Cleaning device for subway track

Abstract

The invention discloses a cleaning device for subway rails, which belongs to the technical field of rail cleaning and comprises a frame, a plurality of horizontal rolling shafts are rotatably connected to the middle of the frame in the left-right direction, a rotary output mechanism is fixed to the middle of the frame, and rail wheels are coaxially fixed to the left and right parts of each rolling shaft. An output shaft of the rotary output mechanism is in transmission connection with a rolling shaft of the first rotary output mechanism to drive the rolling shaft to rotate, and a recognition camera, a storage battery pack and a controller are fixed to the frame. According to the invention, the second servo motor is controlled to perform reciprocating small-amplitude rotation, so that foreign matters in the rail gap can be picked out by using the picking fork, and the effect of removing the foreign matters is realized; an electric push rod is controlled to stretch out and draw back a push rod, and a first servo motor is controlled to rotate, so that a rubber barrel can rotate along with a supporting barrel and move downwards at the same time, and therefore the rubber barrel is extruded to enter the rail gap, and the inner wall of the rail gap is scraped and cleaned through cleaning cloth; and the extruded rubber cylinder can apply larger pressure to the cleaning cloth.

Description

Technical Field

[0001] The invention relates to the technical field of subway track cleaning, and in particular to a cleaning device for subway tracks. Background Art

[0002] As an important means of transportation, the subway is responsible for the rapid transportation of citizens within the city. In order to ensure the safe and efficient operation of the subway, the maintenance of the subway track is essential. Among them, track cleaning is one of the daily maintenance tasks. The existing track cleaning device is prone to omission when cleaning the track, and it is difficult to clean the track joints. The track joints play an important role in the load-bearing safety of the track. If there are foreign objects (such as stones, rust, etc.) in the track joints, it will hinder the thermal expansion and contraction of the track. Therefore, cleaning the track joints is very important. Summary of the invention

[0003] The object of the present invention is to provide a cleaning device for subway tracks, so as to solve the technical problem that the existing track cleaning device is prone to omissions and is difficult to clean the rail gaps when cleaning the tracks.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A cleaning device for subway tracks, comprising a frame, a plurality of horizontal rollers are connected to the middle of the frame for rotation in the left and right directions, and a rotating output mechanism is fixed to the middle, a track wheel is coaxially fixed to the left and right parts of each roller, the output shaft of the rotating output mechanism is connected to one of the rollers for driving the roller to rotate, an identification camera, a battery pack and a controller are fixed to the frame, and a vertical guide seat and an electric push rod are fixed to the left and right parts, the two guide seats are connected to the sliding seats for sliding up and down respectively, and the push rod bottom ends of the two electric push rods are fixed to the sliding seats The bottom of the two sliding seats are respectively connected to a cylindrical supporting tube that rotates in the left and right directions, and a closed rubber tube is fixed to the outer wall of the supporting tube. Air is filled between the rubber tube and the supporting tube, and a flexible cleaning cloth is pasted on the outer circumferential wall. A No. 1 servo motor is respectively fixed to the bottom of the two sliding seats, and the rotating shafts of the two No. 1 servo motors are respectively fixed on the same axis as the supporting tube. A No. 2 servo motor is respectively fixed to the front and rear ends of the guide seat in the front and rear directions, and the rotating shafts of each No. 2 servo motor are respectively fixed with a radial picking fork, and the picking fork is an inverted "T" shape.

[0005] On the basis of the above technical scheme, a gas tank is fixed on the top of the frame, and a pressure sensor is fixed on the gas tank. The pressure sensor is used to measure the air pressure in the gas tank. One axial end of the support tube is closed and the other axial end is penetrated. The support tube is penetrated with a vent hole, and the vent hole is connected with the inner cavity of the support tube and the inner cavity of the rubber tube. A rotary sealing joint is installed on the penetrated axial end of the support tube, and the joint of the rotating part of the rotary sealing joint is connected with the penetrated axial end of the support tube. The joint of the fixed part of the rotary sealing joint is connected with the gas tank through an airway via a surplus hose. The electric push rod, servo motor No. 1, servo motor No. 2 and pressure sensor are electrically connected to the controller, and the controller is electrically connected to the battery pack. The controller has a built-in radio transmission module.

