Rail transportation inspection robot

Abstract

The invention discloses a rail transportation inspection robot which comprises a rail body and further comprises a robot body, the robot body is slidably connected to the front face of the rail body, a control module is further arranged in the robot body, and a calculation module is further arranged in the robot body. According to the conveying robot, the adjusting device is arranged, after information obtained through scanning of the visual sensor is compared with previously-input information, if it is detected that the difference is large, the conveying robot can be automatically adjusted, and the conveying robot can be automatically adjusted. If yes, the visual sensor is controlled to move and rotate in the vertical direction in cooperation with an adjusting box, a swing rod, an adjusting hinge rod and an adjusting sliding block, secondary scanning is adjusted at the position with too large information difference, information obtained through scanning is compared, and therefore the situation that the visual field of the visual sensor is blocked due to dust flying and the like, and misjudgment is caused is avoided; the problem of misjudgment of the inspection robot possibly caused by dust flying is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of track inspection, in particular to a track transportation inspection robot. BACKGROUND

[0002] With the rapid development of railway transportation, the mileage of railway track is increasing, and the speed and density of train operation are also increasing, which puts higher requirements on the safety and reliability of the track and vehicle. Traditional manual inspection is low in efficiency and time-consuming, and it is difficult to meet the detection needs of large scale and high frequency. Therefore, automatic and intelligent detection means are needed to ensure the safety of railway transportation.

[0003] Patent No. CN116372886A discloses a track inspection robot, which comprises a track, a robot body, a monitoring device, a power device, a guide device and a control device. The power device comprises a battery, a motor and a driving wheel, which is arranged on one side wall of the robot body. The track has at least one moving track surface in contact with the driving wheel. The driving wheel can rotate on the moving track surface to move the robot body along the track. The guide device comprises a vertical floating support and / or a side positioning floating support. The robot runs on the track through the driving wheel to realize the function of on-site inspection. The guide device constrains and limits the movement of the robot on the track, and can reliably perform inspection according to the predetermined path. The external driving wheel, guide device and driving wheel have simple structure, are easy to maintain and have low failure rate.

[0004] However, the above-mentioned device may be affected by the environment when detecting the vehicle on the railway, such as dark tunnel, dust flying or gravel accumulation, which may block the view of the inspection robot, resulting in missed detection or misjudgment, thereby affecting the normal work of the inspection robot.

[0005] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as the closest prior art. SUMMARY

[0006] The present application aims to provide a track transportation inspection robot to solve the problems in the background art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a track transportation inspection robot, comprising a track body, a robot body and a guide rail, an ultrasonic sensor is fixed on the side wall of the robot body, a loudspeaker is fixed on the side wall of the robot body, and a control module and a calculation module are further arranged in the robot body, further comprising: a stand column support fixed on the ground; A horizontal support is fixedly connected to the outer wall of the column support in an "L" shape, and the guide rail is fixed to the outer wall of the column support; A charging plate is fixedly connected to the end of the horizontal support away from the column support, and the charging plate performs wireless charging on the robot body; A visual sensor is arranged below the robot body and is used to scan the rail vehicle.

[0008] The adjusting device comprises: A moving mechanism is slidingly connected to the lower surface of the robot body and is electrically connected to the control module in the robot body; An adjusting box is rotatably connected to the bottom surface of the moving mechanism and is electrically connected to the control module in the robot body; A swing rod penetrates the adjusting box and is rotatably connected at the penetration position; A visual sensor is hingedly connected to the side wall of the swing rod and is electrically connected to the computing module in the robot body; A positioning hinge rod is hingedly connected to the side wall of the visual sensor.

[0009] Optionally, the end of the positioning hinge rod away from the visual sensor is hingedly connected with a positioning sliding block, the side wall of the positioning sliding block away from the positioning hinge rod is slidingly connected with the side wall of the swing rod, and the side wall of the swing rod close to the adjusting box is hingedly connected with an adjusting hinge rod.

[0010] Optionally, the end of the adjusting hinge rod away from the swing rod is hingedly connected with an adjusting sliding block, the front surface of the adjusting sliding block away from the adjusting hinge rod is slidingly connected with the adjusting box, and the upper surface of the positioning sliding block is fixedly connected with a fixed block.

