Track system for movement of inspection robot at bottom of truck

Abstract

The invention relates to the technical field of railway freight train technical inspection, in particular to a rail system for movement of a wagon bottom inspection robot, which comprises a robot and a robot rail, a groove is formed in the surface of the robot rail, a rail clamping device is arranged at the bottom of the robot, and a polyurethane outer ring bearing is mounted on one side of the rail clamping device. The polyurethane outer ring bearing is located in the groove, and the rail clamping device is connected to the surface of a robot rail in a clamped mode. When a robot inspects the bottom of a preset truck on the robot track, the polyurethane outer ring bearing is always located in a groove in the surface of the robot track, and the robot is prevented from derailing; the non-metal outer ring bearings of the rail clamping devices make contact with the side faces of the robot rails when the robot moves, so that the non-metal outer ring bearings of the rail clamping devices are located in the grooves in the side faces of the two robot rails all the time, the robot cannot be separated from the robot rails, the robot is prevented from being damaged due to derailing, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of railway freight train inspection, and particularly to a track system for the movement of an inspection robot under the freight car body. Background Art

[0002] In the past, the technical inspection of railway freight trains relied on manual inspection. However, the manual inspection records were simple, the manual operation was laborious and heavy, and the efficiency was low. Under the existing conditions, the manual inspection method can be replaced by the inspection method of robot patrol inspection. In this way, two groups of robot tracks are designed, and the robot travels on the robot track to drive the robot to inspect the bottom of the freight car.

[0003] However, most of the locations where the robot tracks are designed are in the suburbs. The robot tracks are easily eroded by external forces such as rain, snow, and sand and dust weather, making the track surface smooth or uneven, thus affecting the robot's grip and causing the robot to derail when traveling on the robot track, and further affecting the accuracy of the inspection results. Summary of the Invention

[0004] The present invention provides a track system for the movement of an inspection robot under the freight car body, which is used to solve the problems mentioned in the above technology: when the robot moves, the non-metallic outer ring bearing of the rail clamping device contacts the side surface of the robot track, so that the non-metallic outer ring bearing of the rail clamping device is always in the groove on the side surface of the two robot tracks, thereby preventing the robot from getting off the robot track, avoiding damage to the robot due to derailment, and improving the working efficiency of the robot; the outer shape of the robot track is made into an I-shaped steel rail, and the top is designed to be arc-shaped, thereby reducing the probability of sundries accumulating on the robot track and reducing the impact on the robot operation.

[0005] The present invention provides a track system for the movement of an inspection robot under the freight car body, comprising:

[0006] It includes a robot and a robot track. The surface of the robot track is provided with a groove. A rail clamping device is arranged at the bottom of the robot. One side of the rail clamping device is installed with a polyurethane outer ring bearing, and the other side is installed with a roller bearing. The polyurethane outer ring bearing is located inside the groove, and the rail clamping device is clamped on the surface of the robot track;

[0007] When the robot inspects the preset bottom of the freight car on the robot track, the polyurethane outer ring bearing is always in the groove on the surface of the robot track to prevent the robot from derailing. When the robot is impacted by the outside world, the polyurethane outer ring bearing and the roller bearing jointly bear the outside impact to prevent the robot from getting off the robot track.

[0008] Preferably, the top of the robot track is arc-shaped to reduce the accumulation of sundries on the robot track.

[0009] Preferably, the rail clamping device has a concave structure, and the concave structure of the rail clamping device is adapted to the arc-shaped structure at the top of the robot rail, so as to improve the stability of the connection between the rail clamping device and the robot rail.

[0010] Preferably, a mileage correction device is provided on the robot rail. The number of the mileage correction devices is set to be multiple groups and is linearly distributed along the robot rail. The mileage correction device includes a substrate, and a magnet and a tag are arranged on the top of the substrate. The magnet and the tag are respectively electrically connected to the robot.

