Train bottom inspection robot

Abstract

The application discloses a train bottom inspection robot and relates to the technical field of train maintenance equipment.The train bottom inspection robot comprises a mechanical arm and an equipment table, the outer side of the mechanical arm is respectively provided with a driving seat, a detection assembly and a cleaning assembly, the driving seat is installed at the bottom of the mechanical arm, and the driving seat is used for adjusting the mechanical arm.The stable assembly is used for automatically centering and limiting the equipment, ensuring the stable and safe operation posture, the cleaning assembly is used for accurately washing oil stains by means of the telescopic pipe and the angle adjusting function, and the shielding object is removed; the detection assembly is used for cooperating with the shielding cover and the quick-drying fan, and the residual liquid is quickly air-dried while the precision elements are protected, and the three components are used in cooperation, so that the train bottom inspection problem is effectively solved, and the operation efficiency, safety and the accuracy of detection data are improved.

Description

Technical Field

[0001] This invention relates to the field of train maintenance equipment technology, specifically a train undercarriage inspection robot. Background Technology

[0002] With the rapid development of railway transportation, the safety of train operation has received increasing attention, and the condition of the train undercarriage components is directly related to the safety of train operation.

[0003] Currently, the inspection of train undercarriages mainly relies on manual labor. Maintenance personnel need to crawl under the train to observe and inspect. However, the space under trains is narrow, dimly lit, and contains a large number of pipes, cables, and mechanical structures. Manual inspection is not only labor-intensive and inefficient, but also poses significant safety hazards. In addition, the train undercarriage is often covered with oil, dust, and other debris, which severely obstructs the inspection line of sight, making it difficult for manual personnel to accurately judge the wear and looseness of components, easily leading to missed or false inspections. Although some inspection robots have emerged in existing technologies, they often lack automatic cleaning functions, making it difficult to effectively clean obstructed areas before inspection, or the cleaning components have a single angle that cannot adapt to the complex undercarriage structure. At the same time, existing equipment is prone to deviating from the center position when moving in the narrow space under the train, resulting in blind spots or even collision damage to the equipment. Therefore, there is an urgent need for a train undercarriage inspection robot that can automatically locate, clear obstacles, and operate stably to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing train undercarriage inspection operations, such as high labor intensity, harsh inspection environment, difficult cleaning, and poor equipment operation stability.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a train undercarriage inspection robot, comprising a robotic arm and an equipment platform, wherein a drive seat, a detection component and a cleaning component are respectively provided on the outer side of the robotic arm, the drive seat is installed at the bottom of the robotic arm and is used for adjusting the orientation of the robotic arm; The detection component is fixed to the output end of the robotic arm by welding and is used for inspection of the undercarriage of the train. The cleaning component is fixedly connected to the bottom outer side of the robotic arm, and the output end of the cleaning component extends to the top of the robotic arm. The cleaning component is used to clean the bottom of the train to facilitate observation and detection by the detection component. The equipment platform has drive wheels installed on both sides via a drive system for overall equipment movement and testing. Placement slots are provided at the four corners of the equipment platform surface. A set of symmetrical stabilizing components is installed on the surface of the equipment platform to ensure stable operation of the equipment while ensuring that the equipment platform is moved directly under the train car during testing. The front end of the equipment platform is equipped with a crash beam welded on, and a probe is fixedly connected to the front end of the surface of the equipment platform for detecting obstacles and uploading ring images in real time.

[0006] Furthermore, the detection component includes a placement platform, which is circular and is welded to the output end of the robotic arm. Four extension arms extend outward from the surface of the placement platform and are evenly distributed in a circular array. Each extension arm is equipped with a quick-drying fan at the end away from the placement platform to quickly dry any residual liquid on the undercarriage of the train after the cleaning component has been used, so as to prevent corrosion.

[0007] Furthermore, the surface of the placement platform is equipped with an inspection camera, several sensors, and a shield. The inspection camera is fixedly connected to the center of the placement platform, and the several sensors are distributed around the inspection camera and installed on the surface of the placement platform. The several sensors are used to detect the wear condition, connection strength, service life, and other attributes of the train undercarriage connecting parts.

[0008] Furthermore, the shield is composed of several arc-shaped keels, which are interconnected by a transparent film to ensure that the inspection camera and sensor can operate in special environments and to prevent liquid from adhering to their outer side and affecting the detection data when the cleaning component is cleaning. The two ends of the arc-shaped keel are mounted on the surface of the placement platform through a drive disk. The drive disk is equipped with a motor to control the drive disk to drive the arc-shaped keel to rotate, thereby causing the transparent film to protect the inspection camera and sensor and fold itself back.

[0009] Furthermore, the cleaning assembly includes a delivery pipe, which is installed on the outside of the outer hub of the robotic arm, and the bends of the delivery pipe are telescopic to cooperate with the operation of the robotic arm. A cleaning nozzle is installed at the top of the delivery pipe.

