Rail type inspection robot with automatic obstacle cleaning function

Abstract

The invention relates to the technical field of track cleaning, in particular to a track type inspection robot with an automatic obstacle cleaning function, which comprises a track robot body, a mounting shell, two mounting blocks, an adjusting screw rod and a driving unit, each mounting block comprises a mounting block body, a sweeping structure and an impurity discharging structure, the two mounting blocks are slidably connected with the mounting shell and located on the two sides of the mounting shell, the adjusting screw is provided with two sections of opposite threads and is in threaded connection with the two mounting blocks, the driving unit is used for driving the adjusting screw to rotate, and the sweeping structure is arranged on one side of the mounting block body. And the impurity discharging structure is arranged on one side of the sweeping structure and used for discharging impurities generated during cleaning. Impurities can be conveniently scraped and discharged out of the track, so that continuous cleaning can be realized, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of track cleaning, and particularly to an orbital inspection robot with automatic obstacle cleaning. Background Art

[0002] Coal mine track inspection refers to regularly checking the track system in the mine through manual or automated equipment to ensure its safety and reliability. Traditionally, this work was done by workers who had to carefully check the physical condition of the tracks, the tightness of the fittings, and key parameters such as the gauge. With technological progress, intelligent inspection robots are now increasingly used for this task. These robots can operate autonomously in harsh environments, are equipped with various sensors for detecting track defects, environmental changes, and potential hazards, and can feed back data to the control center in real time, thus improving the inspection efficiency and accuracy while also reducing the manpower requirement and operation risk. However, there may be obstacles on the track that affect the movement of the robot.

[0003] The prior art provides a cleaning device. When the cleaning device of the track robot moves forward, the side wall scraper assembly scrapes the sludge on the side wall onto the bottom surface of the track; the bottom scraper assembly scrapes the sludge on the bottom and accumulates it on the bottom surface of the track together with the sludge scraped by the side scraper, and moves forward together with the bottom scraper. There is a brush on the cleaning assembly to sweep the sludge accumulated on the bottom surface of the track to the dust collecting plate. It is applicable to cleaning the I-beam track in the coal mine.

[0004] However, the sludge scraped by the above device can only be accumulated on the dust collecting plate and left inside the track, which is not convenient for discharging. When there is a lot of sludge, the sludge accumulates at a position close to the scraper, which will reduce the cleaning ability of the scraper. Summary of the Invention

[0005] The purpose of the present invention is to provide an orbital inspection robot with automatic obstacle cleaning, aiming to conveniently scrape off impurities and discharge them outside the track, so as to continuously clean and improve the cleaning efficiency.

[0006] To achieve the above object, the present invention provides an orbital inspection robot with automatic obstacle cleaning, which includes an orbital robot body, a mounting shell, two mounting blocks, an adjusting screw, and a driving unit. The mounting shell is disposed on one side of the orbital robot body. The mounting blocks include a mounting block body, a cleaning structure, and an impurity discharging structure. The two mounting blocks are slidably connected to the mounting shell and are located on both sides of the mounting shell. The adjusting screw has two opposite threads and is threadedly connected to the two mounting blocks. The driving unit is used to drive the adjusting screw to rotate. The cleaning structure is disposed on one side of the mounting block body for contacting the track and cleaning it. The impurity discharging structure is disposed on one side of the cleaning structure for discharging the impurities generated during cleaning.

[0007] Wherein, the mounting block further includes a lock, which is disposed on one side of the mounting block body for locking the position of the mounting block body.

[0008] Wherein, the cleaning structure includes a side scraper, a side compression spring, a first driving unit, and a first support block. The side scraper is rotatably connected to the mounting block body and is located on the side of the mounting block body. The first support block is slidably disposed on one side of the side scraper. The first driving unit is used to drive the first support block to move. The side compression spring is disposed between the side scraper and the first support block.

[0009] Wherein, the cleaning structure further includes a bottom scraper, a bottom compression spring, a second support block, and a second driving unit. The bottom scraper is rotatably connected to the mounting block body and is located at the bottom of the mounting block body. The second support block is slidably disposed on one side of the bottom scraper. The second driving unit is used to drive the second support block to slide. The bottom compression spring is disposed between the bottom scraper and the second support block.

