Inspection robot capable of recognizing railway track device

Abstract

The invention discloses an inspection robot capable of recognizing a railway track device, and relates to the technical field of railway inspection vehicles. A sensing detection piece is arranged on one side of the machine body, a start-stop switch is arranged on the other side of the machine body, a main control board is installed in the machine body, a battery module is installed on the top of the machine body, wheel holes are formed in the two sides of the machine body, swing driving motors are installed in the wheel holes and located on the inner side of the machine body, and telescopic driving motors are installed on the outer sides of the swing driving motors; a main driving rod is installed in the center of the outer side of the telescopic driving motor, an auxiliary driving rod is installed on the side edge, a wheel rod is installed between the bottom ends of the main driving rod and the auxiliary driving rod, a driving wheel is installed on the outer side of the wheel rod, and a plurality of supporting wheels are installed at the bottom of the machine body. The driving wheels which are connected with the four connecting rods and provided with the independent hub motors are arranged on the two sides of the robot, so that the robot has the continuous independent inspection capacity on the steel rails.

Description

Technical Field

[0001] The invention relates to the technical field of railway inspection vehicles, and in particular to an inspection robot capable of identifying railway track devices. Background Art

[0002] Railway track devices generally include ballast, sleepers, rails, connecting parts, turnouts and anti-climbing devices, etc. They are the basic equipment of the railway transportation industry. Because they are exposed to nature all year round and are subjected to wind, rain, freeze-thaw and train loads, the geometric dimensions of the rails will continue to change, the roadbed and ballast will continue to deform, and the rails, connecting parts and sleepers will continue to wear. As a result, railway transportation companies need to conduct patrol and monitoring of such changes in a timely manner to discover and deal with potential safety hazards and problems and ensure the safety of train operation, which requires the use of corresponding patrol equipment.

[0003] The patent specification with publication number CN118405166B discloses a multifunctional railway inspection robot, including a vehicle body, a contact line detection sensor and a pillar limit detection sensor arranged on the vehicle body, the vehicle body is provided with a walking mechanism matched with the top surface of the rail head and a guide assembly matched with the side surfaces of the rail head; the guide assembly includes a first roller bracket and a second roller bracket; the first roller bracket and the second roller bracket are rotatably arranged at the bottom of the vehicle body and are transmission-connected with a rotary drive mechanism, and the rotary drive mechanism is arranged on the vehicle body;

[0004] This type of railway inspection robot places the robot on the rail and controls the rollers on the roller bracket to clamp the rail through a drive motor, so that the robot moves along the surface of the rail during inspection, thereby completing the mobile inspection of the rail. The shortcoming of this technical solution is that this inspection method can only be performed when the rail is not activated, but the inspection of railway tracks is a periodic routine inspection, and there are inspection requirements at all stages of the use of railway tracks, that is, this type of inspection robot cannot leave the rail for inspection. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot that can identify railway track devices, and the technical problems to be solved are as follows: the existing railway track inspection robots rely on rails to move during the inspection process and cannot be separated from the rails for inspection.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A patrol robot capable of identifying railway track devices comprises a fuselage, a sensor detection component is arranged on one side of the fuselage, and a start-stop switch is arranged on the other side, a main control board is installed inside the fuselage, a battery module is installed on the top of the fuselage, and wheel holes are opened on both sides, a swing drive motor is installed on the inner side of the fuselage in the wheel hole, a telescopic drive motor is installed on the outer side of the swing drive motor, a main drive rod is installed at the center of the outer side of the telescopic drive motor, and a secondary drive rod is installed on the side, a wheel rod is installed between the bottom ends of the main drive rod and the secondary drive rod, a drive wheel is installed on the outer side of the wheel rod, and a plurality of supporting wheels are installed at the bottom of the fuselage.

[0008] As a further solution of the present invention: the sensor detection component, the swing drive motor and the telescopic drive motor are all electrically connected to the main control board.

[0009] As a further solution of the present invention: the main control board at least includes a motion control module, a data transmission module and an application control module.