[0006] On the basis of the above technical scheme, the frame is also equipped with a rotating roller brush cleaning mechanism, which includes multiple top cleaning roller brushes, dry cleaning side wall roller brushes, water washing side wall roller brushes and a rotating drive mechanism. Each of the top cleaning roller brushes, dry cleaning side wall roller brushes and water washing side wall roller brushes is arranged to rotate along the front and rear directions. Each of the top cleaning roller brushes, dry cleaning side wall roller brushes and water washing side wall roller brushes is driven to rotate by the rotating drive mechanism. The spray system includes a nozzle, which can spray the water washing side wall roller brush. The number of the identification cameras is multiple and fixed at various places on the frame.

[0007] On the basis of the above technical scheme, the rotary drive mechanism includes a support arm, a solid shaft, a hollow shaft, a No. 3 servo motor, a swing arm, a bevel gear ring, and a No. 4 servo motor. A group of support arms are respectively fixed to the left front, left rear, right front, and right rear of the frame. Each group of the support arms includes a plurality of vertical support arms. Each group of the support arms is rotatably connected with a horizontal solid shaft and a hollow shaft. The hollow shaft is coaxially rotatably connected with the solid shaft. The hollow shaft and the solid shaft are coaxially fixed with top cleaning roller brushes of the same size. Four vertical No. 3 servo motors are fixed to the frame. The rotating shafts of each No. 3 servo motor are respectively connected to the solid shaft and the hollow shaft through the meshing of bevel gears. The outside of each hollow shaft is rotatably connected with a swing arm. A bevel gear ring is fixed in the middle of each of the swing arms, and each of the bevel gear rings is coaxially arranged and corresponds to the hollow shaft where the swing arm is located. Four vertical No. 4 servo motors are fixed to the frame, and each of the No. 4 servo motors corresponds to the four hollow shafts respectively. The rotating shaft of each No. 4 servo motor is meshed with the bevel gear ring corresponding to the solid shaft directly below it through a bevel gear. The upper part of each swing arm is rotatably connected to a water-washing side wall roller brush, and the lower part of each swing arm is rotatably connected to a dry-cleaning side wall roller brush. Each of the dry-cleaning side wall roller brush and the water-washing side wall roller brush is transmission-connected to the hollow shaft corresponding to the swing arm where it is located through a belt drive or a chain drive, and the No. 3 servo motor and the No. 4 servo motor are electrically connected to the controller.

[0008] Based on the above technical solution, the spray system also includes a support frame, a water tank, and a water pump. The support frame is fixed on the top of the frame, and the water tank is fixed on the top of the support frame. The water tank is used to store liquid detergent. The water tank is fixed with a water pump. The water pump is electrically connected to the controller, the water suction pipe of the water pump is connected to the bottom of the inner cavity of the water tank, and the discharge pipe of the water pump is connected to the nozzle through a pipe.

[0009] On the basis of the above technical scheme, a group of cleaning mechanisms are respectively fixed to the left front part, the left rear part, the right front part and the right rear part of the frame, and each group of the cleaning mechanisms respectively includes a horizontal double-rod electric push rod, two main rack racks, two auxiliary rack racks and two supporting shafts, the double-rod electric push rod is fixed to the frame in a front-to-back horizontal direction, the push rods at the front and rear parts of the double-rod electric push rod are respectively fixed with main rack racks, the main rack rack is connected to the frame for front and back sliding, the auxiliary rack rack is connected to the frame for front and back sliding, the supporting shaft is fixed to the frame in a vertical state, each of the supporting shafts is respectively rotatably connected with a central gear, the main rack rack and the auxiliary rack rack are centrally symmetrically meshed with the central gear for transmission, the main rack rack and the auxiliary rack rack are respectively fixed with a vertical No. 5 servo motor, the rotating shafts of each of the No. 5 servo motors are respectively coaxially fixed with cleaning rollers, the outer wall of each of the cleaning rollers is fixed with a threaded protrusion, the double-rod electric push rod and the No. 5 servo motor are electrically connected to the controller.

