Track obstacle removing inspection robot

Abstract

The invention discloses a track obstacle clearing inspection robot which comprises a track car body, a movable driving assembly and an obstacle clearing mechanical arm, can automatically move on a track and execute the task of clearing obstacles, and monitors the track in real time through a visual sensor and a control module. The robot drives the shovel head body to deflect on the surface of the track through the electric driving rod to remove obstacles on the surface of the track; meanwhile, the moving driving assembly enables the robot to stably move forwards along the track, and adhered impurities on the surface of the track are cleaned through the design of a spiral roller shaft and an inclined plane; the obstacle removing mechanical arm can accurately clamp and remove obstacles on the track, so that the use efficiency of the track is greatly improved; in addition, the robot has remote control and real-time monitoring functions, remote monitoring and operation of the working state are achieved through an image return system, and safety and high efficiency of operation are ensured. According to the invention, the obstacle clearing and inspection work of the track is automatic and intelligent, and the working efficiency of track maintenance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of track obstacle removal equipment, and particularly to a track obstacle removal and inspection robot. Background Art

[0002] With the development of railway transportation and urban rail transit, the daily maintenance work of tracks has become particularly important. Traditional track obstacle removal and inspection methods usually rely on manual operation and mechanical equipment. Existing traditional track cleaning and obstacle removal technical solutions usually use manual cleaning tools and manual inspection equipment to remove obstacles on the track surface and inspect the track. These technical solutions often have problems such as low efficiency, unstable working environment, and high labor costs.

[0003] In traditional track cleaning and obstacle removal operations, track cleaning mainly relies on manual labor. Handheld tools or mechanized equipment are used to clean debris on the track surface, such as stones, garbage, weeds, etc. Most of these devices are manually driven or powered by mechanized motors, and the cleaning process is slow and inefficient. The cleaning of the track surface is usually carried out manually by removing track obstacles one by one, which is a cumbersome process and has a high labor intensity. For relatively complex and narrow track environments, the cleaning effect of traditional equipment is limited, and it is difficult to achieve the expected working efficiency.

[0004] In terms of obstacle removal, traditional solutions also rely on manual labor for track inspection and obstacle removal. The cleaning process often requires specialized staff to manually operate the robotic arm or carry out manual relocation, which increases the investment in human resources and potential safety hazards. Especially in high-risk working environments, there are significant personnel safety risks.

[0005] In view of this, in order to research and improve the existing problems, a track obstacle removal and inspection robot is provided to solve the current problems. The purpose is to achieve the goal of solving problems and improving practical value through this technology. Summary of the Invention

[0006] The present invention provides a track obstacle removal and inspection robot, aiming to perform obstacle removal, inspection, and maintenance on tracks through efficient automation technology. The robot can automatically move on the track, perform the task of cleaning obstacles, and monitor the track using visual sensors and a control module. Through innovative structures and intelligent control, the present invention effectively improves the working efficiency of track maintenance, reduces labor costs, and increases the safety of operation. The following is the detailed technical solution of the present invention: A track obstacle removal and inspection robot, comprising: a rail vehicle body, a shovel head body is rotatably installed on one side of the rail vehicle body, and an electric drive rod for driving the deflection movement of the shovel head body is provided on the surface of the rail vehicle body. A control module is provided inside the rail vehicle body, and the rail vehicle body is fixedly installed on the surface of a mobile drive assembly; A mobile drive assembly includes a frame, a power module and a track slide, wherein a clamping strip is provided on the inner side of the track slide, and a ball pulley is fixedly installed on the end of the clamping strip, a mobile seat is fixedly installed on the top surface of the inner cavity of the track slide, and two spiral rollers are rotatably installed on the inner side of the mobile seat, and the movement of the track slide on the track surface is realized by the rotation of the spiral rollers; The obstacle clearing robot arm comprises a main arm, a secondary arm, a servo clamp and a visual sensor. The main arm is rotatably mounted on the surface of a rail vehicle body, and a reduction motor and a lead screw are provided on the surface of the rail vehicle body for driving the main arm to deflect. The secondary arm is rotatably mounted on one end of the main arm, an output rod is provided on the inner side of the secondary arm, and a servo gear for driving the servo clamp to deflect is fixedly connected to the output end.