[0010] Wherein, the cleaning structure further includes a vision control module, which is used to obtain the impurity condition of the track and adjust the pressures of the bottom compression spring and the side compression spring on the bottom scraper and the side scraper based on the impurity condition.

[0011] Wherein, the vision control module includes an illumination unit, an image acquisition unit, a sludge detection unit, and a control unit. The illumination unit is used to illuminate the track. The image acquisition unit is used to take a photo of the track to obtain a track image. The sludge detection unit is used to detect the sludge in the track image and classify the sludge level. The control unit is used to adjust the first driving unit and the second driving unit based on the sludge level classification to adjust the pressures of the bottom compression spring and the side compression spring on the bottom scraper and the side scraper.

[0012] Among them, the side scraper includes a scraper body and a scraping blade, and the scraping blade is detachably connected to the scraper body and contacts the track.

[0013] Among them, the impurity discharge structure includes an aggregate box, a discharge pipe, and a slurry pump. The aggregate box is arranged on one side of the bottom scraper. The discharge pipe is arranged in the aggregate box and extends to the outside of the track. The slurry pump is arranged on the discharge pipe.

[0014] An orbital inspection robot with automatic obstacle cleaning according to the present invention. The robot includes a robust and durable orbital robot body, which is the action basis of the entire system, responsible for carrying all other components and performing autonomous navigation on the track. The installation shell is cleverly arranged on one side of the orbital robot body as a carrier for the cleaning device and other related components. Two installation blocks are key parts of this cleaning system. They are connected to the installation shell by a sliding connection method, so that their positions relative to the track can be adjusted according to the track to better perform cleaning. In order to achieve coordinated movement between the two installation blocks, the robot is equipped with an adjustment screw, and the drive unit drives the adjustment screw to rotate. The screw has two sections of opposite threads, and the two installation blocks will move inwards or outwards synchronously as needed, so as to precisely control the cleaning range.

[0015] The cleaning structure is directly installed on one side of the installation block body. Its design is to closely contact the track surface and use a rotating brush, a scraper, or other appropriate cleaning tools to remove obstacles such as dust, debris, or snow on the track. Adjacent to the cleaning structure is the impurity discharge structure, whose function is to collect and remove the waste and impurities generated during the cleaning process, keep the track clean and tidy, and prevent secondary pollution.

[0016] In this way, the orbital inspection robot can efficiently complete the automatic cleaning task of the track while ensuring its own stable operation, greatly improving the safety and efficiency of rail transit. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a structural diagram of an orbital inspection robot with automatic obstacle cleaning according to the present invention.

[0019] Figure 2 It is a right-side structural diagram of an orbital inspection robot with automatic obstacle cleaning according to the present invention.

[0020] Figure 3 It is the left - hand structure diagram of an orbital inspection robot with automatic obstacle cleaning according to the present invention.

[0021] Figure 4 It is the transverse sectional structure diagram of an orbital inspection robot with automatic obstacle cleaning according to the present invention.

[0022] Figure 5 It is the longitudinal sectional structure diagram of an orbital inspection robot with automatic obstacle cleaning according to the present invention.

[0023] Orbital robot body 101, mounting shell 102, mounting block 103, adjusting screw 104, driving unit 105, lock 106, side scraper 107, side compression spring 108, first driving unit 109, first support block 110, bottom scraper 111, bottom compression spring 112, second support block 113, second driving unit 114, lighting unit 116, image acquisition unit 117, sludge detection unit 118, control unit 119, scraper body 120, scraping blade 121, aggregate box 122, discharge pipe 123, mud pump 124, dividing plate 125, lifting plate 126, partition plate 127, lifting unit 128, lifting plate body 129, extension plate 130, sliding plate 131, pushing member 132. Detailed implementation manners

[0024] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation of the present invention.