[0011] Preferably, a magnetic sensor for sensing the position of the magnet and an RFID sensor for sensing the position of the tag are arranged inside the robot. After the magnetic sensor senses the position of the magnet and the RFID sensor senses the position of the tag, the position of the robot is determined through the magnet and the tag, so as to improve the running accuracy of the robot.

[0012] Preferably, the substrate is fixed on the robot rail by bolts, and a groove hole is arranged on the top of the substrate. The tag is arranged inside the groove hole.

[0013] Preferably, the hubs at the bottom of the robot include flat hubs and concave hubs, and the flat hubs and the concave hubs are respectively slidably clamped on the outer surface of the upper end of the robot rail.

[0014] Preferably, a fixing plate is arranged below the robot rail. The fixing plate is threadedly connected with a metal sleeve for prolonging the service life of the sleeper by bolts, and a threaded hole is arranged inside the metal sleeve.

[0015] Preferably, the number of the metal sleeves is set to be multiple groups and is located inside the sleeper, and the metal sleeves are laid at intervals.

[0016] Preferably, the metal sleeve is made of stainless steel material to improve the wear resistance and corrosion resistance of the metal sleeve.

[0017] Compared with the prior art, the advantages of the present invention are as follows:

[0018] 1. When the robot moves, the non-metallic outer ring bearing of the rail clamping device contacts the side surface of the robot rail, so that the non-metallic outer ring bearing of the rail clamping device is always in the grooves on the side surfaces of the two robot rails, thereby preventing the robot from detaching from the robot rail, avoiding damage caused by derailment of the robot, and improving the working efficiency of the robot;

[0019] 2. The outer shape of the robot rail is made into an I-shaped steel rail, and the top is designed to be arc-shaped, so as to reduce the probability of sundries accumulating on the robot rail and reduce the influence on the running of the robot;

[0020] 3. Detect the relative position through the magnet on the mileage correction device. The RFID sensor senses the label on the mileage correction device on the robot track to determine the absolute position, reducing the robot's running error from a long-distance error to a short-distance error, thereby improving the running accuracy of the robot.

[0021] 4. Through the cooperation of the flat wheel hub and the concave wheel hub, when the robot runs on two sets of robot tracks, fine adjustment can be carried out, reducing the error that occurs during the installation of the track and alleviating the instability of the robot's running caused by the installation error.

[0022] 5. By prefabricating the metal sleeve inside the concrete sleeper when pouring the sleeper, the influence of the need for drilling on the life of the sleeper is reduced. The method of laying the embedded metal sleeve sleeper is used to reduce the influence of using chemical anchor bolts on the sleeper on the life of the sleeper. At the same time, the robot track is fixed through the fixing plate, similar to fixing the railway track to the sleeper. By laying the embedded metal sleeve sleepers at intervals, the fixed points of the robot track are increased, improving the smoothness of the robot track, and thus enhancing the running speed of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in more detail below based on the embodiments and with reference to the accompanying drawings.

[0024] Figure 1 is the overall structure diagram of a track system for the movement of a truck bottom inspection robot according to the present invention;

[0025] Figure 2 is the structural diagram of the clamping track device cooperating with the robot track in the embodiment of the present invention;

[0026] Figure 3 is the structural diagram of two sets of clamping track devices cooperating with two robot tracks in the embodiment of the present invention;

[0027] Figure 4 is the structural diagram of the mileage correction device cooperating with the robot track in the embodiment of the present invention;

[0028] Figure 5 is the structural diagram of the mileage correction device in the embodiment of the present invention;

[0029] Figure 6 is the structural diagram of the flat wheel hub cooperating with the robot track in the embodiment of the present invention;

[0030] Figure 7 is the structural diagram of the concave wheel hub cooperating with the robot track in the embodiment of the present invention;

[0031] Figure 8 is the structural diagram of the embedded metal sleeve sleeper cooperating with the robot track in the embodiment of the present invention.