[0007] The track obstacle removal inspection robot of the present invention can realize fully automatic obstacle removal, cleaning and inspection tasks on the track through the application of multiple innovative technologies, greatly improving work efficiency. The cooperation of the shovel head body and the electric drive rod enables the robot to accurately remove obstacles on the track surface, while the design of the track slide and the spiral roller ensures that the robot can stably and smoothly move on the track and effectively remove impurities on the track surface.

[0008] In a preferred example, the present invention can be further configured as follows: the surface of the rail slide is provided with a sleeve groove for sleeve connection to the rail surface, and both ends of the rail slide are inclined structures for oblique shoveling cleaning of the rail surface. Through the inclined structure and sleeve groove design, the rail slide can better adapt to the unevenness of the rail surface, and clean the debris on the rail through the oblique shoveling structure, thereby improving the cleaning accuracy and efficiency.

[0009] In a preferred example, the present invention can be further configured as follows: the clamping strip is a flexible strip, and the clamping strip and the ball pulley are evenly arranged on both sides of the inner wall of the track slide, for clamping and sliding against the track surface. The design of the flexible strip clamping strip can be in close contact with the track surface, thereby providing a stable support force and traction force for the track slide during the movement of the robot, effectively enhancing the cleaning effect and avoiding inaccurate work caused by the instability of the robot.

[0010] In a preferred example, the present invention can be further configured as follows: a motor for driving the spiral roller to rotate is fixedly connected to the end of the moving seat, and a spiral blade is provided on the surface of the spiral roller, and the edge of the spiral blade is in the shape of a scraper blade, which is used for cleaning and moving the track surface. The scraper blade design of the spiral blade can effectively remove attachments and impurities on the track surface to ensure the cleanliness of the track surface. Through the rotation of the spiral roller, the robot can not only clean, but also clean debris on the track surface while moving.

[0011] In a preferred embodiment, the present invention can be further configured as follows: a socket groove for installing a power module is provided on the surface of the frame, and the power module is detachably installed on the surface of the frame. The detachable installation design of the power module makes the equipment more convenient during maintenance and replacement, providing higher operation flexibility. At the same time, it ensures the stable installation and replacement of the power module, enhancing the continuous performance of the robot during long-term operation.

[0012] In a preferred embodiment, the present invention can be further configured as follows: the surface of the shovel head body is inclined, and the front end of the rail vehicle body is also inclined. The inclined design enables the shovel head body to more efficiently contact the track surface and clean obstacles, reducing the friction during cleaning and thus improving the cleaning efficiency. The inclined design at the front end of the rail vehicle body allows the robot to better adapt to different angles of the track, enhancing the traveling stability.

[0013] In a preferred embodiment, the present invention can be further configured as follows: a rotary servo is provided at the end of the main arm for driving the sub-arm to rotate. The output rod is of an electric drive rod structure, and the input end of the obstacle clearing robotic arm is electrically connected to a servo control module inside the control module. The output rod with an electric drive rod structure provides high driving ability, ensuring that the coordinated actions between the main arm and the sub-arm can execute tasks quickly and accurately. The servo control module inside the control module adjusts the actions of the robotic arm in real time, improving the flexibility and working efficiency of the robot.

[0014] In a preferred embodiment, the present invention can be further configured as follows: the control module is equipped with a remote control module and an image transmission module connected to a vision sensor. The remote control function and the image transmission function enable the operator to grasp the cleaning situation of the track in real time and make timely adjustments. Through the real-time images of the vision sensor, the control module can remotely adjust the operation state of the robot according to the on-site data, improving the safety and efficiency of the operation.