[0010] Based on the above technical solution, the cleaning roller is hollow with a through top and a closed bottom, and a drainage hole is penetrated through the cleaning roller, and the drainage hole is connected to the inner cavity of the cleaning roller. Each group of the cleaning mechanisms also includes two vertical guards, and the nozzle is fixed on the upper part of the guard. Two nozzles are fixed on the upper part of the guard, and each nozzle is connected to the drainage pipe of the water pump through a pipe, and the nozzle can spray water into the inner cavity of the cleaning roller.

[0011] Compared with the prior art, the present invention has the following advantages: the present invention controls the No. 2 servo motor to rotate back and forth in a small amplitude, so that the foreign matter in the rail gap can be picked out by using the picking fork, thereby achieving the effect of removing the foreign matter; by controlling the electric push rod to extend and retract the push rod, and controlling the No. 1 servo motor to rotate, the rubber cylinder can follow the support cylinder to rotate and move downward, so that the rubber cylinder is squeezed into the rail gap and the inner wall of the rail gap is scraped and cleaned by using a cleaning cloth. The squeezed rubber cylinder can exert greater pressure on the cleaning cloth, thereby improving the cleaning effect of the cleaning cloth on the rail gap and reducing the omission of subway track cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the axial side structure of the present invention.

[0013] Figure 2 It is a schematic diagram of the bottom structure of the present invention.

[0014] Figure 3 It is a front sectional structural schematic diagram of the sliding seat, the supporting cylinder, the rubber cylinder and the cleaning cloth of the present invention.

[0015] Figure 4 It is a schematic diagram of the cooperation between the cleaning roller and the water-washing side wall roller brush of the present invention.

[0016] Figure 5 It is a schematic diagram of the structure inside the protective cover of the present invention.

[0017] In the figure: 1, frame, 2, roller, 3, track wheel, 4, rotary output mechanism, 5, identification camera, 6, battery pack, 7, controller, 8, guide seat, 9, electric push rod, 10, sliding seat, 11, support cylinder, 12, rubber cylinder, 13, cleaning cloth, 14, No. 1 servo motor, 15, No. 2 servo motor, 16, picking fork, 17, gas tank, 18, air pressure sensor, 19, vent, 20, rotary sealing joint, 21, rotary roller brush cleaning mechanism, 22, top cleaning roller brush, 23, dry cleaning side wall roller brush, 24, water washing side wall roller brush , 25. Rotary drive mechanism, 26. Spray system, 27. Nozzle, 28. Support arm, 29. Solid shaft, 30. Hollow shaft, 31. Servo motor No. 3, 32. Swing arm, 33. Bevel gear ring, 34. Servo motor No. 4, 35. Support frame, 36. Water tank, 37. Water pump, 38. Cleaning mechanism, 39. Double-rod electric push rod, 40. Main rack rack, 41. Sub-rack rack, 42. Support shaft, 43. Center gear, 44. Servo motor No. 5, 45. Cleaning roller, 46. Protrusion, 47. Drain hole, 48. Protective cover, 49. Spray pipe. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1-Figure 5 As shown, a cleaning device for subway tracks comprises a frame 1, wherein a plurality of horizontal rollers 2 are rotatably connected in the left-right direction in the middle of the frame 1, and a rotating output mechanism 4 is fixed in the middle, wherein the rotating output mechanism 4 is a reduction motor or a motor equipped with a reducer, and a track wheel 3 is coaxially fixed to the left and right parts of each of the rollers 2, and the output shaft of the rotating output mechanism 4 is transmission-connected with one of the rollers 2 to drive the roller 2 to rotate, and an identification camera 5, a battery pack 6 and a controller 7 are fixed to the frame 1, and the controller 7 is a single-chip microcomputer or an industrial computer, and a vertical guide seat 8 and an electric push rod 9 are fixed to the left and right parts, and the two guide seats 8 are respectively connected to a sliding seat 10 for sliding up and down, and the two electric push rods 9 are respectively connected to the sliding seat 10 for sliding up and down, and the two electric push rods 9 are connected to the sliding seat 10 for sliding up and down. The bottom end of the push rod of the rod 9 is fixed to the sliding seat 10, and the bottom of the two sliding seats 10 are respectively connected to a cylindrical supporting tube 11 for rotation in the left and right directions. A closed rubber tube 12 is fixed to the outer wall of the supporting tube 11. The space between the rubber tube 12 and the supporting tube 11 is filled with air, and a flexible cleaning cloth 13 is pasted on the outer circumferential wall. A No. 1 servo motor 14 is respectively fixed to the bottom of the two sliding seats 10, and the rotating shafts of the two No. 1 servo motors 14 are respectively fixed on the same axis as the supporting tube 11. A No. 2 servo motor 15 is respectively fixed to the front and rear ends of the guide seat 8 in the front and rear direction, and a radial picking fork 16 is respectively fixed to the rotating shaft of each No. 2 servo motor 15, and the picking fork 16 is in an inverted "T" shape.