[0011] Optionally, the upper surface of the fixed block is fixedly connected with a fixed hinge rod, the end of the fixed hinge rod away from the fixed block is hingedly connected with a connecting block, the upper surface of the connecting block is fixedly connected with a return spring, and the end of the return spring away from the connecting block is fixedly connected to the bottom surface of the robot body.

[0012] Optionally, the buffer device comprises an extrusion rod, the extrusion rod is fixedly connected to the side wall of the adjusting box, the fixed rod is fixedly connected to the bottom surface of the robot body, the bottom end of the fixed rod is provided with a groove, and the side wall of the groove is provided with a through hole.

[0013] Optionally, the side wall of the fixed rod on one side of the groove is fixedly connected with a plastic folding tube, the plastic folding tube wraps the groove, the end of the plastic folding tube away from the fixed rod is fixedly connected with a limiting ring, the extrusion rod penetrates the limiting ring and is slidingly connected at the penetration position.

[0014] Optionally, the reinforcing device comprises an air flow sensor, the fixed rod is fixed with the air flow sensor away from the side wall of the groove, the through hole of the air flow sensor is communicated with the through hole of the fixed rod, and the air flow sensor is electrically connected with the control module in the robot body.

[0015] Optionally, the front surface of the fixed rod is fixed with a power supply, the front surface of the fixed rod is slidably provided with a pressing block, and the pressing block is electrically connected with the control module in the robot body.

[0016] Optionally, the upper surface of the power supply is fixed with a press switch, and the front surface of the power supply is fixed with a light supplement lamp, and the light supplement lamp is electrically connected with the power supply.

[0017] Compared with the prior art, the present application has the following advantages: The adjusting device is arranged, after comparing the information obtained by the visual sensor scanning with the previously entered information, if the difference is large, the visual sensor is moved and rotated in the vertical direction by cooperating with the adjusting box, the swing rod, the adjusting hinge rod and the adjusting sliding block, the information with large difference is scanned again, and the information obtained by scanning is compared, thereby avoiding the view of the visual sensor being blocked by dust flying and the like, causing misjudgment, and solving the problem that dust flying may cause the inspection robot to misjudge; when the information obtained by the secondary scanning is still greatly different, the visual sensor is adjusted again by cooperating with the moving mechanism, the positioning hinge rod, the positioning sliding block, the fixed block, the fixed hinge rod, the connecting block and the return spring, the position and angle of the visual sensor in the horizontal direction are changed, and the position requiring three times of scanning is positioned when the position and angle of the visual sensor are adjusted, so that the area scanned after the position of the visual sensor in the horizontal direction is changed is avoided to have errors, causing missed inspection, and the problem that the visual sensor may miss inspection after moving is solved.

[0018] The buffer device is arranged, when the adjusting box moves, the resistance of the adjusting box moving is increased by cooperating with the extrusion rod, the fixed rod, the plastic folding pipe and the limiting ring, thereby slowing down the moving speed of the adjusting box, avoiding the adjusting box being damaged due to too fast speed when moving to the rightmost end, limiting the vibration range of the adjusting box, reducing the vibration amplitude when the adjusting box moves, improving the stability of the visual sensor scanning, and solving the problem that the adjusting box may be damaged due to too fast moving speed.

[0019] The application adjusts the enhancement device to perform three times scanning when the information difference is too large, and turns on the light supplement lamp by cooperating with the air flow sensor, power supply, extrusion block and press switch, so that the light supplement lamp emits light to supplement the light of the vehicle and the surrounding environment, thereby avoiding the missed detection or misjudgment caused by the vehicle in the dark environment, and solving the problem of missed detection or misjudgment caused by the dark surrounding environment of the visual sensor. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the application; Figure 2 It is a schematic diagram of the side view structure of the application; Figure 3 It is a schematic diagram of the structure of the partial adjustment device of the application; Figure 4 It is a schematic diagram of the structure of the partial adjustment device and the buffer device of the application; Figure 5 It is a schematic diagram of the structure of the buffer device of the application; Figure 6 It is a schematic diagram of the structure of the partial enhancement device of the application; Figure 5 It is a schematic diagram of the structure of the partial enhancement device of the application; Figure 7 It is a schematic diagram of the structure of the partial enhancement device of the application.