[0032] Reference Signs:

[0033] 1. Robot; 2. Robot track; 3. Rail clamping device; 4. Polyurethane outer ring bearing; 5. Roller bearing; 6. Mileage correction device; 7. Substrate; 8. Fixed plate; 9. Magnet; 10. Label; 11. Flat hub; 12. Concave hub; 13. Metal sleeve. Detailed implementation manners

[0034] To more clearly illustrate the overall concept of the present invention, the following will be described in detail by way of examples in combination with the accompanying drawings of the specification.

[0035] It should be noted that many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0036] In addition, in the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0037] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. However, indicating a direct connection means that there is no connection relationship constructed through an excessive structure between the two connected main bodies, and only a connection structure is used to connect and form a whole. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means 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 expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0039] An orbital system for the movement of an inspection robot for the bottom of a freight car, comprising:

[0040] It includes a robot 1 and a robot track 2. The surface of the robot track 2 is provided with a groove. A rail clamping device 3 is arranged at the bottom of the robot 1. A polyurethane outer ring bearing 4 is installed on one side of the rail clamping device 3, and a roller bearing 5 is installed on the other side. The polyurethane outer ring bearing 4 is located inside the groove, and the rail clamping device 3 is clamped on the surface of the robot track 2;

[0041] When the robot 1 inspects the preset bottom of the freight car on the robot track 2, the rail clamping device 3 at the bottom of the robot 1 is clamped on the robot track 2. At the same time, the polyurethane outer ring bearing 4 is always in the groove on the surface of the robot track 2 to prevent the robot 1 from derailing. However, when there are typhoons or cyclones, the airflow around the robot 1 is large, causing the robot 1 to be impacted, resulting in elastic deformation of the polyurethane outer ring bearing 4 and causing derailment. The added roller bearing 5 can be used to avoid elastic deformation of the polyurethane outer ring bearing 4. Thus, the polyurethane outer ring bearing 4 and the roller bearing 5 work together to prevent the robot 1 from detaching from the robot track 2;

[0042] The top of the robot track 2 is arc-shaped to reduce the accumulation of debris on the robot track 2;

[0043] The rail clamping device 3 has a concave structure, and the concave structure of the rail clamping device 3 is adapted to the arc-shaped structure at the top of the robot track 2. The concave shape and the arc-shaped structure at the top of the robot track 2 are more convenient for the rail clamping device 3 to be clamped on the surface of the robot track 2;

[0044] A mileage correction device 6 is arranged on the robot track 2. The number of the mileage correction devices 6 is set to be multiple groups and is linearly distributed along the robot track 2. The mileage correction device 6 includes a substrate 7. The substrate 7 is installed above the robot track 2, and a magnet 9 and a label 10 are arranged on the top of the substrate 7;

[0045] The robot 1 is provided with a magnetic sensor for sensing the position of the magnet 9 and an RFID sensor for sensing the position of the tag 10. After the magnetic sensor senses the position of the magnet 9 and the RFID sensor senses the position of the tag 10, the position of the robot 1 is determined by the magnet 9 and the tag 10, so as to improve the operation accuracy of the robot 1.

[0046] The base plate 7 is fixed on the robot track 2 by bolts, a groove hole is arranged on the top of the base plate 7, and the label 10 is arranged inside the groove hole;

[0047] The wheel hub at the bottom of the robot 1 includes a flat wheel hub 11 and a concave wheel hub 12, and the flat wheel hub 11 and the concave wheel hub 12 are respectively slidably engaged with the outer surface of the upper end of the robot track 2;

[0048] A fixing plate 8 is provided below the robot track 2, and a metal sleeve 13 for extending the life of the sleeper is threadedly connected to the fixing plate 8 through bolts, and a threaded hole is provided inside the metal sleeve 13;

[0049] The number of metal sleeves 13 is set to multiple groups, and they are located inside the sleepers, and the metal sleeves 13 are laid at intervals;

[0050] The metal sleeve 13 is made of stainless steel to improve the high temperature resistance and corrosion resistance of the metal sleeve 13 .