[0025] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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. In addition, in the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0026] Please refer to Figures 1 to 5, the present invention provides an orbital inspection robot with automatic obstacle cleaning, including an orbital robot body 101, a mounting shell 102, two mounting blocks 103, an adjusting screw 104 and a driving unit 105. The mounting shell 102 is arranged on one side of the orbital robot body 101. The mounting blocks 103 include a mounting block 103 body, a cleaning structure and an impurity discharging structure. The two mounting blocks 103 are slidably connected to the mounting shell 102 and are located on both sides of the mounting shell 102. The adjusting screw 104 has two sections of opposite threads. The adjusting screw 104 is threadedly connected to the two mounting blocks 103. The driving unit 105 is used to drive the adjusting screw 104 to rotate. The cleaning structure is arranged on one side of the mounting block 103 body for contacting the track and cleaning. The impurity discharging structure is arranged on one side of the cleaning structure for discharging the impurities generated by cleaning.

[0027] In this embodiment, the robot includes a robust orbital robot body 101, which is the movement basis of the whole system, responsible for carrying all other components and performing autonomous navigation on the track. The mounting shell 102 is ingeniously arranged on one side of the orbital robot body 101 as a carrier for the cleaning device and other related components. The two mounting blocks 103 are key parts of this cleaning system. They are connected to the mounting shell 102 in a sliding connection manner, so that their relative positions to the track can be adjusted according to the track for better cleaning. To achieve the coordinated movement between the two mounting blocks 103, the robot is equipped with an adjusting screw 104, and the driving unit 105 drives the adjusting screw 104 to rotate. The screw has two sections of opposite threads, and the two mounting blocks 103 will move inwards or outwards synchronously as needed, so as to precisely control the cleaning range.

[0028] The cleaning structure is directly mounted on one side of the mounting block 103 body. Its design is to closely contact the track surface and use a rotating brush, a scraper or other appropriate cleaning tools to remove obstacles such as dust, debris or snow on the track. Adjacent to the cleaning structure is the impurity discharging structure, whose function is to collect and remove the waste and impurities generated during the cleaning process, keep the track clean and tidy, and prevent secondary pollution.

[0029] In this way, the orbital inspection robot can efficiently complete the automatic cleaning task of the track while ensuring its own stable operation, greatly improving the safety and efficiency of rail transit.

[0030] The mounting block 103 further includes a lock 106, and the lock 106 is arranged on one side of the mounting block 103 body for locking the position of the mounting block 103 body.

[0031] The mounting block 103 further includes a precisely designed lock 106, which is ingeniously arranged on one side of the main body of the mounting block 103 and is mainly used to accurately and reliably lock the position of the main body of the mounting block 103.

[0032] The cleaning structure includes a side scraper 107, a side pressing spring 108, a first driving unit 109, and a first support block 110; the side scraper 107 is rotatably connected to the main body of the mounting block 103 and is located on the side of the main body of the mounting block 103, the first support block 110 is slidably arranged on one side of the side scraper 107, the first driving unit 109 is used to drive the first support block 110 to move, and the side pressing spring 108 is arranged between the side scraper 107 and the first support block 110.

[0033] The side scraper 107 is connected to the main body of the mounting block 103 by a rotational connection and is located on the side of the main body of the mounting block 103, enabling it to flexibly respond to changes in the track surface. The first support block 110 is slidably arranged on one side of the side scraper 107, and the first driving unit 109 is responsible for driving the first support block 110 to move, thereby adjusting the position and pressure of the side scraper 107. The side pressing spring 108 is ingeniously placed between the side scraper 107 and the first support block 110 to provide the necessary elastic force, enabling the side scraper 107 to closely fit the edge of the track while also adapting to slight unevenness or curvature of the track.

[0034] The cleaning structure further includes a bottom scraper 111, a bottom pressing spring 112, a second support block 113, and a second driving unit 114. The bottom scraper 111 is rotatably connected to the main body of the mounting block 103 and is located at the bottom of the main body of the mounting block 103. The second support block 113 is slidably arranged on one side of the bottom scraper 111, the second driving unit 114 is used to drive the second support block 113 to slide, and the bottom pressing spring 112 is arranged between the bottom scraper 111 and the second support block 113.