[0021] Reference signs: 1, robot main body; 2, column support; 3, guide rail; 4, ultrasonic sensor; 5, loudspeaker; 61, moving mechanism; 62, adjustment box; 63, swing rod; 64, visual sensor; 65, positioning articulated rod; 66, positioning sliding block; 67, adjusting articulated rod; 68, adjusting sliding block; 69, fixed block; 610, fixed articulated rod; 611, connecting block; 612, return spring; 71, extrusion rod; 72, fixed rod; 73, plastic folding tube; 74, limiting ring; 81, air flow sensor; 82, power supply; 83, extrusion block; 84, press switch; 85, light supplement lamp; 9, horizontal support; 10, charging plate. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application. Embodiment one

[0023] Please refer to Figures 1-7The application provides a technical scheme: a track transportation inspection robot, which comprises a robot main body 1 and a guide rail 3, an ultrasonic sensor 4 is fixed to the side wall of the robot main body 1, a loudspeaker 5 is fixed to the side wall of the robot main body 1, a control module and a calculation module are further arranged in the robot main body 1, a roller is fixed to the back of the robot main body 2, the roller rolls on the upper surface of the guide rail 3 to drive the robot main body 2 to slide, and the robot further comprises a stand column support 2, a horizontal support 9, a charging plate 10 and a visual sensor 64.

[0024] The stand column support 2 is fixed to the ground and is used for supporting the whole device; the horizontal support 9 is in an L shape and is fixedly connected to the outer wall of the stand column support 2, and the guide rail 3 is fixed to the outer wall of the stand column support 2; the charging plate 10 is fixedly connected to the end of the horizontal support 9 away from the stand column support 2, and the charging plate 10 is used for wirelessly charging the robot main body 1; and the visual sensor 64 is arranged below the robot main body 1 and is used for scanning the track vehicle. The embodiment comprises an adjusting device arranged below the robot main body 1. The adjusting device comprises a moving mechanism 61, an adjusting box 62, a swing rod 63, the visual sensor 64, a positioning hinge rod 65, a positioning sliding block 66, an adjusting hinge rod 67, an adjusting sliding block 68, a fixed block 69, a fixed hinge rod 610, a connecting block 611 and a reset spring 612.