[0020] When in use, the track wheel 3 is used to roll and rub against the track, and the rotary output mechanism 4 is used to drive the track wheel 3 to roll so that the cleaning device can move in any direction along the track and complete the cleaning work in the moving direction. That is, the position of the track gap is identified by the recognition camera 5. If there is a foreign object in the track gap, when the second servo motor 15 close to the driving direction moves to the top of the track gap, the second servo motor 15 is controlled to rotate back and forth in a small amplitude, so that the foreign object in the track gap can be picked out by the picking fork 16, thereby achieving the effect of removing the foreign object. If there is no foreign matter in the rail gap, when the rubber tube 12 moves with the frame 1 to the top of the rail gap, the electric push rod 9 is controlled to extend and retract, and the No. 1 servo motor 14 is controlled to rotate, so that the rubber tube 12 follows the support tube 11 to rotate and move downward, so that the rubber tube 12 is squeezed into the rail gap and the inner wall of the rail gap (the cross section of the two rails) is scraped and cleaned with the cleaning cloth 13. The squeezed rubber tube 12 can exert greater pressure on the cleaning cloth 13, thereby improving the cleaning effect of the cleaning cloth 13 on the rail gap, and the support tube 11 can force the rubber tube 12 to enter the rail gap without being blocked by the rail gap.

[0021] A gas tank 17 is fixed to the top of the frame 1, and a pressure sensor 18 is fixed to the gas tank 17. The pressure sensor 18 is used to measure the air pressure in the gas tank 17. One axial end of the support tube 11 is closed and the other axial end is penetrated. The support tube 11 is penetrated by a vent hole 19, and the vent hole 19 is connected with the inner cavity of the support tube 11 and the inner cavity of the rubber tube 12. A rotary sealing joint 20 is installed at the penetrated axial end of the support tube 11, and the joint of the rotating part of the rotary sealing joint 20 is connected with the penetrated axial end of the support tube 11, and the joint of the fixed part of the rotary sealing joint 20 is connected to the gas tank 17 through the surplus hose. The electric push rod 9, the first servo motor 14, the second servo motor 15 and the pressure sensor 18 are electrically connected to the controller 7, and the controller 7 is electrically connected to the battery pack 6. The controller 7 has a built-in radio transmission module.

[0022] Furthermore, when the rubber tube 12 is squeezed by the rail gap, the air pressure sensor 18 can detect the corresponding change in air pressure value. By analyzing the change value, the size of the rail gap can be indirectly judged, thereby knowing whether the width of the rail gap meets the relevant standards, which facilitates timely maintenance of abnormal rail gaps.