[0015] By integrating multiple innovative technologies, the present invention provides an efficient, stable, and safe track obstacle clearing and inspection robot. The robot can not only automatically clean and remove obstacles on the track but also enhance the intelligent and automated level of track maintenance through an intelligent control system and a remote monitoring function, significantly improving the working efficiency, reducing the labor cost and potential safety hazards, and having broad application prospects. The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0016] The beneficial effects achieved by the present invention are as follows: 1. In the present invention, the design of the track slider in the mobile driving component enables the robot to move forward smoothly and stably along the track surface, ensuring the continuous progress of the cleaning work. The track slider is in close contact with the track surface through the clamping strip and the ball pulley, providing firm friction and traction to ensure the smooth driving of the robot. In addition, through rotation, the spiral roller shaft can drive the robot to clean along the track. At the same time, the end face inclined surface design of the spiral roller shaft and the track slider can effectively remove the impurities adhering to the track surface, ensuring the cleanliness of the track.

[0017] 2. In the present invention, through the flexible cooperation of the main arm and the sub-arm, the servo gripper can accurately grasp and remove obstacles such as sundries and waste on the track, significantly improving the utilization efficiency of the track. The linkage design of the sub-arm and the main arm enables the robotic arm to cover a large working range and can flexibly adjust the angle and force of the gripper to adapt to different types of obstacles, reducing manual intervention and improving the automation level of the obstacle removal operation.

[0018] 3. In the present invention, through automated cleaning and obstacle removal, the robot reduces the need for manual inspection and cleaning, thereby reducing the operating costs of the enterprise for track maintenance. At the same time, the robot has remote control and real-time monitoring functions, which helps to reduce the safety hazards brought by manual intervention. Through an efficient work process and technical support, the safety of the robot can be ensured, reducing the occurrence of accidents and improving the safety of the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 is a schematic diagram of the surface structure of the rail vehicle body of an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the mobile driving component of an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of the obstacle removal robotic arm of an embodiment of the present invention; Figure 5 is a schematic diagram of a partial cross-section structure of the mobile seat of an embodiment of the present invention; Figure 6 is a schematic diagram of the internal structure of the track slider of an embodiment of the present invention; Figure 7 is a schematic diagram of the internal structure of the mobile seat of an embodiment of the present invention.

[0020] Reference Signs: 100, rail vehicle body; 110, shovel head body; 120, control module; 111, electric drive rod; 200, Mobile driving component; 210, Frame; 220, Power supply module; 230, Track slider; 240, Moving seat; 231, Clamping strip; 232, Ball pulley; 241, Screw roller shaft; 300, Obstacle clearing robotic arm; 310, Main arm; 320, Sub-arm; 330, Servo gripper; 340, Vision sensor; 311, Reduction motor; 312, Lead screw; 321, Output rod; 322, Steering gear. Specific embodiments

[0021] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0022] It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention.

[0023] The following combines the attached Figures 1 - 7 Describe an orbital obstacle clearing and inspection robot provided by some embodiments of the present invention.

[0024] Embodiment 1 An orbital obstacle clearing and inspection robot specifically includes: a rail vehicle main body 100, a mobile driving component 200, and an obstacle clearing robotic arm 300. In this embodiment, by adopting the structure of an integrated control module 120 and a driving component, it is ensured that the robot can effectively clear obstacles on the track and perform inspection tasks.

[0025] The rail vehicle main body 100 is the basic structure of the robot, on which an electric drive rod 111 is installed for driving the shovel head body 110 to perform a deflection movement. A control module 120 is provided inside the rail vehicle main body 100 for receiving external instructions and controlling the operation of each module. The rail vehicle main body 100 is fixedly installed on the mobile driving component 200 to ensure that the robot can move freely on the track.

[0026] The mobile driving component 200 includes a frame 210, a power supply module 220, and a track slider 230. Among them, the track slider 230 contacts the track surface and is provided with a clamping strip 231 and a ball pulley 232, which provide a cleaning force by clamping and sliding during track cleaning. A moving seat 240 is installed inside the track slider 230, and the rotation of a screw roller shaft 241 is used to move on the track surface. A power supply module 220 is provided on the frame 210 to provide the required power.