[0025] The moving mechanism 61 is electrically connected with the control module in the robot main body 1, the control module controls the moving mechanism 61 to slide to the right when it is calculated that the information obtained by the secondary scanning is greatly different from the previously recorded information, and the moving mechanism 61 returns when it slides to the right end; the adjusting box 62 is rotationally connected to the bottom surface of the moving mechanism 61, and the adjusting box 62 is electrically connected with the control module in the robot main body 1; the swing rod 63 penetrates through the adjusting box 62 and is rotationally connected at the penetration position; The visual sensor 64 is hingedly connected to the side wall of the swing rod 63, and the visual sensor 64 is electrically connected with the calculation module in the robot main body 1; the robot main body 1 scans the vehicle on the track through the visual sensor 64 and transmits the scanned information to the calculation module; the calculation module compares the information with the previously recorded information; the swing rod 63 is downwardly rotated to drive the visual sensor 64 to also be downwardly rotated, so that the visual sensor 64 scans the vehicle on the track at different angles and further calculates the information obtained by the scanning; The positioning articulated rod 65 is hinged to the side wall of the visual sensor 64, and the positioning articulated rod 65 rotates to drive the visual sensor 64 to rotate, the angle of the visual sensor 64 is further adjusted, and the position needing to be rescan is positioned when the angle of the visual sensor 64 is adjusted, the information obtained by scanning is compared again through the calculation module, if the information obtained by three times of scanning is still too different from the previously entered information, a telecommunication signal is sent to the control module, and the control module controls the loudspeaker 5 to issue an alarm, the end of the positioning articulated rod 65 away from the visual sensor 64 is hinged to the positioning sliding block 66, the side wall of the positioning sliding block 66 away from the positioning articulated rod 65 is slidingly connected with the side wall of the swing rod 63, the swing rod 63 is hinged to the adjusting articulated rod 67 on the side wall close to the adjusting box 62, the adjusting articulated rod 67 rotates to drive the swing rod 63 to rotate downward, the end of the adjusting articulated rod 67 away from the swing rod 63 is hinged to the adjusting sliding block 68, and the end of the adjusting sliding block 68 away from the adjusting articulated rod 67 is slidingly connected with the front face of the adjusting box 62, when it is calculated that the scanned information is too different from the entered information, an instruction is sent through the control module, the control module controls the adjusting sliding block 68 to slide upward, the adjusting sliding block 68 slides upward to drive the adjusting articulated rod 67 to rotate, the upper surface of the positioning sliding block 66 is fixedly connected with the fixed block 69, the upper surface of the fixed block 69 is fixedly connected with the fixed articulated rod 610, the end of the fixed articulated rod 610 away from the fixed block 69 is hinged to the connecting block 611, the upper surface of the connecting block 611 is fixedly connected with the reset spring 612, and the end of the reset spring 612 away from the connecting block 611 is fixedly connected to the bottom surface of the robot main body 1; when the moving mechanism 61 slides to the right, the position of the reset spring 612 and the connecting block 611 in the horizontal direction is unchanged, so the positions of the fixed articulated rod 610 and the fixed block 69 in the horizontal direction are unchanged, when the moving mechanism 61 drives the adjusting box 62, the swing rod 63 and the visual sensor 64 to move to the right, the positioning sliding block 66 slides to the left relative to the visual sensor 64, the positioning sliding block 66 drives the positioning articulated rod 65 to rotate, after the adjustment device compares the information obtained by the visual sensor 64 scanning with the previously entered information, if it is detected that the difference is large, the adjusting box 62, the swing rod 63, the adjusting articulated rod 67 and the adjusting sliding block 68 are matched to control the visual sensor 64 to move and rotate in the vertical direction, the visual sensor 64 is adjusted to perform secondary scanning on the position where the information difference is too large, and the information obtained by scanning is compared, thereby avoiding that the dust flying and the like shield the visual field of the visual sensor 64, causing misjudgment, and solving the problem that the dust flying may cause the patrol robot to misjudge.When the information obtained by the secondary scanning is still quite different, the visual sensor 64 is adjusted again by cooperating with the moving mechanism 61, the positioning hinged rod 65, the positioning sliding block 66, the fixed block 69, the fixed hinged rod 610, the connecting block 611 and the reset spring 612, the position and angle of the visual sensor 64 in the horizontal direction are changed, and the positions needing three times of scanning are positioned when the position and angle of the visual sensor 64 are adjusted, so that the scanning area after the position of the visual sensor 64 in the horizontal direction is changed is avoided from being wrong, the problem of missing detection after the visual sensor 64 is moved is solved, and the problem of missing detection after the visual sensor 64 is moved is solved. Example Two