[0051] Embodiment 1:

[0052] Figure 1 A track system for the movement of a truck underbody inspection robot is provided in an embodiment of the present disclosure, such as Figure 1 , Figure 2 , Figure 3 As shown:

[0053] It comprises a robot 1 and a robot track 2, wherein the surface of the robot track 2 is provided with a groove, a track clamping device 3 is provided at the bottom of the robot 1, a polyurethane outer ring bearing 4 is installed on one side of the track clamping device 3, and a roller bearing 5 is installed on the other side, the polyurethane outer ring bearing 4 is located inside the groove, and the track clamping device 3 is clamped on the surface of the robot track 2;

[0054] When the robot 1 is inspecting the preset truck bottom on the robot track 2, the track-locking device 3 at the bottom of the robot 1 is clamped on the robot track 2, and the polyurethane outer ring bearing 4 is always in the groove on the surface of the robot track 2 to prevent the robot 1 from derailing. However, when there is a typhoon or cyclone, the airflow around the robot 1 is large, which causes the robot 1 to be impacted, resulting in elastic deformation of the polyurethane outer ring bearing 4 and derailment. The added roller bearing 5 can be used to prevent the polyurethane outer ring bearing 4 from elastic deformation, so that the polyurethane outer ring bearing 4 and the roller bearing 5 work together to prevent the robot 1 from derailing from the robot track 2.

[0055] The top of the robot track 2 is arc-shaped to reduce the accumulation of debris on the robot track 2.

[0056] The rail clamping device 3 has a concave structure, and the concave structure of the rail clamping device 3 is adapted to the arc-shaped structure at the top of the robot track 2. The concave shape and the arc-shaped structure at the top of the robot track 2 make it easier for the rail clamping device 3 to be clamped on the surface of the robot track 2, improving the stability of the connection between the rail clamping device 3 and the robot track 2.

[0057] During typhoon and cyclone weather, typhoons and cyclones are usually accompanied by extremely high wind speeds. These high-speed airflows will generate direct impact forces on the robot 1, which may cause the robot to displace or topple. At the same time, the turbulence caused by strong winds will make the airflows become unstable, increasing the irregular impacts received by the robot 1 and affecting its stability and control accuracy; there is a significant air pressure difference between the center and the periphery of typhoons and cyclones. This air pressure gradient will generate strong winds, causing impacts on the robot 1. The rapidly changing air pressure may lead to internal air pressure imbalance in the robot 1, affecting the normal operation of its sensors and electronic components;

[0058] Furthermore, the wind pressure generated by strong winds will exert forces on the surface of the robot 1, which may cause structural deformation or damage. The continuous action of the wind may cause vibrations in the robot 1, affecting the stability of its mechanical structure. And typhoon and cyclone weather is usually accompanied by a large number of flying objects (such as branches, debris, etc.). These objects may hit the robot under the action of strong winds, causing physical damage.

[0059] In this solution, when the impact on the robot is too large, the other side bearing can prevent the polyurethane outer ring bearing 4 from undergoing elastic deformation and derailing. Through the action of the roller bearing 5, the elastic deformation of the polyurethane outer ring bearing 4 is reduced, ensuring the stable operation of the robot 1 on the track, sharing the impact force, reducing the load on the single-sided polyurethane outer ring bearing 4, improving the overall impact resistance performance, sharing the impact force, reducing the wear of the polyurethane outer ring bearing 4, extending the service life, preventing elastic deformation and derailing, reducing the failure and replacement frequency of the polyurethane outer ring bearing 4, preventing elastic deformation, ensuring the positioning and movement accuracy of the robot 1, and reducing the complex maintenance work caused by derailing and deformation.

[0060] The polyurethane outer ring bearing 4 is usually made of polyurethane material, and the inner ring and rolling elements are mostly metals (such as steel or stainless steel). Polyurethane can resist a variety of chemical substances and is suitable for humid or corrosive environments. The elasticity of polyurethane helps to absorb vibrations and reduce noise, improving the running smoothness. Polyurethane has excellent wear resistance, extending the bearing life. Especially under high-speed or heavy-load conditions, some polyurethanes have self-lubricating properties, reducing the need for additional lubrication, lowering the maintenance cost, and being able to maintain performance within a wide temperature range, suitable for a variety of environments.