[0010] Furthermore, an adjusting wheel and a limiting wheel are respectively provided on the outer side of the output end of the conveying pipe, and the adjusting wheel is located above the limiting wheel. The conveying pipe is S-shaped and passes through the adjusting wheel and the limiting wheel. The limiting wheel is installed on the surface of the robotic arm through a rotating shaft and a connecting piece. A transmission arm is fixedly connected to the outer axis of the adjusting wheel, and the other end of the transmission arm is movably connected to the outer axis of the limiting wheel through a bearing.

[0011] Furthermore, a control motor is fixedly connected to the outer side of the transmission arm, so that the control motor drives the adjusting wheel to rotate through the transmission arm, thereby changing the orientation of the cleaning nozzle.

[0012] Furthermore, an equipment frame is installed on the outer bottom of the robotic arm, and a liquid storage tank is fixedly connected to the surface of the equipment frame for storing cleaning liquid. The bottom of the delivery pipe extends into the interior of the liquid storage tank, and a booster pump is installed at its bottom for spraying the cleaning liquid from the storage tank through the delivery pipe from the cleaning nozzle to clean important inspection locations on the train.

[0013] Furthermore, the stabilizing component includes a bidirectional electric push rod, with a transmission bar fixedly connected to both output ends of the bidirectional electric push rod, and control bars movably connected to both ends of the transmission bar via rotating shafts. A slider is fixedly connected to the bottom of the transmission bar, and the slider is in the shape of an inverted T. Two sets of symmetrical sliding grooves are provided on the surface of the equipment platform, and the sliding grooves are in the shape of an inverted T. The sliders are slidably connected inside the sliding grooves to ensure that when the bidirectional electric push rod drives the transmission bar, it is not affected by external forces and can maintain linear operation.

[0014] Furthermore, the interior of each placement slot is movably connected to a control frame via a rotating shaft. The control frame is X-shaped and can be folded and retracted. The other end of each control frame is movably connected to the end of the control bar away from the transmission bar via a rotating shaft, so that the transmission bar drives the control frame to retract or expand through the control bar. Each end of the control frame away from the control bar is equipped with a stabilizing wheel, which is used to keep the equipment close to the side walls when it moves forward, so that the equipment runs smoothly and the entire equipment is located directly under the train.

[0015] Compared with existing technologies, this train undercarriage inspection robot has the following advantages: I. This invention utilizes a stabilizing component, employing a bidirectional electric push rod to drive a transmission bar in conjunction with a slider and a guide groove, thereby expanding the X-shaped control frame to bring the stabilizing wheel close to the walls on both sides. This achieves automatic centering and guiding of the equipment, effectively ensuring the stability and attitude correction of the equipment as it runs directly under the train. Simultaneously, in conjunction with the real-time detection of the front-end probe and the anti-collision beam, the risk of collision is avoided, ensuring the safe and smooth conduct of inspection operations.

[0016] Second, this invention, through the design of a cleaning component, utilizes a booster pump and a telescopic delivery pipe to precisely deliver cleaning liquid to the cleaning nozzle, washing away oil stains on the underside of the vehicle. By controlling the rotation of the adjusting wheel driven by the motor, the angle of the S-shaped winding delivery pipe is cleverly changed, achieving flexible adjustment of the spray direction of the cleaning nozzle. This allows it to adapt to cleaning needs at different angles, effectively removing obstructions and providing a clear view for inspection operations.

[0017] Third, this invention, through its set detection components, utilizes inspection cameras and multiple sensors to achieve comprehensive automated detection of wear, tilting, and other conditions of the vehicle's undercarriage connecting parts. The specially designed shielding cover, driven by a drive disc, rotates the arc-shaped keel, unfolding a transparent film during cleaning to isolate and protect precision components, preventing liquid adhesion from affecting the data. Combined with a quick-drying fan, it rapidly dries residual liquid, avoiding equipment corrosion and significantly improving the accuracy and reliability of the detection data and the equipment's adaptability to harsh environments.

[0018] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a top-view three-dimensional structural diagram of the present invention; Figure 3 This is a schematic diagram of the three-dimensional connection structure of the robotic arm of the present invention; Figure 4 This is a rear-view stereoscopic connection structure diagram of the robotic arm of the present invention; Figure 5 This is a schematic diagram of the detection component structure of the present invention; Figure 6 This is a schematic diagram of the cleaning component structure of the present invention; Figure 7 This is a schematic diagram of the transmission arm connection structure of the present invention; Figure 8 This is a schematic diagram of the device platform connection structure of the present invention; Figure 9 This is a schematic diagram of the stable component structure of the present invention; Figure 10 For the present invention Figure 9 Enlarged connection structure diagram at point A.

