollers 16 and the two groups of rollers 21 contact the outer wall of the rail. At the same time, affected by the width of the rail, the rollers 21 on both sides will be subject to resistance to push the blocking shaft 20 to drive the movable rod 21 to move in the opposite direction. At the same time, as the blocking shaft 20 moves, the spring 2 19 will be squeezed, so that the spring 2 19 is compressed to generate a rebound reaction force, providing thrust for the subsequent resetting of the roller 21. At the same time, affected by the contact height between the rail and the mounting seat 12, the two rollers 16 will also be subject to resistance to push the blocking shaft 15 to drive the movable rod 13 to move upward. At the same time, under the push of the blocking shaft 15, the spring 14 is compressed to generate a rebound reaction force. Under the cooperation of the above-mentioned components, the safety of the metal flaw detector 17 in contact with the outside of the rail is guaranteed, and the function can be adapted to different types of rails for use, thereby improving the scope of use of the robot.

[0038] Please see attached Figure 1 and attached Figure 7 The automatic door includes two opening and closing doors 32, and the outer walls of the two opening and closing doors 32 are rotatably connected to the two sides of the surface of the collection box 22. Both sides of the outer wall of the collection box 22 are fixedly connected with a fixed seat 2 30, and the middle parts of the two fixed seats 2 30 are rotatably connected with an electric telescopic rod 2 31, and the driving ends of the two electric telescopic rods 2 31 are fixedly connected to the surfaces of the two opening and closing doors 32.

[0039] Specifically, when the robot detects garbage, its controller will control the two electric telescopic rods 31 to start. Under the telescopic effect of the two electric telescopic rods 31, the two electric telescopic rods 31 will automatically open at the top of the collection box 22, thereby facilitating the garbage to enter the collection box 22.

[0040] Please see attached Figure 7 -Attached Figure 8 The unloading assembly includes a fixed seat 23, the bottom of which is fixedly connected to the inner bottom wall of the collecting box 22, the middle of the fixed seat 23 is rotatably connected to an electric telescopic rod 24, the outer wall of the collecting box 22 is rotatably connected to a rotating rod 25, the outer wall of the rotating rod 25 is fixedly connected to a movable plate 26, the outer wall of the rotating rod 25 is fixedly connected to a sewage discharge door 29, the sewage discharge door 29 is flush with the side of the collecting box 22, the bottom of the movable plate 26 is fixedly connected to a connecting seat 27, the driving end of the electric telescopic rod 24 is fixedly connected to a movable seat 28, and the outer wall of the movable seat 28 is rotatably connected to the middle of the connecting seat 27.

[0041] Specifically, when it is necessary to discharge the garbage inside the collection box 22, the electric telescopic rod 24 can be started. Under the telescopic action of the electric telescopic rod 24, the movable plate 26 is tilted and raised from one end inside the collection box 22. As the distance between the end of the movable plate 26 away from the rotating rod 25 and the bottom of the collection box 22 increases, the rotating rod 25 rotates synchronously. As the rotating rod 25 rotates, the sewage discharge door 29 will automatically open outside the collection box 22, and then the garbage on the upper part of the movable plate 26 will slide out from the surface of the movable plate 26, thereby achieving the purpose of automatic garbage discharge. When the electric telescopic rod 24 is extended and retracted, it will drive the movable seat 28 to rotate in the middle of the connecting seat 27, and its own bottom will rotate in the middle of the fixed seat 23, thereby ensuring that the electric telescopic rod 24 can control the tilt of the movable plate 26 through its own telescopic action.

[0042] Please see attached Figure 1 -Attached Figure 2The mobile grasping assembly includes two mounting seats 2 33, the bottoms of the two mounting seats 2 33 are respectively fixedly connected to the two sides of the outer wall of the collecting box 22, the outer walls of the two mounting seats 2 33 are fixedly connected with servo motors 1 34, the driving ends of the two servo motors 1 34 are fixedly connected with reciprocating screw rods 35, the outer walls of the collecting box 22 are fixedly connected with mounting frame 1 36, the outer walls of the two reciprocating screw rods 35 are threadedly connected with a moving frame 38, a limiting rod 37 is fixedly connected between the two groups of mounting seats 2 33 and the mounting frame 1 36, the middle parts of the two moving frames 38 are respectively slidably connected to the outer walls of the two limiting rods 37, the tops of the two moving frames 38 are provided with linear guide rails 39, the outer walls of the linear guide rails 39 are provided with moving seats 40, the outer walls of the moving seats 40 are fixedly connected with electric telescopic rods 31, the driving ends of the electric telescopic rods 31 are fixedly connected with mounting frame 2 42, and the middle part of the mounting frame 2 42 is provided with a mechanical claw 43.