[0061] The roller bearing 5 can be made of a variety of materials. The most common bearing materials, which have high hardness, wear resistance and fatigue resistance, are suitable for most applications. Stainless steel materials can also be used. Stainless steel materials have excellent corrosion resistance and are suitable for humid or corrosive environments, such as food processing and medical devices. Metal-plastic composite materials can also be used, combining the strength of metal and the self-lubricity of plastic, which is suitable for applications that require low friction and self-lubrication, such as automotive parts.

[0062] In short, the choice of bearing material depends on the specific application requirements. Common materials include steel, plastic, composite materials, copper alloys and special materials. Each material has its unique advantages and applicable scenarios.

[0063] In this solution, two sets of track clamping devices 3 are added to the robot 1. Non-metallic outer ring bearings are installed on the inner side of the track clamping device 3, and bearings are installed on the outer side. When the robot 1 moves, the non-metallic outer ring bearings of the track clamping device 3 contact the sides of the robot track 2, so that the non-metallic outer ring bearings of the track clamping device 3 are always in the grooves on the sides of the two robot tracks 2, thereby preventing the robot from detaching from the robot track 2 and avoiding damage to the robot 1 due to derailment; a series of improvements have overall improved the working efficiency of the robot 1.

[0064] In the embodiment of the present invention, the polyurethane outer ring bearing 4 is easily damaged and has a low price. When it is damaged, it can be replaced, and the cost is relatively small.

[0065] In this solution, the shape of the robot track 2 is designed to be similar to that of a steel rail. The robot track 2 is generally in an I-shaped configuration, and the top of the robot track 2 is arc-shaped. Debris falling on the track will slide to both sides of the track, reducing the accumulation of debris on the track and reducing the impact on the operation of the robot 1.

[0066] The robot track 2 is designed in an I-shaped configuration similar to that of a steel rail, with an arc-shaped top, which has the following advantages:

[0067] Automatic debris cleaning: The arc-shaped top allows debris to slide naturally to both sides, reducing accumulation and lowering the maintenance frequency;

[0068] Enhanced stability: The I-shaped design provides better support, improving the stability of the track and the robot, especially suitable for heavy loads or high-speed operation;

[0069] Reduced wear: The sliding of debris reduces the chance of contact with the robot 1, reducing the wear of the track and the robot 1 and extending the service life;

[0070] Improved safety: Reducing debris accumulation reduces the risk of robot derailment or failure, ensuring safe operation;

[0071] Simplified maintenance: The arc-shaped design facilitates cleaning and maintenance, reducing downtime and improving efficiency;

[0072] Adapt to various environments: This design is applicable to various environments, especially suitable for places where sundries are likely to appear, such as factories or warehouses;

[0073] Optimize drainage: The arc-shaped top helps with drainage, preventing water accumulation from affecting the track and the operation of the robot.

[0074] During use, the rail clamping device 3 at the bottom of the robot 1 is clamped to the robot track 2. The polyurethane outer ring bearing 4 on one side of the rail clamping device 3 is placed in the groove on the surface of the robot track 2, and the roller bearing 5 on the other side assists in rolling when the robot 1 walks, avoiding direct sliding friction with the robot track 2. At the same time, while ensuring that the robot 1 does not derail, the robot 1 moves forward along the direction of the robot track 2 for inspection.