[0026] Compared with the first embodiment, the present embodiment further comprises a buffering device and an enhancing device, the buffering device is arranged below the robot body 1. Among them, the buffering device comprises an extrusion rod 71, a fixed rod 72, a plastic folding pipe 73 and a limiting ring 74, the extrusion rod 71 is fixedly connected to the side wall of the adjusting box 62, when the moving mechanism 61 drives the adjusting box 62 to move to the right, the adjusting box 62 drives the extrusion rod 71 to move to the right, the fixed rod 72 is fixedly connected to the bottom surface of the robot body 1, the bottom end of the fixed rod 72 is provided with a groove, the side wall of the groove is provided with a through hole, the side wall of the groove on one side of the fixed rod 72 is fixedly provided with the plastic folding pipe 73, the plastic folding pipe 73 wraps the groove, the extrusion rod 71 continuously extrudes the air in the plastic folding pipe 73, the air extruded is discharged from the through hole through the groove in the fixed rod 72, because the diameter of the through hole is much smaller than the diameter of the extrusion rod 71 and the groove, the speed of air discharge is slow, the extrusion rod 71 is resisted by the air in the opposite direction, the moving speed becomes slow, and because the extrusion rod 71 moves inside the plastic folding pipe 73, it is limited by the plastic folding pipe 73 and the limiting ring 74, the swing amplitude becomes small, further reducing the vibration generated when the adjusting box 62 moves, the end of the plastic folding pipe 73 away from the fixed rod 72 is fixedly provided with the limiting ring 74, the extrusion rod 71 penetrates the limiting ring 74 and is slidingly connected at the penetration, the extrusion rod 71 slides on the inner wall of the limiting ring 74 when moving to the right, the extrusion rod 71 extrudes the air in the limiting ring 74 and the plastic folding pipe 73, when the limiting ring 74 slides to the connection between the extrusion rod 71 and the adjusting box 62, the side wall of the limiting ring 74 is attached to the side wall of the adjusting box 62, the limiting ring 74 is also moved to the right by the thrust of the adjusting box 62, the buffering device increases the resistance of the adjusting box 62 when moving, thereby slowing down the speed of the adjusting box 62, avoiding the speed of the adjusting box 62 being too fast when moving to the right end, causing the adjusting box 62 to be damaged by impact, limiting the range of vibration of the adjusting box 62, reducing the vibration amplitude when the adjusting box 62 moves, improving the stability of the visual sensor 64 when scanning, solving the problem that the adjusting box 62 may be damaged by impact when moving too fast; Secondly, the enhancement device is arranged below the robot body 1, and the enhancement device comprises an air flow sensor 81, a power supply 82, a pressing block 83, a press switch 84 and a light supplement lamp 85. The air flow sensor 81 is fixed to the side wall away from the groove of the fixed rod 72, and the through hole of the air flow sensor 81 is communicated with the through hole of the fixed rod 72. The air flow exhausted or sucked from the through hole of the fixed rod 72 also passes through the air flow sensor 81. When the air flow sensor 81 detects that the through hole has air flow passing through, an electric signal is sent to the control module. The air flow sensor 81 is electrically connected with the control module in the robot body 1. The front surface of the fixed rod 72 is fixed with the power supply 82. The front surface of the fixed rod 72 is slidably provided with the pressing block 83. The pressing block 83 is electrically connected with the control module in the robot body 1. After the control module receives the electric signal, the pressing block 83 is controlled to slide downward. The upper surface of the power supply 82 is fixed with the press switch 84. The pressing block 83 slides downward to press the press switch 84. After the press switch 84 is pressed, the power supply 82 is started. The front surface of the power supply 82 is fixed with the light supplement lamp 85. The light supplement lamp 85 is electrically connected with the power supply 82. The power supply 82 starts to supply electric energy to the light supplement lamp 85, so that the light supplement lamp 85 is started to supplement light around the vehicle on the track. When the enhancement device performs three times of scanning on the place where the information difference is too large, the light supplement lamp 85 is started in cooperation with the air flow sensor 81, the power supply 82, the pressing block 83 and the press switch 84. The light supplement lamp 85 emits light to supplement light around the vehicle and the environment, so as to avoid missing detection or misjudgment caused by the vehicle in a dark environment, and solve the problem of missing detection or misjudgment caused by the visual sensor 64 due to the dark surrounding environment.

[0027] As an application of the embodiment: The ultrasonic sensor 4 emits ultrasonic waves around. The computing module in the robot body 1 calculates the distance through the speed of the recovered sound waves. When the computing module calculates that the distance is close, the movement of the robot body 1 is stopped, and the alarm is issued through the loudspeaker 5.