[0043] Specifically, after receiving the garbage picking signal, the robot will drive the servo motor 34, the linear guide 39, the electric telescopic rod three 41 and the mechanical claw 43 to operate. Driven by the servo motor 34, the reciprocating screw rod 35 rotates, and then drives the moving frame 38 to move back and forth along the outer wall of the limit rod 37. When the mechanical claw 43 is taken away from the top of the collection box 22, the linear guide 39 drives the mechanical claw 43 to move left and right to the top of the garbage, and then the electric telescopic rod three 41 drives the mounting frame two 42 to move downward, so that the mechanical claw 43 contacts and clamps the garbage, and then reversely drives the servo motor 34, so that the mechanical claw 43 carries the garbage to the top of the collection box 22, and the mechanical claw 43 is released, and the garbage falls into the collection box 22, thereby completing the automatic garbage cleaning work and saving the cleaning work of sanitation workers in the later stage.

[0044] Please see attached Fig. 9 The two marking components both include a storage box 44, the outer walls of the two storage boxes 44 are respectively fixedly connected to the two sides of the collecting box 22, both sides of the collecting box 22 are fixedly connected with a fixing frame 45, the middle part of the fixing frame 45 is fixedly connected with a nozzle 46, the output part of the storage box 44 is connected with a conduit 47, and the other end of the conduit 47 is connected to the connecting end of the nozzle 46.

[0045] Specifically, when the metal flaw detector 17 detects damage on the rail, it can be transmitted to the control device through an electrical signal, so that the control device emits a start electrical signal, causing the nozzle 46 to spray the paint inside the storage box 44 toward the damaged position, thereby marking the damaged position to facilitate subsequent maintenance and replacement by the staff.

[0046] Please see attached Fig.10The angle adjustment assembly includes a limit seat 48, the top of the limit seat 48 is fixedly connected to the bottom of the collection box 22, the inside of the limit seat 48 is slidably connected to an arc-shaped tooth seat 49, the bottom of the collection box 22 is fixedly connected to a servo motor 2 50, the driving end of the servo motor 2 50 is fixedly connected to a gear 51, and the outside of the gear 51 is meshedly connected to the outside of the arc-shaped tooth seat 49.

[0047] Specifically, when collecting information, the servo motor 2 50 can be started, and the gear 51 can be rotated under the drive of the servo motor 2 50, thereby driving the arc-shaped gear seat 49 to slide inside the limit seat 48, so that the information collection component can be adjusted in angle, thereby increasing the range of information collection.

[0048] The information collection component includes a connecting frame 52 , the top of the connecting frame 52 is fixedly connected to the bottom of the arc-shaped gear seat 49 , the bottom of the connecting frame 52 is fixedly connected to an industrial camera 53 , and the bottom of the industrial camera 53 is provided with a laser rangefinder 54 .

[0049] Specifically, when collecting information, the industrial camera 53 captures the track image, and the laser rangefinder 54 measures the distance between the robot and the garbage, so that the mobile grabbing component on the robot can grab the garbage into the collection box 22.

[0050] 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. A rail transit intelligent maintenance inspection robot, comprising a base (1), characterized in that: The four corners of the base (1) are fixedly connected with bidirectional motors (2), and both ends of the four bidirectional motors (2) are fixedly connected with rotating shafts (3). Two rotating shafts (3) penetrate the middle of the base (1) and are rotatably connected with a movable frame (4). The other end of each movable frame (4) is provided with a connecting arm (5). Both sides of the inside of the connecting arm (5) are fixedly connected with bidirectional motors (6). Both ends of the two bidirectional motors (6) are fixedly connected with rotating shafts (7). One group of rotating shafts (7) penetrates the middle of the connecting arm (5) and is rotatably connected to the middle of the movable frame (4). The other group of rotating shafts (7) penetrates the middle of the connecting arm (5) and is rotatably connected to a walking claw (8). The other end of the walking claw (8) is rotatably connected to a An adjusting seat (9), dampers (10) are rotatably connected to both sides of the walking claw (8), the other ends of the two dampers (10) are rotatably connected to the outer wall of the adjusting seat (9), the bottom of the adjusting seat (9) is provided with walking wheels (11), the outer wall of the adjusting seat (9) is provided with a limit protection component, the top of the bidirectional motor (2) is connected to a collecting box (22), the top of the collecting box (22) is provided with an automatic door, the inside of the collecting box (22) is provided with a material unloading component, the outer wall of the collecting box (22) is provided with a moving grabbing component, marking components are provided on both sides of the outer wall of the collecting box (22), an angle adjustment component is provided at the bottom of the collecting box (22), and an information collection component is provided on the angle adjustment component.

2. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: Two mounting frames (55) are fixedly connected to the outer wall of the collection box (22), and solar panels (56) are fixedly connected to the tops of the two mounting frames (55).

3. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The position limiting protection assembly comprises a mounting seat (12), the outer wall of which is fixedly connected to the outer wall of the adjusting seat (9), the top of which is slidably connected to two movable rods (13), the bottoms of the two movable rods (13) are both rotatably connected to an obstruction shaft (15), the outer wall of the obstruction shaft (15) is fixedly connected to a roller (16), the outer sleeves of the two movable rods (13) are provided with a spring (14), the bottom of the spring (14) is arranged on the obstruction shaft (15) At the top, movable rods (18) are slidably connected to the middle parts of both sides of the mounting seat (12), and the opposite sides of the two groups of movable rods (18) are rotatably connected to obstruction shafts (20), and the outer wall of each obstruction shaft (20) is fixedly connected to rollers (21). The outer sleeves of the two groups of movable rods (18) are provided with springs (19), and the outer part of each spring (19) is arranged between the obstruction shaft (20) and the mounting seat (12), and the lower surface of the mounting seat (12) is connected to a metal flaw detector (17).

4. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The automatic door comprises two opening and closing doors (32), the outer walls of the two opening and closing doors (32) are respectively rotatably connected to the two sides of the surface of the collection box (22), the two sides of the outer wall of the collection box (22) are fixedly connected to the second fixing seat (30), the middle parts of the two second fixing seats (30) are rotatably connected to the second electric telescopic rod (31), and the driving ends of the two second electric telescopic rods (31) are respectively fixedly connected to the surfaces of the two opening and closing doors (32).

5. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The unloading assembly comprises a fixed seat (23), the bottom of the fixed seat (23) is fixedly connected to the inner bottom wall of the collection box (22), the middle part of the fixed seat (23) is rotatably connected to an electric telescopic rod (24), the outer wall of the collection box (22) is rotatably connected to a rotating rod (25), the outer wall of the rotating rod (25) is fixedly connected to a movable plate (26), the outer wall of the rotating rod (25) is fixedly connected to a sewage discharge door (29), the sewage discharge door (29) is flush with the side of the collection box (22), the bottom of the movable plate (26) is fixedly connected to a connecting seat (27), the driving end of the electric telescopic rod (24) is fixedly connected to a movable seat (28), and the outer wall of the movable seat (28) is rotatably connected to the middle part of the connecting seat (27).

6. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The dynamic grabbing assembly comprises two mounting seats (33), the bottoms of the two mounting seats (33) are respectively fixedly connected to the outer walls of the collection box (22), the outer walls of the two mounting seats (33) are fixedly connected to servo motors (34), the driving ends of the two servo motors (34) are fixedly connected to reciprocating screws (35), the outer walls of the collection box (22) are fixedly connected to mounting frames (36), the outer walls of the two reciprocating screws (35) are threadedly connected to moving frames (38), and the two groups of mounting seats (33) and A limit rod (37) is fixedly connected between the mounting frame 1 (36), the middle parts of the two moving frames (38) are respectively slidably connected to the outer walls of the two limit rods (37), the tops of the two moving frames (38) are provided with linear guide rails (39), the outer walls of the linear guide rails (39) are provided with moving seats (40), the outer walls of the moving seats (40) are fixedly connected with electric telescopic rods 3 (41), the driving end of the electric telescopic rods 3 (41) is fixedly connected with the mounting frame 2 (42), and the middle part of the mounting frame 2 (42) is provided with a mechanical claw (43).

7. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The two marking assemblies each comprise a material storage box (44), the outer walls of the two material storage boxes (44) are respectively fixedly connected to the two sides of the collecting box (22), the two sides of the collecting box (22) are fixedly connected to a fixing frame (45), the middle part of the fixing frame (45) is fixedly connected to a nozzle (46), the output part of the material storage box (44) is connected to a conduit (47), and the other end of the conduit (47) is connected to the connection end of the nozzle (46).

8. The rail transit intelligent maintenance inspection robot according to claim 1, characterized in that: The angle adjustment assembly comprises a limit seat (48), the top of the limit seat (48) is fixedly connected to the bottom of the collection box (22), the interior of the limit seat (48) is slidably connected to an arc-shaped tooth seat (49), the bottom of the collection box (22) is fixedly connected to a servo motor 2 (50), the driving end of the servo motor 2 (50) is fixedly connected to a gear (51), and the outside of the gear (51) is meshingly connected to the outside of the arc-shaped gear seat (49).

9. The rail transit intelligent maintenance inspection robot according to claim 8, characterized in that: The information acquisition component comprises a connecting frame (52), the top of the connecting frame (52) is fixedly connected to the bottom of the arc-shaped gear seat (49), the bottom of the connecting frame (52) is fixedly connected to an industrial camera (53), and the bottom of the industrial camera (53) is provided with a laser rangefinder (54).

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