[0035] The bottom scraper 111 is also rotatably connected to the main body of the mounting block 103, but its position is at the bottom of the main body of the mounting block 103, directly facing the track surface. The second support block 113 is slidably arranged on one side of the bottom scraper 111, and the second driving unit 114 controls the sliding of the second support block 113, thereby adjusting the pressure of the bottom scraper 111 on the track. The bottom pressing spring 112 is located between the bottom scraper 111 and the second support block 113 and plays a similar role to the side pressing spring 108, that is, maintaining good contact between the bottom scraper 111 and the track surface to ensure the cleaning effect.

[0036] The cleaning structure further includes a vision control module, which is configured to obtain the impurity condition of the track and adjust the pressures of the bottom pressing spring 112 and the side pressing spring 108 on the bottom scraper 111 and the side scraper 107 based on the impurity condition.

[0037] The vision control module includes an illumination unit 116, an image acquisition unit 117, a sludge detection unit 118, and a control unit 119. The illumination unit 116 is configured to illuminate the track. The image acquisition unit 117 is configured to take pictures of the track to obtain a track image. The sludge detection unit 118 is configured to detect the sludge in the track image and perform sludge level classification. The control unit 119 is configured to adjust the first driving unit 109 and the second driving unit 114 based on the sludge level classification so as to adjust the pressures of the bottom pressing spring 112 and the side pressing spring 108 on the bottom scraper 111 and the side scraper 107.

[0038] The illumination unit 116 is composed of a series of high-brightness and low-power-consuming LED lights or other types of light sources, and can provide uniform and sufficient light for the track surface. Whether it is day or night, regardless of how the ambient light changes, the illumination unit 116 can ensure that the camera obtains clear images, thereby improving the working accuracy of the image acquisition unit 117.

[0039] The image acquisition unit 117 captures high-definition images of the track surface. This unit usually includes a high-resolution camera, which can quickly and continuously take pictures of the track to form a complete image sequence.

[0040] The sludge detection unit 118 uses advanced image processing algorithms and machine learning models to analyze the data received from the image acquisition unit 117. The task of this unit is to accurately identify the sludge and other impurities in the track image and perform level classification on them. Specifically, it can distinguish different types of pollutants, such as sand, soil, oil stain, ice frost, etc., and perform quantitative evaluation according to factors such as their thickness and coverage area. Based on this information, the sludge detection unit 118 can determine the cleaning difficulty of each area and feedback the result to the control unit 119 for making an optimal cleaning strategy.

[0041] The control unit 119 receives the analysis results from the sludge detection unit 118 and issues instructions accordingly to adjust the operating parameters of the cleaning structure. When it is detected that there are more or thicker impurities in certain areas, the control unit 119 will correspondingly increase the output forces of the first driving unit 109 and the second driving unit 114, so that the bottom pressing spring 112 and the side pressing spring 108 apply greater pressure to the bottom scraper 111 and the side scraper 107 to ensure the strong removal of stubborn stains. On the contrary, if slight pollution is detected, the pressure can be appropriately reduced, which not only saves energy but also protects the track surface from excessive wear.

[0042] The side scraper 107 includes a scraper body 120 and a blade 121. The blade 121 is detachably connected to the scraper body 120 and contacts the track.

[0043] The blade 121 is detachably connected to the scraper body 120. This design not only facilitates the replacement of the worn blade 121 but also allows the selection of blades 121 made of different materials or shapes according to different cleaning requirements. The blade 121 directly contacts the track surface and effectively shovels impurities such as dust, frost, and oil stains on the track through the design of its edge and pushes them towards the direction of the aggregate box 122.

[0044] The impurity discharge structure includes an aggregate box 122, a discharge pipe 123, and a slurry pump 124. The aggregate box 122 is arranged on one side of the bottom scraper 111. The discharge pipe 123 is arranged inside the aggregate box 122 and extends to the outside of the track. The slurry pump 124 is arranged on the discharge pipe 123.