[0023] The frame 1 is also equipped with a rotating roller brush cleaning mechanism 21, which includes a plurality of top cleaning roller brushes 22, dry cleaning side wall roller brushes 23, water washing side wall roller brushes 24 and a rotating drive mechanism 25. Each of the top cleaning roller brushes 22, dry cleaning side wall roller brushes 23 and water washing side wall roller brushes 24 is arranged to rotate along the front-to-back direction. Each of the top cleaning roller brushes 22, dry cleaning side wall roller brushes 23 and water washing side wall roller brushes 24 is driven to rotate by the rotating drive mechanism 25. The spray system 26 includes a nozzle 27, which can spray the water washing side wall roller brush 24. The number of the identification cameras 5 is multiple and fixed at various places of the frame 1.

[0024] Furthermore, by utilizing the top cleaning roller brush 22, dry cleaning side wall roller brush 23 and water washing side wall roller that are arranged to rotate in the front-rear direction, the rails can be cleaned in the vertical direction. Compared with the cleaning method parallel to the rails, it is not easy to contaminate the surrounding rails during cleaning, reducing the trouble of secondary cleaning.

[0025] The rotary drive mechanism 25 includes a support arm 28, a solid shaft 29, a hollow shaft 30, a No. 3 servo motor 31, a swing arm 32, a bevel gear ring 33, and a No. 4 servo motor 34. A group of support arms 28 are respectively fixed to the left front, left rear, right front and right rear of the frame 1. Each group of the support arms 28 includes a plurality of vertical support arms 28. Each group of the support arms 28 is rotatably connected with a horizontal solid shaft 29 and a hollow shaft 30. The hollow shaft 30 is coaxially rotatably connected with the solid shaft 29. The top cleaning roller brush 22 of the same size is coaxially fixed to the hollow shaft 30 and the solid shaft 29. Four vertical No. 3 servo motors 31 are fixed to the frame 1. The rotating shafts of each No. 3 servo motor 31 are respectively connected to the solid shaft 29 and the hollow shaft 30 through the meshing of bevel gears. The outside of each hollow shaft 30 is rotatably connected with a swing arm 32. A bevel gear ring 33 is fixed to the middle part of the swing arm 32, and each bevel gear ring 33 is coaxially arranged and corresponds to the hollow shaft 30 where the swing arm 32 is located. The frame 1 is fixed with four vertical No. 4 servo motors 34, and each of the No. 4 servo motors 34 corresponds to the four hollow shafts 30 up and down, respectively. The rotating shaft of each No. 4 servo motor 34 is meshed and transmitted with the bevel gear ring 33 corresponding to the solid shaft 29 directly below it through a bevel gear. The upper part of each swing arm 32 is rotatably connected to the water-washing side wall roller brush 24, and the lower part of each swing arm 32 is rotatably connected to the dry-cleaning side wall roller brush 23. Each of the dry-cleaning side wall roller brush 23 and the water-washing side wall roller brush 24 is transmission-connected to the hollow shaft 30 corresponding to the swing arm 32 where it is located through a belt drive or a chain drive. The No. 3 servo motor 31 and the No. 4 servo motor 34 are electrically connected to the controller 7.

[0026] Furthermore, by controlling the third servo motor 31 to rotate, the solid shaft 29 and the hollow shaft 30 can rotate in opposite directions, so that the top of the rail can be cleaned in the left and right directions by using the two top cleaning roller brushes 22 on the solid shaft 29 and the hollow shaft 30. During the rotation of the hollow shaft 30, the dry cleaning side wall roller brush 23 and the water washing side wall roller brush 24 can be driven to rotate through a belt drive or a chain drive. When the recognition camera 5 detects that there is no oil stain on the side wall of the rail, the dry cleaning side wall roller brush 23 at the bottom of the crossed swing arm 32 can dry clean the side wall of the rail. When the recognition camera 5 detects the presence of oil stains on the side wall of the rail, the water-washing side wall roller brush 24 is sprayed through the spray system 26 and the nozzle 27, and then the No. 4 servo motor 34 is controlled to rotate, and the bevel gear ring 33 can be used to drive the two swing arms 32 to cross each other for a certain distance, so that the side wall of the rail is washed by the water-washing side wall roller brush 24 on the upper part of the crossed swing arms 32, thereby achieving a good cleaning effect.

