Self-walking inspection robot

Abstract

The invention discloses a self-walking inspection robot, and relates to the technical field of railway inspection, the self-walking inspection robot comprises two rails and a robot body, the number of the rails is two, each rail comprises a rail head, a rail bottom and a rail waist, and the bottom of the robot body is provided with two self-walking chassis; a plurality of flaw detection detectors are fixed to the bottom of the robot body and make contact with the surface of a railhead, and two cameras are fixed to the side face of the robot body. The cleaning device further comprises two cleaning assemblies, and one cleaning assembly cleans one rail. The cleaning assembly comprises an air injection seat, a ventilation seat, an air inlet pipe and an air pump; the air injection base is fixed to the bottom of the robot body. An air injection pipe is fixed to the position, close to the rail head, of the air injection base. The ventilation seat is fixed at the bottom of the robot main body, is positioned behind the air injection seat in the advancing direction of the robot main body, and is positioned in front of the flaw detection detector; the track can be pre-cleaned while automatic flaw detection is realized, and the flaw detection accuracy is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of railway inspection, and particularly to a self-propelled inspection robot. Background Art

[0002] The railway track is an important part of the railway line and plays a guiding role in the operation of trains. Among the many links to ensure the safety of the track, track flaw detection plays an indispensable key role. Since the track is used outdoors for a long time, it is necessary to regularly detect the track in order to timely discover potential problems of the track and take corresponding repair measures to avoid accidents. Track flaw detection is usually carried out by workers pushing flaw detection instruments along the track direction. Manual detection has low efficiency, and fatigue is likely to occur during long-term operation, affecting the accuracy of the detection results. Summary of the Invention

[0003] By providing a self-propelled inspection robot in an embodiment of the present application, the problems in the prior art that track flaw detection is usually carried out by workers pushing flaw detection instruments along the track direction, with low manual detection efficiency and fatigue prone to occur during long-term operation, are solved.

[0004] An embodiment of the present application provides a self-propelled inspection robot, including a track and a robot main body. There are two tracks, and each track includes a rail head, a rail bottom, and a rail web. Two self-propelled chassis are installed at the bottom of the robot main body;

[0005] A plurality of flaw detectors are fixed at the bottom of the robot main body, and the flaw detectors are in contact with the surface of the rail head. Two cameras are fixed on the side of the robot main body;

[0006] It further includes a cleaning component. There are two cleaning components, and one cleaning component cleans one track;

[0007] The cleaning component includes a jet seat, a ventilation seat, an air inlet pipe, and an air pump;

[0008] The jet seat is fixed at the bottom of the robot main body, and a jet pipe is fixed on the jet seat near the rail head;

[0009] The ventilation seat is fixed at the bottom of the robot main body. The ventilation seat is behind the jet seat in the advancing direction of the robot main body and in front of the flaw detector;

[0010] A gas soft bag is fixed at the bottom of the ventilation seat. The gas soft bag is communicated with the inside of the ventilation seat, and a scraping part is fixed at the bottom of the gas soft bag;

[0011] The air inlet end of the air inlet pipe is connected to the air pump, and two air pipes are fixed on the air outlet end of the air inlet pipe. One air pipe extends into the jet seat, and one air pipe extends into the ventilation seat.

[0012] Further, two branch pipes are fixedly arranged on the side surface of the air jet pipe, and the air jet ends of the branch pipes are located above the rail bottom;

[0013] The scraping part is a U-shaped plate, and a plurality of grinding strips are evenly and spacedly fixed near the rail head. After the gas soft bag expands, it wraps the rail head so that the grinding strips are in contact with the surface of the rail head.

[0014] Further, a liquid soft bag is fixedly arranged at the bottom of the gas soft bag, and the scraping part is fixedly arranged at the bottom of the liquid soft bag;

[0015] Cooling liquid is filled in the liquid soft bag, and the cooling liquid occupies two-thirds of the internal space of the liquid soft bag.

[0016] Further, the cleaning assembly further includes an ash cleaning part;

[0017] The ash cleaning part includes an air suction pipe, an air pump and a dust suction bin;

[0018] An installation space is formed inside the robot main body, and the air pump is fixedly arranged in the installation space of the robot main body;

[0019] The dust suction bin is a box body with a hollow interior, and it is fixedly arranged at the bottom of the robot main body near the air vent seat. The dust suction bin is located between the air vent seat and the flaw detector;

[0020] The air suction end of the air suction pipe is connected to the air pump, and the spare end of the air suction pipe extends into the dust suction bin. The dust suction bin is used for sucking the solid impurities after scraping.