[0045] The aggregate box 122 is arranged on one side of the bottom scraper 111 and serves as a temporary storage space for accommodating various impurities collected during the cleaning process. Its capacity is optimized, which can not only ensure sufficient storage to reduce the need for frequent cleaning but also not be too large to affect the overall size and flexibility of the robot. Inside the aggregate box 122, there may be a filter screen or other separation devices to initially separate larger particles and liquid components to prevent clogging of the subsequent discharge system.

[0046] The discharge pipe 123 is located inside the aggregate box 122 and extends to the outside of the track. This pipe is responsible for guiding the impurities in the aggregate box 122 to a designated external location for treatment. The design of the discharge pipe 123 takes into account corrosion resistance and compressive resistance to ensure that it will not be damaged due to external environmental factors (such as rainwater, chemical substances) during long-term use. In addition, the path planning of the discharge pipe 123 also tries to avoid sharp turns and narrow sections to ensure the smooth flow of sundries.

[0047] The mud pump 124 is the power source in the impurity discharge structure and is installed on the discharge pipe 123. Its function is to provide the necessary thrust for transporting impurities from the aggregate box 122 to outside the track. The mud pump 124 selects a model suitable for transporting media containing solid particles and has high wear resistance and reliability. When a certain amount of impurities accumulates in the aggregate box 122, the control system will start the mud pump 124 to pump the impurities mixed with water and other liquids out through the discharge pipe 123. This design can not only timely remove the waste generated during the cleaning process but also prevent the impurities from falling onto the track again and causing secondary pollution.

[0048] The mounting block 103 further includes a dividing plate 125, a lifting plate 126, and a partition plate 127. The partition plate 127 is fixed to the main body of the mounting block 103 and is close to the track. One end of the dividing plate is rotatably connected to the main body of the mounting block 103, and the other ends of the two dividing plates 125 on the two mounting blocks 103 are hinged; the lifting plate 126 is slidably arranged on one side of the partition plate 127.

[0049] The dividing plate 125 is an important component on the mounting block 103, aiming to enhance the robot's adaptability in complex environments. One end of the dividing plate is connected to the main body of the mounting block 103 by a rotational connection, enabling it to rotate around a fixed point, thereby adjusting its angle relative to the track. When encountering an obstacle between two tracks, the obstacle can be pushed to both sides and blocked by the partition plate 127, and then the lifting plate 126 is activated to lift and push out the obstacle, thereby further improving the ability to clean obstacles.

[0050] The lifting plate 126 includes a lifting unit 128, a lifting plate body 129, an extension plate 130, a sliding plate 131, and a pushing member 132. The lifting plate body 129 is slidably connected to the main body of the mounting plate. The extension plate 130 is rotatably connected to the lifting plate body 129. The sliding plate 131 is slidably connected to the extension plate 130. The lifting unit 128 is used to drive the lifting plate body 129 to slide up and down. The pushing member 132 is arranged on the top of the main body of the mounting block 103 and is used to push out the impurities on the lifting plate body 129.

[0051] The lifting unit 128 is the power source for the lifting plate 126 and is responsible for driving the lifting plate body 129 to slide up and down. This unit is usually driven by a motor and is equipped with precise transmission mechanisms (such as lead screws, gear racks, etc.) to ensure smooth and reliable lifting actions. The lifting unit 128 can also perform precise position control according to the control system instructions, enabling the lifting plate 126 to quickly switch between different working heights. The lifting plate body 129 is slidably connected to the mounting block 103 body, allowing it to move freely in the vertical direction. The main function of the lifting plate body 129 is to collect and carry the impurities shoveled from the track surface during the cleaning process, providing a temporary storage space.

[0052] The extension plate 130 is rotatably connected to the lifting plate body 129 and can change its angle within a certain range. When the lifting plate 126 is lifted, it can drive the extension plate 130 to rotate to block the entry of subsequent obstacles. The sliding plate 131 is slidably connected to the extension plate 130 and can be finely adjusted in the horizontal direction.