[0027] The spray system 26 also includes a support frame 35, a water tank 36, and a water pump 37. The support frame 35 is fixed to the top of the frame 1, and the water tank 36 is fixed to the top of the support frame 35. The water tank 36 is used to store liquid detergent. The water tank 36 is fixed with a water pump 37. The water pump 37 is electrically connected to the controller 7. The water suction pipe of the water pump 37 is connected to the bottom of the inner cavity of the water tank 36, and the drainage pipe of the water pump 37 is connected to the nozzle 27 through a pipeline.

[0028] The cleaning agent in the water tank 36 can be controllably extracted by the water pump 37 and sprayed out through the nozzle 27 to spray the water-washing side wall roller brush 24 .

[0029] A set of cleaning mechanisms 38 are respectively fixed to the left front, left rear, right front and right rear of the frame 1, and each set of the cleaning mechanisms 38 includes a horizontal double-rod electric push rod 39, two main rack racks 40, two auxiliary rack racks 41 and two support shafts 42. The double-rod electric push rod 39 is fixed to the frame 1 in a front-to-back horizontal direction, and the push rods at the front and rear parts of the double-rod electric push rod 39 are respectively fixed with the main rack racks 40, the main rack racks 40 are connected to the frame 1 for a front-to-back sliding connection, and the auxiliary rack racks 41 are connected to the frame 1 for a front-to-back sliding connection. The support shaft 42 is fixed to the frame in a vertical state, and each of the support shafts 42 is rotatably connected to a center gear 43. The main rack frame 40 and the auxiliary rack frame 41 are centrally symmetrically meshed with the center gear 43 for transmission. The main rack frame 40 and the auxiliary rack frame 41 are respectively fixed with a vertical No. 5 servo motor 44. The rotating shaft of each No. 5 servo motor 44 is coaxially fixed with a cleaning roller 45. The outer wall of each cleaning roller 45 is fixed with a threaded protrusion 46. The double-rod electric push rod 39 and the No. 5 servo motor 44 are electrically connected to the controller 7.

[0030] Furthermore, by setting a cleaning mechanism 38, the water-washing side wall roller brush 24 can be cleaned and fully moistened, so that it can wash the rail side wall. That is, by controlling the double-rod electric push rod 39 to extend and retract the push rod, the main racks 40 on the front and rear sides can be moved closer to and away from each other, so that the distance between the corresponding cleaning rollers 45 below the main rack 40 and the auxiliary rack 41 can be adjusted through the transmission of the central gear 43. When it is necessary to clean the water-washing side wall roller brush 24, the distance can be made smaller, and then the No. 5 servo motor 44 is controlled to rotate, so that the water-washing side wall roller brush 24 can be squeezed and rubbed by the cleaning roller 45 and the protrusion 46; when the distance is larger, it is convenient for the water-washing side wall roller brush 24 to enter and exit between the two cleaning rollers 45.

[0031] The cleaning roller 45 is hollow with a through top and a closed bottom. The cleaning roller 45 is penetrated with a drainage hole 47, and the drainage hole 47 is communicated with the inner cavity of the cleaning roller 45. Each group of the cleaning mechanism 38 also includes two vertical shields 48, and the nozzle 27 is fixed on the upper part of the shield 48. Two nozzles 49 are fixed on the upper part of the shield 48. Each nozzle 49 is connected to the drainage pipe of the water pump 37 through a pipeline, and the nozzle 49 can spray water into the inner cavity of the cleaning roller 45.

[0032] Furthermore, water can be sprayed into the inner cavity of the cleaning roller 45 by using the nozzle 49, and the water can flow out from the drainage hole 47 to wet the water-washing side wall roller brush 24, thereby kneading and wetting at the same time, thereby improving the cleaning effect. The protective cover 48 is used to reduce the splashing of sewage on surrounding facilities, especially rails, when cleaning the cleaning roller 45.