[0027] The obstacle-clearing robotic arm 300 mainly consists of a main arm 310, a sub-arm 320, a servo gripper 330, and a vision sensor 340. The main arm 310 is connected to the rail vehicle body 100 through a reduction motor 311 and a lead screw 312, and the main arm 310 drives the sub-arm 320 to perform cleaning work. The servo gripper 330 is installed on the sub-arm 320 and is driven by a servo motor 322 to deflect for grasping and removing obstacles on the track. The vision sensor 340 is installed on the sub-arm 320, responsible for capturing images of the track surface and transmitting them back to the control module 120 for subsequent judgment and processing.

[0028] Embodiment 2 This embodiment provides another track obstacle-clearing and inspection robot, which adopts different driving methods and additional functions to adapt to different working environments and track conditions.

[0029] The rail vehicle body 100 in this embodiment is the same as that in Embodiment 1, and still uses an electric drive rod 111 to drive the shovel body 110 to deflect. The internal control module 120 of the rail vehicle body 100 is still responsible for the coordinated control of the entire robot system to ensure the precise execution of each component.

[0030] The mobile drive assembly 200 in this embodiment is similar to that in Embodiment 1. In addition to the vehicle frame 210 and the power module 220, a track slide 230 with higher flexibility is specially designed. The surface of the track slide 230 is provided with a socket groove for sleeving the track surface, and both ends are in a bevel structure for oblique shoveling and cleaning of the track surface. The power module 220 in the vehicle frame 210 also provides a more efficient power management system to ensure that the robot can maintain high-efficiency operation ability during long-term inspection.

[0031] The obstacle-clearing robotic arm 300 is similar to that in Embodiment 1. The main arm 310 and the sub-arm 320 are linked through a servo motor 322 to control the deflection action of the servo gripper 330. This embodiment particularly strengthens the function of the vision sensor 340. By connecting to a remote control system, the function of remote operation of the robot is realized. The control module 120 can transmit real-time images back to the operation center through the network, enabling more precise command and control of the track inspection through remote monitoring.

[0032] The mobile seat 240 is optimized in this embodiment, making it more adaptable and capable of moving more precisely on different types of track surfaces.

[0033] The surface of the mobile seat 240 in this embodiment adopts an efficient motor system, which can provide stronger power to drive the track slide 230 to move quickly and perform track cleaning work. The motor is connected to a spiral roller shaft 241 and drives the cleaning device through rotation, with relatively high cleaning efficiency.

[0034] The above embodiments demonstrate different application scenarios and specific design details of the track obstacle removal and inspection robot of the present invention. Embodiment 1 focuses on the realization of the basic obstacle removal function of the robot, while Embodiment 2 further enhances the adaptability of the robot in complex environments, especially enhancing the remote control and image transmission functions for remote operation and real-time monitoring.

[0035] Through these two embodiments, the present invention provides an efficient and flexible track obstacle removal and inspection robot, which is suitable for different types of track cleaning and maintenance work.

[0036] Working principle and usage process of the present invention: The present invention provides a track obstacle removal and inspection robot, aiming to remove obstacles, inspect and maintain the track through efficient automation technology. The robot can automatically move on the track, perform the task of cleaning obstacles, and use visual sensors and control modules to monitor the track. The following is a detailed description of the working principle and usage process of the present invention: The rail vehicle main body 100 is the basic support structure of the present invention. The electric drive rod 111 drives the shovel head body 110 to deflect on the track surface, adjusting the deflection angle of the shovel head body 110. The shovel head body 110 can effectively remove obstacles on the track surface, such as stones, weeds, etc. through deflection. This movement is coordinated and controlled by the control module 120.

[0037] The mobile drive assembly 200 enables the rail vehicle main body 100 to move freely on the track. It mainly consists of a vehicle frame 210, a power supply module 220, and a track slide 230. The track slide 230 contacts the track surface and provides a stable contact force through the clamping strip 231 and the ball pulley 232, enabling the robot to move smoothly. The track slide 230 also includes a built-in spiral roller shaft 241. The rotation of this roller drives the robot to slide on the track, and at the same time, the rotation of the spiral roller shaft 241 and the inclined surface of the end face of the track slide 230 clean the impurities adhered to the track surface, thereby realizing the functions of cleaning the track and inspection.