[0010] As a further solution of the present invention: a load plate is installed on the top of the fuselage, and a plurality of strip holes are evenly arranged on the load plate, and handles are arranged on both sides of the top of the fuselage.

[0011] As a further solution of the present invention: a power display screen is arranged on one side of the fuselage, the power display screen is electrically connected to the battery module, and a charging hole is arranged on the bottom of one side of the fuselage.

[0012] As a further solution of the present invention: the driving wheel is flush with the bottom surface of the supporting wheel, and the top end of the main driving rod is parallel to the load plate.

[0013] As a further solution of the present invention: one side of the auxiliary driving rod is vertical, and the supporting wheel is higher than the driving wheel.

[0014] As a further solution of the present invention: both of the two driving wheels are equipped with independently operated hub motors, and the swing driving motor is used to control the pitch angle of the fuselage.

[0015] Beneficial effects of the present invention:

[0016] 1. In the present invention, a main control board and a battery module are installed in a fuselage, telescopic drive motors connected to the main control board are installed on both sides of the fuselage, and a four-bar linkage composed of a main drive rod, a secondary drive rod, and a wheel rod is installed between the outer center and the side of the telescopic drive motor, and a drive wheel is installed on the side of the mechanism. When the main control board controls the rotation of the telescopic drive motor, the rotation direction of the main drive rod changes accordingly, which changes the height of the fuselage from the ground, so that the robot has three states: crawling, squatting and standing, and has a jumping obstacle crossing function, that is, the robot can be detached from the attachment to the rail during the inspection process, and independently perform mobile inspection at various terrains near the rail. The purpose is to enable the inspection robot to have independent inspection capabilities at any time period and any position within the service life of the rail, so as to avoid the impact of the inspection process on the normal use of the track by the train.

[0017] 2. In the present invention, a sensor detection component connected to the main control board is installed on one side of the fuselage, and a swing drive motor connected to the telescopic drive motor is installed inside the fuselage. At the same time, independent hub motors are installed in the driving wheels on both sides, wherein the swing drive motor is used to control the pitch angle of the fuselage. The two independently running hub motors can enable the robot to have the function of horizontal angle rotation by rotating the driving wheels in the same direction. The coordination of the pitch angle and the motion steering function enables the robot to have the ability to patrol along the laying direction of the rail and extend the pitch angle;

[0018] In addition to its ability to move away from the rails and across various terrains, the robot is able to independently inspect the rails through horizontal steering and vertical observation angle adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a front view of the present invention in a prostrate state;

[0022] Figure 3 It is a schematic diagram of the overall structure of the present invention in a creeping state;

[0023] Figure 4 It is a schematic diagram of the local structure of the wheel body of the present invention.

[0024] In the figure: 1. Body; 2. Sensor detection component; 3. Start-stop switch; 4. Main control board; 5. Battery module; 6. Wheel hole; 7. Swing drive motor; 8. Telescopic drive motor; 9. Main drive rod; 10. Auxiliary drive rod; 11. Wheel rod; 12. Drive wheel; 13. Support wheel; 14. Load plate; 15. Bar hole; 16. Power display screen; 17. Charging port; 18. Hub motor; 19. Handle. DETAILED DESCRIPTION

[0025] 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.

[0026] like Figures 1 to 4 As shown, a patrol robot capable of identifying railway track devices comprises a fuselage 1, a sensor detection component 2 is arranged in the middle of one side of the fuselage 1, and a start-stop switch 3 is arranged on the other side, a main control board 4 is installed at the bottom of the start-stop switch 3 of the fuselage 1, a battery module 5 is installed on the top of the fuselage 1, and wheel holes 6 are opened on both sides, a swing drive motor 7 is installed on the inner side of the fuselage 1 at the wheel hole 6, a telescopic drive motor 8 is installed on the outer side of the swing drive motor 7, a main drive rod 9 is installed at the center of the outer side of the telescopic drive motor 8, and a secondary drive rod 10 is installed on the side, a wheel rod 11 is installed between the bottom of the main drive rod 9 and the secondary drive rod 10, a drive wheel 12 is installed on the outer side of the wheel rod 11, and four support wheels 13 are installed at the bottom of the fuselage 1;