[0021] Further, a dust suction pipe is fixedly arranged at the bottom of the dust suction bin near the rail head, and the dust suction pipe is located above the rail head;

[0022] Two extension pipes are fixedly arranged on the side surface of the dust suction pipe, and the spare ends of the extension pipes are located in front of the scraping part.

[0023] Further, a crushing blade is installed in the dust suction bin near the dust suction pipe. The crushing blade is driven by a motor to rotate, and the crushing blade is used for crushing the solid impurities;

[0024] A cleaning brush is fixedly arranged at the bottom of the dust suction pipe, and the cleaning brush is in contact with the surface of the rail head.

[0025] Further, the cleaning assembly further includes a marking part;

[0026] The marking part includes a liquid storage box and a pressure increasing pipe;

[0027] The liquid storage box is fixedly arranged at the bottom of the robot main body away from the ash cleaning part. The liquid storage box is located behind the flaw detector, and reflective paint is filled in the liquid storage box;

[0028] Two parallel nozzles are fixedly arranged at the bottom of the liquid storage box near the track, and each nozzle is located above the rail bottom;

[0029] One end of the supercharging pipe is fixed to the intake pipe, and the spare end of the supercharging pipe extends into the liquid storage box. An opening and closing valve is fixed on the supercharging pipe.

[0030] Furthermore, there are three liquid storage boxes. The three liquid storage boxes are parallel. The color of the reflective paint in one liquid storage box is red, and the red reflective paint is marked as a first-level damage.

[0031] The color of the reflective paint in one liquid storage box is yellow, and the yellow reflective paint is marked as a second-level damage.

[0032] The color of the reflective paint in one liquid storage box is blue, and the blue reflective paint is marked as a third-level damage.

[0033] Furthermore, a distribution pipe is fixed on the spare end of the supercharging pipe. Three connecting pipes are fixed on the distribution pipe. The spare end of one connecting pipe extends into one liquid storage box, and a valve is fixed on each connecting pipe.

[0034] Furthermore, a cleaning part is fixed on the side of the robot main body close to the camera, and the cleaning part is located in front of the camera;

[0035] The cleaning part includes a fixing plate and a rotating shaft;

[0036] The fixing plate is fixed on the side of the robot main body, the rotating shaft is movably connected to the bottom of the fixing plate, and a motor is fixed on the top of the fixing plate. The motor is used to drive the rotating shaft to rotate.

[0037] A circular plate is fixed on the spare end of the rotating shaft, a crushing knife is fixed on the side of the circular plate, and a brush is fixed on the bottom of the circular plate. The brush is in contact with the surface of the rail bottom.

[0038] There are four cleaning parts, and two cleaning parts clean one track.

[0039] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0040] By setting the self-propelled chassis and the cleaning component, the robot main body is driven by the self-propelled chassis to move at two tracks, and the cleaning component is used to clean the detection surface of the track. As the robot main body moves, the flaw detector can perform flaw detection along the cleaned detection surface, which can realize automatic flaw detection while pre-cleaning the track, reduce the burden of track flaw detection work, and ensure the accuracy of flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional structure diagram of the self-propelled inspection robot of the present invention;

[0042] Figure 2 It is a bottom three-dimensional structure diagram of the self-propelled inspection robot of the present invention;

[0043] Figure 3 This is a schematic structural diagram of the positional relationship between the cleaning component and the robot main body of the self - walking inspection robot of the present invention;

[0044] Figure 4 This is a schematic structural diagram of the positional relationship between the air jet seat and the air vent seat of the self - walking inspection robot of the present invention;

[0045] Figure 5 This is a schematic structural diagram of the state where the gas soft bag of the self - walking inspection robot of the present invention wraps the track after expansion;

[0046] Figure 6 This is a schematic structural diagram of the positional relationship between the flaw detector and the robot main body of the self - walking inspection robot of the present invention;

[0047] Figure 7 This is a three - dimensional structural diagram of the dust - cleaning part of the self - walking inspection robot of the present invention;

[0048] Figure 8 This is a schematic structural diagram of the positional relationship between the dust - suction bin and the air vent seat of the self - walking inspection robot of the present invention;

[0049] Figure 9 This is a schematic structural diagram of the positional relationship between the extension pipe and the scraping part of the self - walking inspection robot of the present invention;

[0050] Figure 10 This is a three - dimensional sectional structural diagram of the dust - suction bin of the self - walking inspection robot of the present invention;

[0051] Figure 11 This is a schematic diagram of the state where the solid impurities are ejected from the air jet pipe and the branch pipe of the self - walking inspection robot of the present invention;

[0052] Figure 12 This is a schematic structural diagram of the connection relationship between the marking part and the air inlet pipe of the self - walking inspection robot of the present invention;

[0053] Figure 13 This is a schematic structural diagram of the positional relationship between the liquid storage box and the flaw detector of the self - walking inspection robot of the present invention;

[0054] Figure 14 This is a schematic structural diagram of the connection relationship between the liquid storage box and the distribution pipe of the self - walking inspection robot of the present invention;

[0055] Figure 15 This is a schematic structural diagram of the positional relationship between the cleaning part and the camera of the self - walking inspection robot of the present invention.