[0028] The robot body 1 scans the vehicle on the track through the visual sensor 64 and transmits the scanned information to the computing module, the computing module compares the information with the previously entered information, when the scanned information is calculated to be too different from the entered information, the control module sends an instruction, the control module controls the adjusting sliding block 68 to slide upward, when the adjusting sliding block 68 slides upward, the hinge point of the adjusting sliding block 68 and the adjusting hinge rod 67 also moves upward, the other end of the adjusting hinge rod 67 away from the adjusting sliding block 68 is hinged with the swing rod 63, and the swing rod 63 can only rotate on the side wall of the adjusting box 62, so the hinge point of the adjusting hinge rod 67 and the swing rod 63 can only rotate, when the adjusting sliding block 68 drives the hinge point of the adjusting sliding block 68 and the adjusting hinge rod 67 to move upward, it also drives the adjusting hinge rod 67 to rotate, the adjusting hinge rod 67 rotates to drive the swing rod 63 to rotate downward, the swing rod 63 rotates downward to drive the visual sensor 64 to rotate downward, so that the visual sensor 64 scans the vehicle on the track at different angles, and further calculates the information obtained by scanning, when the calculated information is still greatly different from the previously entered information, the control module controls the moving mechanism 61 to slide to the right, and then returns when sliding to the rightmost end, when the moving mechanism 61 slides to the right, the position of the reset spring 612 and the connecting block 611 in the horizontal direction does not change, so the fixed hinge rod 610 and the fixed block 69 also do not change in the horizontal direction, when the moving mechanism 61 drives the adjusting box 62, the swing rod 63 and the visual sensor 64 to move to the right, the positioning sliding block 66 slides to the left relative to the visual sensor 64, the positioning sliding block 66 drives the hinge point of the positioning sliding block 66 and the positioning hinge rod 65 to move to the left, the other end of the positioning hinge rod 65 away from the positioning sliding block 66 is hinged with the side wall of the visual sensor 64, and the visual sensor 64 is also hinged with the side wall of the swing rod 63, so the hinge point of the visual sensor 64 and the positioning hinge rod 65 can only rotate, when the positioning sliding block 66 drives the hinge point of the positioning sliding block 66 and the positioning hinge rod 65 to the left end, it drives the positioning hinge rod 65 to rotate, the positioning hinge rod 65 rotates to drive the visual sensor 64 to rotate, further adjusts the angle of the visual sensor 64, and positions the place that needs to be rescaned when adjusting the angle of the visual sensor 64, the information obtained by scanning is compared again through the computing module, if the two groups of information are still too different, the control module sends an electrical signal, and the control module controls the loudspeaker 5 to issue an alarm.

[0029] When the adjusting box 62 is moved right by the moving mechanism 61, the extrusion rod 71 is also moved right by the adjusting box 62, and the extrusion rod 71 slides on the inner wall of the limiting ring 74 when moving right. The extrusion rod 71 extrudes the air in the limiting ring 74 and the plastic folding pipe 73. When the limiting ring 74 slides to the connection between the extrusion rod 71 and the adjusting box 62, the side wall of the limiting ring 74 is attached to the side wall of the adjusting box 62, and the limiting ring 74 is also moved right by the pushing force of the adjusting box 62. The extrusion rod 71 continuously extrudes the air in the plastic folding pipe 73, and the extruded air is discharged from the through hole through the groove in the fixed rod 72. Since the diameter of the through hole is much smaller than the diameter of the extrusion rod 71 and the groove, the speed of air discharge is slow, the extrusion rod 71 is subjected to the resistance of the air in the opposite direction, the moving speed is slow, and since the extrusion rod 71 moves in the inside of the plastic folding pipe 73, the swinging amplitude is small, which further reduces the vibration generated when the adjusting box 62 moves. When the moving mechanism 61 drives the adjusting box 62 to return, the adjusting box 62 also drives the extrusion rod 71 to reset. The extrusion rod 71 pumps the inside of the plastic folding pipe 73 and the limiting ring 74, and the air flow is sucked into the through hole, which slows down the moving speed of the adjusting box 62 and the extrusion rod 71 and reduces the vibration generated when the adjusting box 62 moves.

[0030] The air flow discharged or sucked in the through hole of the fixed rod 72 also passes through the air flow sensor 81. When the air flow sensor 81 detects that air flow passes through the through hole, it sends an electric signal to the control module. After the control module receives the electric signal, it controls the extrusion block 83 to slide down, so that the extrusion block 83 presses the press switch 84. After the press switch 84 is pressed, the power supply 82 is started, and the light supplement lamp 85 is started to supplement light around the vehicle on the track. When the air flow sensor 81 no longer detects air flow, it sends an electric signal to the control module, and when the control module no longer receives the electric signal, it controls the extrusion block 83 to reset. The press switch 84 is no longer pressed by the extrusion block 83 and is also reset. After the press switch 84 is reset, the power supply 82 is turned off, and the light supplement lamp 85 no longer receives the electric energy output by the power supply 82 and is also not started.