[0075] In this solution, the polyurethane material has a low friction coefficient and good wear resistance. Placing it in the groove can effectively reduce the direct friction with the track surface, extend the service life of the polyurethane outer ring bearing and the track. The roller bearing assists in rolling when the robot walks, avoiding direct sliding friction, and further reducing friction and wear;

[0076] The polyurethane outer ring bearing 4 placed in the groove can provide an accurate guiding function, ensuring the stable operation of the robot 1 on the track and reducing deviation and shaking;

[0077] The assisted rolling of the roller bearing 5 makes the walking of the robot 1 smoother, reduces the running resistance, and improves the overall working efficiency;

[0078] The polyurethane outer ring bearing 4 placed in the groove can effectively prevent the robot 1 from derailing during operation, improving the running safety;

[0079] The assisted rolling of the roller bearing 5 provides stable support, reduces unexpected situations during operation, and ensures the safety of the robot 1;

[0080] In summary, this design significantly improves the overall performance of the rail clamping device 3 and the robot 1 through various advantages such as reducing friction and wear, improving running stability, reducing noise, extending the equipment life, adapting to complex environments, and improving running efficiency and safety.

[0081] Embodiment 2:

[0082] Based on Embodiment 1, as Figure 4 、 Figure 5 shown:

[0083] The robot track 2 is provided with a mileage correction device 6. The number of the mileage correction devices 6 is set to multiple groups and is linearly distributed along the robot track 2. The mileage correction device 6 includes a substrate 7, and a magnet 9 and a label 10 are arranged on the top of the substrate 7;

[0084] Inside the robot 1, there are a magnetic sensor for sensing the position of the magnet 9 and an RFID sensor for sensing the position of the tag 10. After the magnetic sensor senses the position of the magnet 9 and the RFID sensor senses the position of the tag 10, the position of the robot 1 is determined by the magnet 9 and the tag 10 to improve the running accuracy of the robot 1.

[0085] The substrate 7 is fixed on the robot track 2 by bolts. A groove hole is provided at the top of the substrate 7, and the tag 10 is arranged inside the groove hole.

[0086] Generally, a magnetic sensor is a device that can detect a magnetic field or a change in the magnetic field. It is commonly used to measure physical quantities such as position, speed, and angle. The main types are detecting the magnetic field through the Hall effect for measuring position, speed, and current, detecting the change in the magnetic field using the magnetoresistive effect for high-precision position and angle measurement, and controlling the switch state through the magnetic field for proximity switches and position detection. In terms of application fields, it can be used to detect wheel speed, crankshaft position, etc., and can also be used to detect the position and movement of mechanical components. It can also be used in consumer electronics, such as the electronic compass and flip detection in smartphones.

[0087] An RFID sensor is a device that combines RFID (radio frequency identification) technology and sensor functions. It can wirelessly transmit identification information and environmental data. Its components include a chip and an antenna for storing identification information. Some tags 10 also integrate sensors for reading and writing tag 10 information and for transmitting radio frequency signals between the tag 10 and the reader. The application fields can be in the logistics and supply chain direction for goods tracking and inventory management; in retail for anti-theft and inventory management of goods; in healthcare for patient identification and equipment tracking; and in intelligent transportation for vehicle identification and toll systems.

[0088] In the embodiment of the present invention, the mileage correction device 6 is arranged on the robot track 2. Starting from the 0 point at the end of the robot track 2, one is arranged at a fixed distance interval. Inside the robot 1, there are a magnetic sensor and an RFID sensor, both of which are non-contact sensors. When the robot 1 runs, the magnetic sensor senses the magnet 9 on the mileage correction device 6 on the robot track 2 to detect the relative position, and the RFID sensor senses the tag 10 on the mileage correction device 6 on the robot track 2 to determine the absolute position. The running error of the robot 1 is reduced from a long-distance error to a short-distance error, thereby improving the running accuracy of the robot 1. The magnet 9 and the tag 10 are fixed at relative positions on the substrate 7 by screws. The tag 10 is placed inside the groove hole of the substrate 7, and the magnet 9 is directly placed on the substrate 7. The substrate 7 is fixed at a relative position on the robot track 2 by the fixing plate 8, bolts, and nuts. Increasing the mileage correction device 6 at a fixed distance improves the running accuracy of the robot 1.