[0056] In the figure: 100, track; 110, rail head; 120, rail bottom; 130, rail web;

[0057] 200. Robot main body; 210. Self-propelled chassis; 220. Auxiliary wheel; 230. Flaw detector; 240. Cleaning unit; 241. Fixed plate; 242. Rotating shaft; 243. Crushing knife; 244. Brush; 250. Camera;

[0058] 300. Cleaning component; 310. Jet seat; 311. Jet pipe; 312. Branch pipe;

[0059] 320. Ventilation seat; 321. Gas soft bag; 322. Scraping part; 323. Liquid soft bag; 330. Intake pipe;

[0060] 340. Dust cleaning part; 341. Suction pipe; 342. Air pump; 343. Dust collection bin; 3431. Dust collection pipe; 3432. Extension pipe; 3433. Cleaning brush; 3434. Crushing blade;

[0061] 350. Marking part; 351. Liquid storage box; 3511. Nozzle; 352. Booster pipe; 3521. Distribution pipe; 3522. Connecting pipe. Detailed implementation mode

[0062] For the convenience of understanding the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0063] It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only embodiment.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs; the terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0065] Such as Figures 1 to 11As shown in the figure, the present application proposes a self - walking inspection robot, which includes two tracks 100 and a robot body 200. The two tracks 100 are parallel, and the robot body 200 is located on the two tracks 100. The track 100 includes a rail head 110, a rail bottom 120, and a rail web 130. The rail head 110 is fixed on the top of the rail web 130, and the rail bottom 120 is fixed on the bottom of the rail web 130. The track 100 is an "I"-shaped steel plate. Two parallel self - walking chassis 210 are installed at the bottom of the robot body 200. The self - walking chassis 210 is a crawler - type mobile chassis. One self - walking chassis 210 is in contact with the surface of one rail bottom 120. The self - walking chassis 210 is used to drive the robot body 200 to move along the direction of the track 100. That is to say, the self - walking chassis 210 can drive the robot body 200 to move at the track 100, which is convenient for flaw detection of the track 100. Auxiliary wheels 220 are fixed near each self - walking chassis 210 at the bottom of the robot body 200. One auxiliary wheel 220 is in contact with the surface of one rail bottom 120. The auxiliary wheels 220 are used to increase the stability of walking. The rail web 130 is located between the self - walking chassis 210 and the auxiliary wheels 220;

[0066] A plurality of flaw detectors 230 are fixed at the bottom of the robot body 200. The number of flaw detectors 230 is 3 to 4. The flaw detectors 230 are fixed to the bottom of the robot body 200 through a folding device. When not in use, the flaw detectors 230 are turned up and stored through the folding device to prevent damage. The flaw detectors 230 are in contact with the surface of the rail head 110. The flaw detectors 230 are used for flaw detection of the track 100. The flaw detectors 230 are ultrasonic flaw detectors, and the flaw detectors 230 are electrically connected to the terminal control device, and the data detected by the flaw detectors 230 are transmitted to the terminal control device in real time. The staff observes the data changes on the terminal control device in real time to detect abnormalities in time. Two cameras 250 are fixed on the side of the robot body 200. One camera 250 is located above one track 100. The cameras 250 are electrically connected to the terminal control device. The real - time image of the track 100 is transmitted to the terminal control device through the cameras 250, and obvious surface defects such as pits and peeling on the track 100 can be accurately captured, improving the accuracy of detection;

[0067] It also includes two cleaning components 300, and one cleaning component 300 cleans one track 100;

[0068] The cleaning component 300 includes an air jet seat 310, an air vent seat 320, an air inlet pipe 330, and an air pump 342;

[0069] The jet seat 310 is a rectangular body with a hollow interior, and it is fixed at the bottom of the robot body 200 near the flaw detector 230. A jet pipe 311 is fixed on the jet seat 310 near the rail head 110. The jet pipe 311 is located above the rail head 110 and is used to clean the dust and impurities at the rail head 110.