[0027] It should be noted that the sensor detection component 2, the swing drive motor 7 and the telescopic drive motor 8 are all electrically connected to the main control board 4. The sensor detection component 2 includes but is not limited to a binocular camera, two infrared laser sensors, an ultrasonic ranging sensor and a shutter camera, which are used to detect and collect data information of various components of the railway track after identifying the various components of the railway track device. The identification range includes the roadbed, sleepers, rails, connecting parts, switches and anti-climbing devices, etc. The collected data is then transmitted to the information collection center by the information module of the main control board 4. This part of the content is all existing technology. The main control board 4 includes but is not limited to a motion control module, a data transmission module and an application control module; anti-skid tires are installed on the outside of the driving wheel 12 to adapt to the inspection environment of the field rails.

[0028] A load plate 14 is arranged at the top of the fuselage 1, and a plurality of strip holes 15 are evenly arranged on the load plate 14 for carrying a control handle. When the inspection robot is in use, if an external inspection device such as a pan-tilt camera is required, the external device can be bound to the top of the inspection robot by a strap, so that the robot has the function of carrying items, and the movement of the inspection robot can be controlled by a control handle or a control console, and the controller can be carried by the load plate 14 at the top. In addition, handles 19 are arranged on both sides of the top of the fuselage 1 for carrying the robot for easy carrying and transfer.

[0029] A power display screen 16 is provided on one side of the fuselage 1, and the power display screen 16 is electrically connected to the battery module 5. A charging port 17 is provided at the bottom of one side of the fuselage 1, and the charging port 17 is used to charge the battery module 5; a power display screen 16 is provided on the fuselage 1 below the start-stop switch 3, which is used to display the remaining power of the battery module 5 in real time, so that the staff can grasp the usable time of the robot. Since the robot is used independently, a battery module 5 is installed inside the fuselage 1 for independent power supply, and the battery module 5 is charged through the charging port 17 so that the robot can adapt to its inspection work.

[0030] The working state of the robot can be divided into three states: crawling, squatting and standing. Specifically, when the bottom surface of each driving wheel 12 is flush with the bottom surface of the supporting wheel 13, it is in the crawling state. At this time, each driving wheel 12 and the supporting wheel 13 are flush with the bottom surface, and the center of gravity of the robot is low and the stability is strong (see Figure 2 ), in which the end of the main driving rod 9 away from the telescopic driving motor 8 moves upward, and its top end is parallel to the load plate 14; this state is suitable for the robot to travel to the inspection of the track at the station, because the station is flat, so it can pass quickly;

[0031] When one side of the auxiliary driving rod 10 is in a vertical state, the robot is in an upright state, and the high stability of the center of gravity of the robot is reduced, but at the same time the passability is enhanced (see Figure 1 ), in which the end of the main driving rod 9 away from the telescopic driving motor 8 moves downward; this state is suitable for the robot to inspect the track on a rugged section, so that the robot can ensure continuous inspection on the rugged section by reducing the robot's driving speed and improving its obstacle-passing ability;

[0032] When the auxiliary drive rod 10 is at an oblique angle to the horizontal plane, the robot is in a crouching state, that is, when the main drive wheel 9 rotates to the process state between the crawling state and the upright state, the robot has a certain stability and passability. This state is suitable for the robot to inspect the track on the regular section, where the regular section refers to most of the relatively flat sections adjacent to the rails. Combined with the inspection functions of the robot in the upright and crawling states, the robot can perform all-terrain inspections of the track in the off-rail state, thereby enabling it to have inspection capabilities at any stage of the track's use.

[0033] In particular, when the robot inspects an obstacle with a single high protrusion, the robot in the moving state first controls the main driving rod 9 to move to the crawling state through the telescopic driving motor 8, and then quickly controls the main driving rod 9 to switch to the upright state through the telescopic driving motor 8. The fuselage 1 will be suspended for a period of time due to its own weight and the inertia of rapid upward movement. At this time, the telescopic driving motor 8 is controlled again to control the end of the main driving rod 9 to move upward. During the short period of suspension, the driving wheel 12 at the bottom of the fuselage 1 will shrink toward the fuselage 1, further increasing the distance between the bottom surface of the driving wheel 12 and the ground. At the same time, the inertia of the robot in the lateral movement process will cause it to move a certain distance in the direction of travel, thereby realizing the jumping function of the robot, that is, the robot has the function of jumping over a single obstacle, further enhancing the robot's ability to pass and inspect various terrains.