[0089] Embodiment Three:

[0090] Based on Embodiment 2, as Figure 6 , Figure 7 shown:

[0091] The hubs at the bottom of the robot 1 include a flat hub 11 and a concave hub 12, and the flat hub 11 and the concave hub 12 are respectively slidably clamped on the outer surface of the upper end of the robot track 2.

[0092] In the present invention, the positions of the rail clamping device 3, the flat hub 11, and the concave hub 12 are staggered front and back. There are two rail clamping devices 3 at the front and back, and four hubs are arranged in the middle. Two on one side are flat wheels, and two on the other side are concave wheels.

[0093] In this solution, the outer shape of the hub of the robot 1 is designed as one flat wheel and one concave wheel. Since the top of the robot track 2 is arc-shaped and is internally tangent to the arc of the concave wheel groove, the robot 1 is guided by the concave wheel during movement. The outer diameter of the arc of the robot track 2 is smaller than the size of the inner groove of the flat wheel, and the distance range between the center of the robot track 2 on the flat wheel side and the center of the robot track 2 on the groove side is relatively large. Then, the center error can be increased when installing the robot track 2, and the error redundancy range during the installation of the robot track 2 can be improved.

[0094] Embodiment 4:

[0095] Based on Embodiment 4, as Figure 8 shown:

[0096] A fixing plate 8 is arranged below the robot track 2. The fixing plate 8 is threadedly connected with a metal sleeve 13 for extending the service life of the sleeper through a bolt. A threaded hole is arranged inside the metal sleeve 13;

[0097] The number of the metal sleeves 13 is set to be multiple groups, and they are located inside the sleeper, and the metal sleeves 13 are laid at intervals;

[0098] The metal sleeve 13 is made of stainless steel material to improve the high temperature resistance and corrosion resistance of the metal sleeve 13.

[0099] The metal sleeve 13 is made of stainless steel material, which has excellent corrosion resistance and is suitable for humid, rainy or chemically corrosive environments. By adding alloying elements, its corrosion resistance is improved, and its service life is extended. It has high strength, can withstand the heavy load and impact during train operation, reduces deformation and damage, has good wear resistance, can resist the wear during long-term use, is suitable for the railway environment with high load and frequent use, has strong durability, reduces the replacement and maintenance frequency, and reduces the maintenance cost. It has stable performance under extreme conditions such as high temperature and low temperature, ensures the reliability of the railway system, has good fatigue resistance, can withstand long-term cyclic loads, reduces the risk of fatigue cracks and fractures, has a smooth surface, is not easy to accumulate dust and dirt, and is convenient for cleaning and maintenance.

[0100] When fixing the sleeper to the robot track 2 in the past, the anchor bolt method was generally used. First, holes need to be drilled in the sleeper and the track, and then an air pump or brush is used to remove the dust and debris in the holes to ensure the cleanliness of the hole walls and ensure that the holes meet the design requirements. The depth and diameter need to match the specifications of the anchor bolts. Subsequently, according to the environmental conditions (such as temperature and humidity) and load requirements, a suitable chemical anchor bolt glue is selected. The glue is injected into the holes using a special syringe, usually starting from the bottom of the hole, ensuring that the glue fills about 2 / 3 of the hole to avoid air bubbles. The anchor bolt is slowly screwed into the hole to ensure that the glue is evenly distributed and fills the gap. After the anchor bolt is inserted, it is adjusted to the correct position to ensure that it is perpendicular to the surface of the track. According to the glue instructions, wait for enough time for it to fully cure. The curing time is affected by the environmental temperature and humidity. During the curing period, avoid touching or moving the anchor bolt. After the glue is cured, use nuts or washers to fix the track to the anchor bolt to ensure a firm connection. Confirm that the connection between the track and the sleeper is stable and make fine adjustments if necessary. After the installation is completed, conduct a load test to ensure that the connection can withstand the expected load. Regularly check the connection between the anchor bolts and the track to ensure long-term stability.