[0070] The ventilation seat 320 is a rectangular body with a hollow interior, and it is fixed at the bottom of the robot body 200 near the jet seat 310. The ventilation seat 320 is parallel to the jet seat 310. The ventilation seat 320 is located behind the jet seat 310 in the advancing direction of the robot body 200 and in front of the flaw detector 230. That is to say, when the flaw detector 230 detects on the cleaned track 100, the accuracy of the detection data can be well guaranteed.

[0071] A gas soft bag 321 is fixed at the bottom of the ventilation seat 320. The gas soft bag 321 is communicated with the interior of the ventilation seat 320, and the connection between the gas soft bag 321 and the ventilation seat 320 is airtight. A scraping part 322 is fixed at the bottom of the gas soft bag 321, and the scraping part 322 is used to clean the surface of the rail head 110.

[0072] The air inlet end of the air inlet pipe 330 is connected to the air pump 342. Two air pipes are fixed at the air outlet end of the air inlet pipe 330. One air pipe extends into the jet seat 310, and one air pipe extends into the ventilation seat 320. After the ventilation seat 320 intakes air, the gas soft bag 321 is inflated, and the inflated gas soft bag 321 drives the scraping part 322 to contact the surface of the rail head 110, so as to better clean the track 100. A valve is fixed on the air pipe connecting the air inlet pipe 330 and the ventilation seat 320, and the valve is used to control the air intake volume in the ventilation seat 320.

[0073] It should be noted that for the track 100 that is exposed outdoors for a long time, dust and impurities are likely to accumulate on the surface of the track 100. Dust and other impurities will affect the detection effect of the flaw detector 230, resulting in misjudgment and missed detection. Therefore, when performing flaw detection, it is necessary to first clean the dust on the detection surface of the track 100 to ensure the accuracy of the detection.

[0074] Specifically, as Figures 3 to 5 shown, two branch pipes 312 are fixed on the side of the jet pipe 311. Both branch pipes 312 are communicated with the interior of the jet pipe 311. The jet ends of the branch pipes 312 are located above the rail bottom 120. That is to say, the gas ejected from the branch pipes 312 can clean the surface of the rail bottom 120, improve the accuracy of flaw detection, and at the same time ensure the clarity of the monitoring picture of the camera 250, which is convenient for observing the surface condition of the track 100.

[0075] The scraping part 322 is a U-shaped plate, and a plurality of grinding strips are fixedly arranged at equal intervals near the rail head 110. Silicon carbide particles are evenly fixed on the surface of the grinding strips, which can well scrape the solid impurities on the surface of the rail head 110. After the gas soft bag 321 expands, it wraps the rail head 110, so that the grinding strips contact the surface of the rail head 110.

[0076] It is easy to understand that while the air jet pipe 311 cleans the dust and fallen leaves on the surface of the rail head 110, it also cleans the surface of the rail bottom 120 through the branch pipe 312. At the same time, the scraping part 322 can be used to scrape the solid impurities on the detection surface of the track 100. It should be noted that when it rains, the wet sediment is thrown on the track 100 and forms solid sediment after drying. Therefore, most of the solid impurities on the track 100 are solid sediment.

[0077] Specifically, as Figure 4 and Figure 5 shown, a liquid soft bag 323 is fixed at the bottom of the gas soft bag 321, and the scraping part 322 is fixed at the bottom of the liquid soft bag 323. The liquid soft bag 323 is located between the gas soft bag 321 and the scraping part 322;

[0078] The liquid soft bag 323 is filled with a coolant, and the coolant occupies two-thirds of the internal space of the liquid soft bag 323. That is to say, there is a certain space left in the liquid soft bag 323, so that the coolant can keep shaking during the movement.

[0079] It should be noted that the liquid soft bag 323 can increase the contact force between the scraping part 322 and the rail head 110. And since the scraping part 322 is in contact with the detection surface for a long time and the temperature is high, the coolant in the liquid soft bag 323 can play a certain cooling role. As the robot main body 200 moves, the liquid in the liquid soft bag 323 keeps shaking, further increasing the contact force between the grinding strips and the rail head 110, and better scraping the solid impurities on the detection surface.

[0080] In the above-mentioned embodiment, the inspection robot is placed between two tracks 100, the angle of the flaw detector 230 is adjusted to make it contact the surface of the rail head 110, and then the self-propelled chassis 210 drives the robot main body 200 to move along the direction of the track 100 to start flaw detection of the track 100. At the same time, air is introduced into the air inlet pipe 330 through the air pump 342, and air is introduced into the air jet seat 310 and the air vent seat 320 at the same time. The air jet pipe 311 and the branch pipe 312 spray gas to clean the dust on the surface of the track 100. At the same time, the gas soft bag 321 is inflated and expands. The expanded gas soft bag 321 drives the scraping part 322 to wrap around the outside of the rail head 110. As the inspection robot moves, the areas that have not been detected are cleaned. It can not only realize the automatic inspection work, but also pre-clean the surface of the track 100, improve the accuracy of flaw detection, and ensure the accuracy of the detection results.