[0033] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. A cleaning device for subway tracks, comprising a frame (1), a plurality of horizontal rollers (2) are rotatably connected in the left-right direction in the middle of the frame (1), and a rotating output mechanism (4) is fixed in the middle, a track wheel (3) is coaxially fixed to the left and right parts of each roller (2), an output shaft of the rotating output mechanism (4) is transmission-connected to one of the rollers (2) to drive the roller (2) to rotate, an identification camera (5), a battery pack (6) and a controller (7) are fixed to the frame (1), and a vertical guide seat (8) and an electric push rod (9) are fixed to the left and right parts, characterized in that: The two guide seats (8) are respectively connected to a sliding seat (10) for sliding up and down movement, the push rod bottom ends of the two electric push rods (9) are fixed to the sliding seat (10), the bottoms of the two sliding seats (10) are respectively connected to a cylindrical support tube (11) for rotation in the left and right directions, the outer wall of the support tube (11) is fixed with a closed rubber tube (12), the space between the rubber tube (12) and the support tube (11) is filled with air, and a flexible cleaning cloth (13) is pasted to the outer circumferential wall, the bottoms of the two sliding seats (10) are respectively fixed with a No. 1 servo motor (14), the rotating shafts of the two No. 1 servo motors (14) are respectively fixed with the same axis as the support tube (11), the front and rear ends of the guide seat (8) are respectively fixed with a No. 2 servo motor (15) in the front and rear directions, the rotating shafts of each No. 2 servo motor (15) are respectively fixed with a radial picking fork (16), and the picking fork (16) is in an inverted "T" shape.

2. A cleaning device for subway tracks according to claim 1, characterized in that: A gas tank (17) is fixed to the top of the frame (1), and a gas pressure sensor (18) is fixed to the gas tank (17). The gas pressure sensor (18) is used to measure the gas pressure in the gas tank (17). One axial end of the support tube (11) is closed and the other axial end is penetrated. A vent hole (19) is penetrated by the support tube (11). The vent hole (19) is connected to the inner cavity of the support tube (11) and the inner cavity of the rubber tube (12). A rotary sealing joint (20) is installed at the penetrated axial end of the support tube (11). ), the joint of the rotating part of the rotary sealing joint (20) is connected to the axial end portion of the support tube (11), the joint of the fixed part of the rotary sealing joint (20) is connected to the gas tank (17) through a surplus hose, the electric push rod (9), the first servo motor (14), the second servo motor (15) and the air pressure sensor (18) are electrically connected to the controller (7), the controller (7) is electrically connected to the battery pack (6), and the controller (7) has a built-in radio transmission module.

3. A cleaning device for subway tracks according to claim 1 or 2, characterized in that: The frame (1) is also equipped with a rotating roller brush cleaning mechanism (21), the rotating roller brush cleaning mechanism (21) comprising a plurality of top cleaning roller brushes (22), dry cleaning side wall roller brushes (23), water washing side wall roller brushes (24) and a rotating drive mechanism (25), each of the top cleaning roller brushes (22), dry cleaning side wall roller brushes (23) and water washing side wall roller brushes (24) being arranged to rotate along the front-back direction, each of the top cleaning roller brushes (22), dry cleaning side wall roller brushes (23) and water washing side wall roller brushes (24) being driven to rotate by the rotating drive mechanism (25), the spray system (26) comprising a spray head (27), the spray head (27) being capable of spraying the water washing side wall roller brush (24), and the number of the identification cameras (5) being multiple and fixed at various locations of the frame (1).