[0101] In the present invention, by designing a sleeper with a pre-embedded metal sleeve 13, the metal sleeve 13 is precast in the cement sleeper during the pouring of the sleeper and is cast integrally with the sleeper, which does not affect the steel bar structure inside the sleeper. Similar to the cement pre-embedded anchor bolts, there is no damage to the sleeper caused by secondary drilling, reducing the impact on the lifespan of the sleeper by the method of drilling. The method of laying the sleeper with the pre-embedded metal sleeve 13 reduces the impact on the lifespan of the sleeper by using chemical anchor bolts on the sleeper; the inside of the pre-embedded metal sleeve 13 is a threaded hole, and the fixing plate 8 is fixed through the threaded connection of the bolt. The robot track 2 is fixed through the fixing plate 8, similar to fixing the railway track to the sleeper. By the method of laying the pre-embedded metal sleeve 13 sleepers at intervals, the fixing points of the robot track 2 are increased, the smoothness of the robot track 2 is improved, and thus the running speed of the robot 1 is increased.

[0102] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0103] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A track system for the movement of a truck underbody inspection robot, comprising a robot and a robot track, characterized in that: The robot track surface is provided with a groove, the bottom of the robot is provided with a track clamping device, a polyurethane outer ring bearing is installed on one side of the track clamping device, and a roller bearing is installed on the other side, the polyurethane outer ring bearing is located inside the groove, and the track clamping device is clamped on the robot track surface; When the robot is on the robot track to inspect the preset truck bottom, the polyurethane outer ring bearing is always in the groove on the surface of the robot track to prevent the robot from derailing. When the robot is subjected to external impact, the polyurethane outer ring bearing and the roller bearing jointly withstand the external impact to prevent the robot from leaving the robot track.

2. The track system for the movement of the truck underbody inspection robot according to claim 1, characterized in that: The top of the robot track is arc-shaped to reduce the accumulation of debris on the robot track.

3. The track system for the movement of the truck underbody inspection robot according to claim 1, characterized in that: The track clamping device is a concave structure, and the concave structure of the track clamping device is adapted to the arc structure at the top of the robot track to improve the stability of the clamping connection between the track clamping device and the robot track.

4. The track system for the movement of the truck underbody inspection robot according to claim 1, characterized in that: A mileage correction device is arranged on the robot track. The number of the mileage correction devices is set in multiple groups and is linearly distributed along the robot track. The mileage correction device includes a substrate. A magnet and a label are arranged on the top of the substrate. The magnet and the label are electrically connected to the robot respectively.

5. The track system for the movement of the truck underbody inspection robot according to claim 4, characterized in that: The robot is internally provided with a magnetic sensor for sensing the position of a magnet and an RFID sensor for sensing the position of a tag. The magnetic sensor senses the position of the magnet, and the RFID sensor senses the position of the tag. Then, the position of the robot is determined by the magnet and the tag to improve the operation accuracy of the robot.

6. The track system for the movement of the truck underbody inspection robot according to claim 4, characterized in that: The base plate is fixed on the robot track by bolts, a groove hole is arranged on the top of the base plate, and the label is arranged inside the groove hole.

7. The track system for the movement of the truck underbody inspection robot according to claim 1, characterized in that: The wheel hub at the bottom of the robot comprises a flat wheel hub and a concave wheel hub, and the flat wheel hub and the concave wheel hub are respectively slidably engaged with the outer surface of the upper end of the robot track.

8. The track system for the movement of the truck underbody inspection robot according to claim 1, characterized in that: A fixing plate is arranged below the robot track, and a metal sleeve for extending the service life of the sleeper is threadedly connected to the fixing plate through bolts, and a threaded hole is arranged inside the metal sleeve.

9. The track system for the movement of the truck underbody inspection robot according to claim 8, characterized in that: The number of the metal sleeves is set to multiple groups and is located inside the sleepers, and the metal sleeves are laid at intervals.

10. The track system for the movement of the truck underbody inspection robot according to claim 8, characterized in that: The metal sleeve is made of stainless steel to improve the wear resistance and corrosion resistance of the metal sleeve.

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