[0031] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A track inspection robot comprising a robot body (1) and a guide rail (3), characterized in that, The side wall of the robot body (1) is fixed with an ultrasonic sensor (4), the side wall of the robot body (1) is fixed with a loudspeaker (5), and the inside of the robot body (1) is further provided with a control module and a calculation module, further comprising: A column support (2) is fixed on the ground; A horizontal support (9) is fixedly connected to the outer wall of the column support (2) in an "L" shape, and the guide rail (3) is fixed to the outer wall of the column support (2); A charging plate (10) is fixedly connected to one end of the horizontal support (9) away from the column support (2), and the charging plate (10) wirelessly charges the robot body (1); A visual sensor (64) is arranged below the robot body (1) and is used for scanning the rail vehicle; An adjusting device is arranged below the robot body (1) and is used for adjusting the scanning part of the inspection robot and scanning and comparing the information of the vehicle multiple times; The adjusting device comprises: A moving mechanism (61) is slidingly connected to the lower surface of the robot body (1), and the bottom surface of the moving mechanism (61) is rotatably connected with an adjusting box (62); A swing rod (63) penetrates through the adjusting box (62) and is rotatably connected at the penetration position; A visual sensor (64) is hingedly connected to the side wall of the swing rod (63), and the side wall of the visual sensor (64) is hingedly connected with a positioning hinge rod (65).

2. The rail transportation inspection robot of claim 1, wherein, The moving mechanism (61) and the adjusting box (62) are electrically connected with the control module, the visual sensor (64) is electrically connected with the calculation module, one end of the positioning hinge rod (65) away from the visual sensor (64) is hingedly connected with a positioning sliding block (66), the side wall of the positioning sliding block (66) away from the positioning hinge rod (65) is slidingly connected with the side wall of the swing rod (63), and the side wall of the swing rod (63) close to the adjusting box (62) is hingedly connected with an adjusting hinge rod (67).

3. The rail transport inspection robot of claim 2, wherein, One end of the adjusting hinge rod (67) away from the swing rod (63) is hingedly connected with an adjusting sliding block (68), one end of the adjusting sliding block (68) away from the adjusting hinge rod (67) is slidingly connected with the front surface of the adjusting box (62), and the upper surface of the positioning sliding block (66) is fixedly connected with a fixed block (69).

4. The rail transport inspection robot of claim 3, wherein, The upper surface of the fixed block (69) is fixedly connected with a fixed hinge rod (610), one end of the fixed hinge rod (610) away from the fixed block (69) is hingedly connected with a connecting block (611), the upper surface of the connecting block (611) is fixedly connected with a return spring (612), and one end of the return spring (612) away from the connecting block (611) is fixedly connected to the bottom surface of the robot body (1).

5. The rail transportation inspection robot of claim 1, wherein, Also include buffer device and enhancement device, the buffer device is arranged below the robot body (1), is used for the angle adjustment of adjusting device to slow down and shock absorption when; The enhancement device is arranged below the robot body (1), is used for light compensation when scanning the vehicle multiple times, the buffer device includes extrusion rod (71), the extrusion rod (71) is fixedly connected in the side wall of adjusting box (62), the fixed rod (72) is fixedly connected in the bottom surface of robot body (1), the bottom end of fixed rod (72) is provided with recess, the side wall of recess is provided with through-hole.

6. The rail transport inspection robot of claim 5, wherein, The side wall of the recess of the fixed rod (72) is fixed with plastic folding pipe (73), the plastic folding pipe (73) is wrapped recess, the end of plastic folding pipe (73) away from fixed rod (72) is fixed with limit ring (74), extrusion rod (71) penetrates limit ring (74), and the penetration portion is slidably connected.

7. The rail transport inspection robot of claim 6, wherein, The enhancement device includes airflow sensor (81), the side wall of fixed rod (72) away from recess is fixed with airflow sensor (81), the through-hole of airflow sensor (81) is communicated with the through-hole of fixed rod (72), and the airflow sensor (81) and the control module in robot body (1) are electrically connected.

8. The rail transport inspection robot of claim 7, wherein, The front of fixed rod (72) is fixed with power supply (82), the front of fixed rod (72) is slidably extruded block (83), and the extruded block (83) and the control module in robot body (1) are electrically connected.

9. The rail transport inspection robot of claim 8, wherein, The upper surface of power supply (82) is fixed with press switch (84), the front of power supply (82) is fixed with light compensation lamp (85), and the light compensation lamp (85) and power supply (82) are electrically connected.

Images