[0081] In some embodiments of the present application, such as Figures 6 to 11 shown, the cleaning assembly 300 further includes an ash cleaning part 340 for cleaning the solid impurities after scraping;

[0082] The ash cleaning part 340 includes an air suction pipe 341, an air pump 342 and a dust suction bin 343;

[0083] An installation space is provided inside the robot main body 200, and the air pump 342 is fixed in the installation space of the robot main body 200;

[0084] The dust suction bin 343 is a box body with a hollow interior, and is fixed at the bottom of the robot main body 200 near the air vent seat 320. The dust suction bin 343 is located between the air vent seat 320 and the flaw detector 230, and the dust suction bin 343 is located behind the scraping part 322;

[0085] The suction end of the air suction pipe 341 is connected to the air pump 342, and the free end of the air suction pipe 341 extends into the dust suction bin 343. The dust suction bin 343 is used to absorb the solid impurities after scraping. That is to say, while the air pump 342 pumps air into the air suction pipe 341, it also sends air into the air inlet pipe 330, sending the solid impurities sucked into the dust suction bin 343 into the air inlet pipe 330, and sending the solid impurities into the air jet seat 310 through the air inlet pipe 330.

[0086] It should be noted that when starting the detection, open the air pipe valve on the air vent seat 320, and send air into the air inlet pipe 330 through the air pump 342 to make the gas soft bag 321 expand and wrap the scraping part 322 around the rail head 110. Then close the air pipe valve on the air vent seat 320. At this time, the scraping part 322 does not move, and it is not easy for solid impurities to be sucked into the dust suction bin 343, and it is not easy for solid impurities to enter the gas soft bag 321. And a deflation valve is fixed on the gas soft bag 321. After the detection is completed, open the deflation valve to reset the gas soft bag 321.

[0087] Specifically, as Figures 8 to 11 shown, a dust suction pipe 3431 is fixed at the bottom of the dust suction bin 343 near the rail head 110. The dust suction pipe 3431 is internally communicated with the dust suction bin 343, and the dust suction pipe 3431 is located above the rail head 110;

[0088] Two extension pipes 3432 are fixed on the side of the dust suction pipe 3431. The free ends of the extension pipes 3432 are located in front of the scraping part 322. The solid impurities scraped by the scraping part 322 are pushed forward. The extension pipes 3432 can suck the solid impurities in front of the scraping part 322 into the dust suction bin 343, and the dust suction pipe 3431 can further clean the impurities remaining behind the scraping part 322 to ensure the cleanliness of the detection surface.

[0089] It should be noted that after the solid impurities on the rail head 110 are scraped off by the scraping part 322, they are sucked into the dust suction bin 343 through the dust suction pipe 3431 and the extension pipe 3432, and are ejected from the air injection pipe 311 and the branch pipe 312 by the air pump 342, increasing the contact force with the impurities on the surface of the track 100 and better cleaning the surface of the track 100.

[0090] Specifically, as Figures 8 to 10 shown, a crushing blade 3434 is installed near the dust suction pipe 3431 in the dust suction bin 343. The crushing blade 3434 is driven by a motor to rotate and generate suction. The crushing blade 3434 is used to crush the solid impurities. It should be noted that the solid impurities will be loose when scraped, and can form small-diameter particulate impurities after being crushed by the crushing blade 3434;

[0091] A cleaning brush 3433 is fixed at the bottom of the dust suction pipe 3431, and the cleaning brush 3433 is in contact with the surface of the rail head 110.

[0092] It is worth noting that the crushing blade 3434 can crush the scraped solid impurities, and the airflow in the dust suction pipe 3431 can drive the cleaning brush 3433 to swing, and the detection surface can be cleaned again while inhaling the impurities, thereby improving the detection efficiency.

[0093] On the basis of the above embodiment, while the air pump 342 sends air into the air inlet pipe 330, it sucks air in the air suction pipe 341, sucking the dust and impurities on the track 100 into the air suction pipe 341. The solid impurities adhered to the rail head 110 can be scraped off by the scraping part 322, and the scraped solid impurities are sucked into the dust suction bin 343 through the dust suction pipe 3431 and the extension pipe 3432. The crushing blade 3434 crushes the inhaled solid impurities, and the solid impurities are formed into smaller-diameter particles and then sent into the air inlet pipe 330;

[0094] Then, the solid particles are sprayed on the track 100 through the air injection pipe 311 and the branch pipe 312, so that the ejected solid particles collide and shear with the solid impurities adhered to the track 100 at high speed, making the solid impurities loose. Then, the scraping part 322 is used to scrape off the solid impurities, which can better clean the solid impurities on the track 100, and at the same time can increase the contact force with the dust on the track 100, better clean the detection surface, and thus improve the detection accuracy.