[0053] The pusher 132 is arranged on the top of the mounting block 103 body and is used to push out the impurities on the lifting plate body 129. After the lifting plate 126 completes a cleaning task, the pusher 132 will be activated under the control system instructions to push the impurities staying on the lifting plate 126 towards the discharge port to prevent them from accumulating or remaining. The design of the pusher 132 may include forms such as cylinders, hydraulic rods, or electric push rods, and the specific selection depends on the application environment and technical requirements. To ensure the pushing effect, the pusher 132 is also equipped with sensors to monitor its working status in real time and immediately alarm or take corrective measures once abnormal situations are detected.

[0054] The above-disclosed is only a preferred embodiment of the present invention. Of course, it cannot be used to limit the scope of the rights of the present invention. Those of ordinary skill in the art can understand the entire or partial processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.

Claims

1. A track inspection robot with automatic obstacle clearing, comprising a track robot body and a mounting shell, wherein the mounting shell is arranged on one side of the track robot body, characterized in that: It also includes two mounting blocks, an adjusting screw and a driving unit. The mounting block includes a mounting block body, a cleaning structure and an impurity discharge structure. The two mounting blocks are slidably connected to the mounting shell and are located on both sides of the mounting shell. The adjusting screw has two opposite sections of threads. The adjusting screw is threadedly connected to the two mounting blocks. The driving unit is used to drive the adjusting screw to rotate. The cleaning structure is arranged on one side of the mounting block body to contact the track and clean it. The impurity discharge structure is arranged on one side of the cleaning structure to discharge impurities generated by cleaning.

2. A track-type inspection robot with automatic obstacle clearing as claimed in claim 1, characterized in that: The mounting block further comprises a locker, which is arranged on one side of the mounting block body and is used to lock the position of the mounting block body.

3. A track-type inspection robot with automatic obstacle clearing as claimed in claim 2, characterized in that: The cleaning structure includes a side scraper, a side pressure spring, a first driving unit, and a first support block; the side scraper is rotatably connected to the mounting block body and is located on the side of the mounting block body, the first support block is slidably arranged on one side of the side scraper, the first driving unit is used to drive the first support block to move, and the side pressure spring is arranged between the side scraper and the first support block.

4. A track-type inspection robot with automatic obstacle clearing as claimed in claim 3, characterized in that: The cleaning structure also includes a bottom scraper, a bottom clamping spring, a second support block and a second driving unit. The bottom scraper is rotatably connected to the mounting block body and is located at the bottom of the mounting block body. The second support block is slidably arranged on one side of the bottom scraper. The second driving unit is used to drive the second support block to slide. The bottom clamping spring is arranged between the bottom scraper and the second support block.

5. A track-type inspection robot with automatic obstacle clearing as claimed in claim 4, characterized in that: The cleaning structure also includes a visual control module, which is used to obtain the impurity situation of the track and adjust the pressure of the bottom compression spring and the side compression spring on the bottom scraper and the side scraper based on the impurity situation.

6. A track-type inspection robot with automatic obstacle clearing as claimed in claim 5, characterized in that: The visual control module includes a lighting unit, an image acquisition unit, a sludge detection unit and a control unit. The lighting unit is used to illuminate the track. The image acquisition unit is used to take a picture of the track to obtain a track image. The sludge detection unit is used to detect the sludge in the track image and perform sludge grade classification. The control unit is used to adjust the first drive unit and the second drive unit based on the sludge grade classification to adjust the pressure of the bottom clamping spring and the side clamping spring on the bottom scraper and the side scraper.

7. A track-type inspection robot with automatic obstacle clearing as claimed in claim 6, characterized in that: The side scraper comprises a scraper body and a scraper blade, wherein the scraper blade is detachably connected to the scraper body and contacts the track.

8. A track-type inspection robot with automatic obstacle clearing as claimed in claim 7, characterized in that: The impurity discharge structure includes a material collection box, a discharge pipe and a mud pump. The material collection box is arranged on one side of the bottom scraper, the discharge pipe is arranged in the material collection box and extends to the outside of the track, and the mud pump is arranged on the discharge pipe.

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