[0034] In addition, both driving wheels 12 are equipped with independently operated hub motors 18, and the swing driving motor 7 is used to control the pitch angle of the fuselage 1; the swing driving motor 7 is connected as a whole with the telescopic driving motor 8 and is built into the fuselage 1. By driving the swing driving motor 7, the change of the pitch angle of the fuselage 1 can be controlled, and the hub motors 18 built into the driving wheels 12 on both sides of the robot are independently operated. Therefore, under the control of the main control board 4, when the driving wheels 12 on both sides are driven in the same direction, the fuselage 1 can be rotated horizontally. Combined with the pitch angle and horizontal rotation, the robot can perform multi-directional and multi-angle inspections, thereby ensuring its inspection and observation range.

[0035] It should be noted that the four-bar mechanism supporting the drive wheel 12 is composed of the central connection point and the side connection point of the telescopic drive motor 8, the main drive rod 9, the auxiliary drive rod 10 and the wheel rod 11. The telescopic drive motor 8 supports the height change, speed change and obstacle surmounting ability during the travel process, and the swing drive motor 7 and two independent hub motors 18 are used to expand the inspection observation range. Combined with the inspection capability of the sensor detection component 2, the robot realizes the derailed all-terrain multi-angle inspection function. In addition, the robot has a pitch angle adjustment range of 30 degrees, a maximum jumping height of 30 centimeters, and a maximum travel speed of 5 meters per second.

[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 track device inspection robot, comprising a body (1), characterized in that: A sensor detection component (2) is provided on one side of the fuselage (1), and a start-stop switch (3) is provided on the other side. A main control board (4) is installed inside the fuselage (1). A battery module (5) is installed on the top of the fuselage (1), and wheel holes (6) are provided on both sides. A swing drive motor (7) is installed on the inner side of the fuselage (1) in the wheel hole (6). A telescopic drive motor (8) is installed on the outer side of the swing drive motor (7). A main drive rod (9) is installed at the center of the outer side of the telescopic drive motor (8), and a secondary drive rod (10) is installed on the side. A wheel rod (11) is installed between the bottom ends of the main drive rod (9) and the secondary drive rod (10), and a drive wheel (12) is installed on the outer side of the wheel rod (11). A plurality of support wheels (13) are installed at the bottom of the fuselage (1).

2. The railway track device inspection robot according to claim 1, characterized in that: The sensor detection element (2), the swing drive motor (7) and the telescopic drive motor (8) are all electrically connected to the main control board (4).

3. The railway track device inspection robot according to claim 1, characterized in that: The main control board (4) comprises at least a motion control module, a data transmission module and an application control module.

4. The railway track device inspection robot according to claim 1, characterized in that: A load plate (14) is installed at the top of the fuselage (1), and a plurality of strip holes (15) are evenly arranged on the load plate (14). Handles (19) are arranged on both sides of the top of the fuselage (1).

5. The railway track device inspection robot according to claim 1, characterized in that: A power display screen (16) is provided on one side of the body (1), the power display screen (16) is electrically connected to the battery module (5), and a charging hole (17) is provided at the bottom of one side of the body (1).

6. The railway track device inspection robot according to claim 4, characterized in that: The driving wheel (12) is flush with the bottom surface of the supporting wheel (13), and the top end of the main driving rod (9) is parallel to the load plate (14).

7. The railway track device inspection robot according to claim 1, characterized in that: One side of the auxiliary driving rod (10) is vertical, and the supporting wheel (13) is higher than the driving wheel (12).

8. The railway track device inspection robot according to claim 1, characterized in that: Both of the two driving wheels (12) are equipped with independently operated wheel hub motors (18), and the swing driving motor (7) is used to control the pitch angle of the fuselage (1).

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