[0095] In some embodiments of the present application, as Figures 12 to 14 shown, the cleaning assembly 300 further includes a marking part 350;

[0096] The marking part 350 includes a liquid storage box 351 and a pressure increasing pipe 352;

[0097] The liquid storage box 351 is fixed at the bottom of the robot main body 200 away from the dust cleaning part 340. The liquid storage box 351 is located behind the flaw detector 230. The liquid storage box 351 is filled with reflective paint, and the reflective paint is used to mark the defective areas of the track 100;

[0098] Two parallel nozzles 3511 are fixed at the bottom of the liquid storage box 351 near the track 100. Each nozzle 3511 is located above the rail base 120, and the reflective paint is sprayed on the rail base 120. In this way, no matter which side of the track 100 the maintenance personnel walk on, they can see the marked signs, which are not easy to be missed. Moreover, the reflective paint can effectively reflect light at night or in a dim environment, facilitating the maintenance personnel to timely discover the marks;

[0099] One end of the pressure boosting pipe 352 is fixed to the air inlet pipe 330. The free end of the pressure boosting pipe 352 extends into the liquid storage box 351. An opening and closing valve is fixed on the pressure boosting pipe 352, and the opening and closing valve is used to control the air intake volume in the pressure boosting pipe 352. During the detection process, the air inlet pipe 330 keeps admitting air continuously;

[0100] It should be noted that when the flaw detector 230 detects a defect on the track 100, as the inspection robot moves, after the nozzle 3511 reaches the defective area, the valve on the pressure boosting pipe 352 opens, and air is admitted into the pressure boosting pipe 352 through the air inlet pipe 330, so that the reflective paint in the liquid storage box 351 is sprayed on the rail base 120 to mark the defective area;

[0101] Specifically, as Figures 12 to 14 shown, there are three liquid storage boxes 351. The three liquid storage boxes 351 are parallel. The reflective paint in one liquid storage box 351 is red, and the red reflective paint is marked as a first-level damage;

[0102] The reflective paint in one liquid storage box 351 is yellow, and the yellow reflective paint is marked as a second-level damage;

[0103] The reflective paint in one liquid storage box 351 is blue, and the blue reflective paint is marked as a third-level damage. Each liquid storage box 351 is fixed with a liquid inlet to facilitate timely replenishment of the reflective paint.

[0104] It should be noted that different grades are judged according to the change of wavelength during the detection by the flaw detector 230. The damage degree of the track 100 is divided into three levels, and different repair measures are taken for each level. The first-level damage is serious cracks and fractures, and the crack depth exceeds 9 mm, which is marked by spraying red reflective paint. The second-level damage is large cracks, spalling or deformation, and the crack depth is between 4 mm and 9 mm, which is marked by spraying yellow reflective paint. The third-level damage is minor cracks, minor wear or pits, and the crack depth is less than 4 mm, which is marked by spraying blue reflective paint. It can mark different damage degrees, save the subsequent repair time and improve the maintenance efficiency.

[0105] Specifically, as Figures 12 to 14 shown, a distribution pipe 3521 is fixed on the free end of the supercharging pipe 352. Three connecting pipes 3522 are fixed on the distribution pipe 3521. The free end of one connecting pipe 3522 extends into a liquid storage box 351. Valves are fixed on each connecting pipe 3522.

[0106] It should be noted that when spraying the reflective paint of the corresponding color according to the detected damage degree, the valve of the connecting pipe 3522 on the corresponding liquid storage box 351 is opened, and the valves of the other two connecting pipes 3522 are kept closed. Moreover, after the broken sediment enters the liquid storage box 351, it can increase the adsorption force between the reflective paint and the rail bottom 120, improving the marking effect.