[0038] The obstacle removal robotic arm 300 is one of the core functions of the present invention. The obstacle removal robotic arm 300 includes a main arm 310, a sub-arm 320, a servo gripper 330, and a visual sensor 340. The main arm 310 is driven by a reduction motor 311 and a lead screw 312, and the sub-arm 320 swings flexibly under the drive of the main arm 310. The servo gripper 330 is responsible for gripping and moving obstacles on the track, such as sundries, waste, etc.

[0039] The visual sensor 340 is installed on the sub-arm 320 and is responsible for capturing the image information of the track in real time. The image data is transmitted to the control module 120 through the image transmission system for remote control.

[0040] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0041] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A track obstacle removal inspection robot, characterized in that: include: Railcar body (100); A mobile drive assembly (200) comprises: a vehicle frame (210), a power module (220), and a track slide (230) located on both sides of the vehicle frame (210), wherein a clamping strip (231) is provided on the inner side of the track slide (230), and a ball pulley (232) is fixedly mounted on the end of the clamping strip (231), a mobile seat (240) is fixedly mounted on the top surface of the inner cavity of the track slide (230), and two spiral rollers (241) are rotatably mounted on the inner side of the mobile seat (240), and the movement of the track slide (230) on the track surface is achieved by the rotation of the spiral rollers (241); The obstacle removal mechanical arm (300) comprises: a main arm (310), a secondary arm (320), a servo clamp (330), and a visual sensor (340) fixed to the surface of the secondary arm (320); the main arm (310) is rotatably mounted on the surface of a rail vehicle body (100); a reduction motor (311) and a lead screw (312) are provided on the surface of the rail vehicle body for driving the main arm (310) to deflect; the secondary arm (320) is rotatably mounted on one end of the main arm (310); an output rod (321) is provided on the inner side of the secondary arm (320); and a steering gear (322) for driving the servo clamp (330) to deflect is fixedly connected to the output end.

2. A track obstacle clearing inspection robot according to claim 1, characterized in that: The surface of the track slide (230) is provided with a sleeve groove for sleeve-connecting to the track surface, and both ends of the track slide (230) are inclined structures for oblique shoveling cleaning of the track surface.

3. A track obstacle clearing inspection robot according to claim 1, characterized in that: The clamping strips (231) and the ball pulleys (232) are evenly arranged on both sides of the inner wall of the track slide seat (230) and are used to clamp, abut and slide against the track surface.

4. A track obstacle clearing inspection robot according to claim 1, characterized in that: A motor for driving the spiral roller shaft (241) to rotate is fixedly connected to the end of the movable seat (240); a spiral blade is provided on the surface of the spiral roller shaft (241); and the edge of the spiral blade is in the shape of a scraper blade, which is used for cleaning and moving the track surface.

5. A track obstacle clearing inspection robot according to claim 1, characterized in that: The surface of the vehicle frame (210) is provided with a sleeve groove for installing a power module (220), and the power module (220) is detachably installed on the surface of the vehicle frame (210).

6. A track obstacle clearing inspection robot according to claim 1, characterized in that: A shovel head body (110) is rotatably mounted on one side of the rail vehicle body, and an electric drive rod (111) for driving the shovel head body (110) to deflect is provided on the surface of the rail vehicle body, a control module (120) is provided inside the rail vehicle body, the rail vehicle body is fixedly mounted on the surface of the mobile drive assembly (200), the surface of the shovel head body (110) is in the shape of an inclined surface, and the front end of the rail vehicle body (100) is in the shape of an inclined surface.

7. The track obstacle clearing inspection robot according to claim 1, characterized in that: The end of the main arm (310) is provided with a rotary steering gear for driving the auxiliary arm (320) to rotate, the output rod (321) is an electric drive rod structure, and the input end of the obstacle removal mechanical arm (300) is electrically connected to a servo control module located inside the control module (120).

8. The track obstacle clearing inspection robot according to claim 6, characterized in that: The control module (120) comprises a remote control module and an image feedback module connected to the visual sensor (340).

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