4. A cleaning device for subway tracks according to claim 3, characterized in that: The rotary drive mechanism (25) comprises a support arm (28), a solid shaft (29), a hollow shaft (30), a third servo motor (31), a swing arm (32), a bevel gear ring (33), and a fourth servo motor (34); a group of support arms (28) is respectively fixed to the left front part, the left rear part, the right front part, and the right rear part of the frame (1); each group of support arms (28) comprises a plurality of vertical support arms (28); each group of support arms (28) is rotatably connected to a horizontal solid shaft (29). and a hollow shaft (30), the hollow shaft (30) being coaxially rotatably connected to the solid shaft (29), the hollow shaft (30) and the solid shaft (29) being coaxially fixed with a top cleaning roller brush (22) of the same size, the frame (1) being fixed with four vertical No. 3 servo motors (31), the rotating shafts of the No. 3 servo motors (31) being respectively transmission-connected with the solid shaft (29) and the hollow shaft (30) through meshing of bevel gears, and the outside of each hollow shaft (30) being rotatably connected with a swing arm (32) ), a bevel gear ring (33) is fixed in the middle of each swing arm (32), each bevel gear ring (33) is coaxially arranged and corresponds to the hollow shaft (30) where the swing arm (32) is located, and the frame (1) is fixed with four vertical No. 4 servo motors (34), each No. 4 servo motor (34) corresponds to the four hollow shafts (30) above and below, and the rotating shaft of each No. 4 servo motor (34) is respectively connected to the corresponding solid shaft (29) directly below it through a bevel gear. The bevel gear ring (33) is meshed with each other for transmission, the upper part of each swing arm (32) is rotatably connected to a water-washing side wall roller brush (24), and the lower part of each swing arm (32) is rotatably connected to a dry-cleaning side wall roller brush (23), and each dry-cleaning side wall roller brush (23) and water-washing side wall roller brush (24) is transmission-connected to a hollow shaft (30) corresponding to the swing arm (32) where it is located via a belt drive or a chain drive, and the No. 3 servo motor (31) and the No. 4 servo motor (34) are electrically connected to the controller (7).

5. A cleaning device for subway tracks according to claim 3, characterized in that: The spray system (26) further comprises a support frame (35), a water tank (36), and a water pump (37); the support frame (35) is fixed to the top of the vehicle frame (1); the water tank (36) is fixed to the top of the support frame (35); the water tank (36) is used to store liquid detergent; the water pump (37) is fixed to the water tank (36); the water pump (37) is electrically connected to the controller (7); the water suction pipe of the water pump (37) is connected to the bottom of the inner cavity of the water tank (36); and the drainage pipe of the water pump (37) is connected to the spray head (27) through a pipeline.

6. A cleaning device for subway tracks according to claim 4, characterized in that: A group of cleaning mechanisms (38) is fixed to the left front part, the left rear part, the right front part and the right rear part of the frame (1), respectively. Each group of cleaning mechanisms (38) comprises a horizontal double-rod electric push rod (39), two main rack racks (40), two auxiliary rack racks (41) and two support shafts (42). The double-rod electric push rod (39) is fixed to the frame (1) in a front-to-back horizontal direction. The push rods at the front and rear parts of the double-rod electric push rod (39) are respectively fixed to the main rack racks (40). The main rack racks (40) are connected to the frame (1) in a front-to-back sliding manner. The auxiliary rack racks (41) are connected to the frame (1) in a front-to-back sliding manner. The support shafts (42) are connected to the front and rear parts of the double-rod electric push rod (39). The shaft (42) is fixed to the frame (1) in a vertical state, and each of the support shafts (42) is rotatably connected to a central gear (43). The main rack frame (40) and the auxiliary rack frame (41) are meshed with the central gear (43) in a centrally symmetrical manner. The main rack frame (40) and the auxiliary rack frame (41) are respectively fixed with a vertical No. 5 servo motor (44). The rotating shaft of each No. 5 servo motor (44) is coaxially fixed with a cleaning roller (45). The outer wall of each cleaning roller (45) is fixed with a threaded protrusion (46). The double-rod electric push rod (39) and the No. 5 servo motor (44) are electrically connected to the controller (7).

7. A cleaning device for subway tracks according to claim 6, characterized in that: The cleaning roller (45) is hollow with a through top and a closed bottom. The cleaning roller (45) is penetrated by a drainage hole (47). The drainage hole (47) is communicated with the inner cavity of the cleaning roller (45). Each group of the cleaning mechanisms (38) further comprises two vertical shields (48). The spray head (27) is fixed on the upper part of the shield (48). Two spray pipes (49) are fixed on the upper part of the shield (48). Each spray pipe (49) is connected to the drainage pipe of the water pump (37) through a pipeline. The spray pipe (49) can spray water into the inner cavity of the cleaning roller (45).

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