[0107] On the basis of the above embodiments, when a damage is detected on the track 100 by the flaw detector 230, the valve on the corresponding connecting pipe 3522 is opened according to the detected damage degree, and the valves of the remaining connecting pipes 3522 are in a closed state. When the damage degree of the track 100 is at the second level, the valve of the connecting pipe 3522 on the liquid storage box 351 containing the yellow reflective paint is opened, so that the gas in the air inlet pipe 330 enters the liquid storage box 351, pressurizes the yellow reflective paint in the liquid storage box 351, sprays the yellow reflective paint on the rail bottom 120 through the nozzle 3511, and then closes the valve of the connecting pipe 3522. Repeat the operation for the damage detected on the track 100, which can realize marking the damaged area during the detection process of the track 100, save the time for subsequent marking, and the marked area is relatively accurate, improving the efficiency of detection and repair.

[0108] In some embodiments of the present application, specifically, as Figure 15 shown, a cleaning part 240 is fixed on the side of the robot body 200 close to the camera 250. The cleaning part 240 is located in front of the camera 250. After the cleaning part 240 sweeps away the fallen leaves and weeds in front of the track 100, it ensures that the picture taken by the camera 250 is clear;

[0109] The cleaning part 240 includes a fixing plate 241 and a rotating shaft 242;

[0110] The fixing plate 241 is fixed on the side of the robot body 200, and the rotating shaft 242 is movably connected to the bottom of the fixing plate 241. A motor is fixed on the top of the fixing plate 241, and the motor is used to drive the rotating shaft 242 to rotate.

[0111] A circular plate is fixed to the free end of the rotating shaft 242. A crushing knife 243 is fixed to the side surface of the circular plate. The crushing knife 243 is located on the side surface of the rail web 130 and is close to the rail bottom 120. The crushing knife 243 is used to crush the taller weeds on both sides of the track 100. A brush 244 is fixed to the bottom of the circular plate. The brush 244 is in contact with the surface of the rail bottom 120. The dust and fallen leaves on the rail bottom 120 can be swept off by using the brush 244.

[0112] There are four cleaning parts 240. The four cleaning parts 240 are parallel. Two cleaning parts 240 clean one track 100.

[0113] It should be noted that most of the tracks 100 are installed on the ground. Sparse weeds may appear in some areas of the tracks 100, which can easily affect the results of flaw detection and also affect the safe operation of the tracks 100. When the interval distance of the weeds is far, it takes a long time for the staff to go back and forth to clean. The crushing knife 243 provided can remove the weeds before detection.

[0114] In the above embodiment, the fallen leaves and weeds in front of the moving direction of the inspection robot are cleaned by the cleaning part 240. The rotating shaft 242 is driven by a motor to rotate. With the rotation of the rotating shaft 242, the brush 244 and the crushing knife 243 are driven to rotate by the circular plate. The fallen leaves at the rail bottom 120 are swept away by using the brush 244, and the weeds appearing in front are removed by the crushing knife 243. The crushing knife 243 approaches the roots of the weeds to remove them, and the removed weeds are kept away from the track 100 through the cleaning component 300. It can realize the removal of the fallen leaves and weeds on the track 100 before the detection of the track 100, ensure the accuracy of the flaw detection results, and at the same time reduce the work burden.

[0115] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A self-propelled inspection robot, comprising a track (100) and a robot body (200), wherein the track (100) has two tracks, and the track (100) comprises a track head (110), a track bottom (120) and a track waist (130), characterized in that: Two self-propelled chassis (210) are installed at the bottom of the robot body (200); A plurality of flaw detectors (230) are fixed on the bottom of the robot body (200), the flaw detectors (230) are in contact with the surface of the rail head (110), and two cameras (250) are fixed on the side of the robot body (200); It also includes a cleaning assembly (300), wherein there are two cleaning assemblies (300), and one cleaning assembly (300) cleans one track (100); The cleaning assembly (300) comprises an air jet seat (310), a vent seat (320), an air inlet pipe (330) and an air pump (342); The air jet seat (310) is fixed to the bottom of the robot body (200), and an air jet pipe (311) is fixed to the air jet seat (310) near the rail head (110); The ventilation seat (320) is fixed to the bottom of the robot body (200), the ventilation seat (320) is located behind the air injection seat (310) in the forward direction of the robot body (200), and the ventilation seat (320) is located in front of the flaw detector (230); A gas soft bag (321) is fixed at the bottom of the ventilation seat (320), the gas soft bag (321) is communicated with the interior of the ventilation seat (320), and a scraping part (322) is fixed at the bottom of the gas soft bag (321); The air inlet end of the air inlet pipe (330) is connected to the air pump (342), and two air pipes are fixed on the air outlet end of the air inlet pipe (330), one air pipe extends into the air injection seat (310), and the other air pipe extends into the ventilation seat (320).

2. The self-propelled inspection robot according to claim 1, characterized in that: Two branch pipes (312) are fixed on the side of the jet pipe (311), and the jet ends of the branch pipes (312) are located above the rail bottom (120); The scraping portion (322) is a U-shaped plate and has a plurality of grinding strips fixed at even intervals near the rail head (110). After the gas bag (321) is inflated, it wraps around the rail head (110) so that the grinding strips are in contact with the surface of the rail head (110).

3. The self-propelled inspection robot according to claim 1, characterized in that: A liquid soft capsule (323) is fixed at the bottom of the gas soft capsule (321), and a scraping portion (322) is fixed at the bottom of the liquid soft capsule (323); The liquid bladder (323) is filled with cooling liquid, and the cooling liquid occupies two thirds of the internal space of the liquid bladder (323).

4. The self-propelled inspection robot according to claim 1, characterized in that: The cleaning assembly (300) further includes a dust cleaning unit (340); The dust cleaning section (340) comprises an air suction pipe (341), an air pump (342) and a dust suction bin (343); An installation space is provided inside the robot body (200), and the air pump (342) is fixed in the installation space of the robot body (200); The dust collection bin (343) is a box body with a hollow interior, and is fixed at the bottom of the robot body (200) near the ventilation seat (320), and the dust collection bin (343) is located between the ventilation seat (320) and the flaw detector (230); The suction end of the suction pipe (341) is connected to the air pump (342), and the free end of the suction pipe (341) extends into the dust suction bin (343), and the dust suction bin (343) is used to absorb the scraped solid impurities.

5. The self-propelled inspection robot according to claim 4, characterized in that: A dust suction pipe (3431) is fixed at the bottom of the dust suction bin (343) near the rail head (110), and the dust suction pipe (3431) is located above the rail head (110); Two extension tubes (3432) are fixed to the side of the dust suction tube (3431), and the free ends of the extension tubes (3432) are located in front of the scraping part (322).

6. The self-propelled inspection robot according to claim 4, characterized in that: A crushing blade (3434) is installed in the dust suction bin (343) near the dust suction pipe (3431), and the crushing blade (3434) is driven to rotate by a motor, and the crushing blade (3434) is used to crush solid impurities; A cleaning brush (3433) is fixed at the bottom of the dust suction pipe (3431), and the cleaning brush (3433) is in contact with the surface of the rail head (110).

7. The self-propelled inspection robot according to claim 1, characterized in that: The cleaning assembly (300) further comprises a marking portion (350); The marking portion (350) comprises a liquid storage box (351) and a pressure boosting pipe (352); The liquid storage box (351) is fixed at the bottom of the robot body (200) away from the dust cleaning part (340), the liquid storage box (351) is located behind the flaw detector (230), and reflective paint is filled in the liquid storage box (351); Two parallel nozzles (3511) are fixed at the bottom of the liquid storage box (351) near the track (100), and each nozzle (3511) is located above the track bottom (120); One end of the boosting pipe (352) is fixed to the air intake pipe (330), the remaining end of the boosting pipe (352) extends into the liquid storage box (351), and an opening and closing valve is fixed on the boosting pipe (352).

8. The self-propelled inspection robot according to claim 7, characterized in that: There are three liquid storage boxes (351), the three liquid storage boxes (351) are parallel, the reflective paint in one liquid storage box (351) is red, and the red reflective paint is marked as first-level damage; The reflective paint in one of the liquid storage boxes (351) is yellow in color, and the yellow reflective paint indicates secondary damage; The color of the reflective paint in one of the liquid storage boxes (351) is blue, and the blue reflective paint marks the third level of damage.

9. The self-propelled inspection robot according to claim 7, characterized in that: A distribution pipe (3521) is fixed to the free end of the boost pipe (352), and three connecting pipes (3522) are fixed to the distribution pipe (3521). The free end of a connecting pipe (3522) extends into a liquid storage box (351), and a valve is fixed to each connecting pipe (3522).

10. The self-propelled inspection robot according to claim 1, characterized in that: A cleaning unit (240) is fixed on the side of the robot body (200) close to the camera (250), and the cleaning unit (240) is located in front of the camera (250); The cleaning part (240) comprises a fixing plate (241) and a rotating shaft (242); The fixing plate (241) is fixed to the side of the robot body (200), the rotating shaft (242) is movably connected to the bottom of the fixing plate (241), and a motor is fixed to the top of the fixing plate (241), and the motor is used to drive the rotating shaft (242) to rotate; A circular plate is fixed to the free end of the rotating shaft (242), a crushing knife (243) is fixed to the side of the circular plate, a brush (244) is fixed to the bottom of the circular plate, and the brush (244) is in contact with the surface of the rail bottom (120); There are four cleaning parts (240), and two cleaning parts (240) clean one track (100).

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