[0020] In the diagram: 1. Robotic arm; 2. Equipment platform; 3. Drive base; 4. Detection component; 401. Placement platform; 402. Extension arm; 403. Quick-drying fan; 404. Inspection camera; 405. Sensor; 406. Shielding cover; 5. Cleaning component; 501. Delivery pipe; 502. Adjusting wheel; 503. Limiting wheel; 504. Transmission arm; 505. Control motor; 506. Equipment frame; 507. Liquid storage tank; 508. Cleaning nozzle; 6. Drive wheel; 7. Placement slot; 8. Stabilizing component; 801. Two-way electric push rod; 802. Transmission bar; 803. Control bar; 804. Slider; 805. Slide groove; 806. Control frame; 807. Stabilizing wheel; 9. Anti-collision beam; 10. Probe. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figure 1-10 As shown, the present invention provides a technical solution: a train undercarriage inspection robot, including a robotic arm 1 and an equipment platform 2. A drive seat 3, a detection component 4 and a cleaning component 5 are respectively arranged on the outer side of the robotic arm 1. The drive seat 3 is installed at the bottom of the robotic arm 1 and is used for adjusting the orientation of the robotic arm 1. The detection component 4 is fixed to the output end of the robotic arm 1 by welding and is used for inspection of the undercarriage of the train; The cleaning component 5 is fixedly connected to the bottom outer side of the robotic arm 1, and the output end of the cleaning component 5 extends to the top of the robotic arm 1. The cleaning component 5 is used to clean the bottom of the train car to facilitate the observation and inspection of the inspection component 4. Drive wheels 6 are installed on both sides of the equipment platform 2 via a drive system for overall equipment movement and testing. Placement slots 7 are provided at the four corners of the surface of the equipment platform 2. A set of front and rear symmetrical stabilizing components 8 are installed on the surface of the equipment platform 2 to ensure stable operation of the equipment while ensuring that the equipment platform 2 is moved to the bottom of the train car during testing. The front end of the equipment platform 2 is equipped with a crash beam 9 by welding, and a probe 10 is fixedly connected to the front end of the surface of the equipment platform 2 for detecting obstacles and uploading ring images in real time.

[0023] The train undercarriage inspection robot uses drive wheels 6 driven by the drive systems on both sides of the equipment platform 2 to achieve overall movement and inspection. In conjunction with the anti-collision beam 9 welded at the front and the probe 10, it detects obstacles in real time and uploads environmental images, effectively avoiding collision risks and ensuring safe movement. At the same time, the front and rear symmetrical stabilizing components 8 installed on the surface of the equipment platform 2 provide support and guidance during operation, ensuring that the equipment platform 2 is always located directly under the train undercarriage, improving the stability of the running posture. The drive seat 3 on the outside of the robotic arm 1 adjusts the orientation of the robotic arm 1, and the cleaning component 5 at the bottom cleans the oil stains under the train undercarriage. The detection component 4 at the output end performs inspection, realizing automated cleaning and inspection operations, effectively improving inspection efficiency and detection accuracy.

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the detection component 4 includes a placement platform 401, which is circular and welded to the output end of the robotic arm 1. Four extension arms 402 extend outwards from the surface of the placement platform 401 in a uniformly distributed ring array. A quick-drying fan 403 is installed at the end of each extension arm 402 away from the placement platform 401 to quickly dry any residual liquid on the train undercarriage after the cleaning component 5 has been used, preventing corrosion. The surface of the placement platform 401 is equipped with an inspection camera 404, several sensors 405, and a shield 406. The inspection camera 404 is fixedly connected to the center of the placement platform 401, and the sensors 405 are distributed around the inspection camera 404. The camera 404 is mounted on the surface of the platform 401 around the camera 404. Several sensors 405 are used to detect the wear, connection strength, service life and other properties of the train undercarriage connecting parts. The shield 406 is composed of several arc-shaped keels, which are connected to each other by a transparent film to ensure that the inspection camera 404 and sensor 405 can operate in special environments and to prevent liquid from adhering to the outside of the cleaning component 5 during cleaning and affecting the detection data. The two ends of the arc-shaped keels are mounted on the surface of the platform 401 by a drive plate. The drive plate has a motor inside, which is used to control the drive plate to drive the arc-shaped keels to rotate, thereby driving the transparent film to protect the inspection camera 404 and sensor 405 and fold itself back.

[0025] By welding the circular placement platform 401 to the output end of the robotic arm 1, its position can be flexibly adjusted with the robotic arm 1. The inspection camera 404 at the center of the placement platform 401, along with several sensors 405 distributed around it, works in concert to comprehensively inspect the wear, connection strength, service life, and other attributes of the train undercarriage connecting parts, achieving precise and automated inspection of the train undercarriage condition. To ensure stable operation of the inspection equipment in complex environments, the shield 406 adopts an arc-shaped keel and transparent film connection structure. The keel is rotated by a motor inside the drive disc. When the cleaning component 5 is operating, the transparent film unfolds to cover the inspection camera 404 and sensors 405, effectively preventing cleaning liquid from adhering and interfering with the inspection data. During inspection, it folds up, ensuring the flexibility of the inspection. Simultaneously, the fast-drying fans 403, distributed in a ring array at the end of the extension arm 402, quickly dry the residual liquid on the train undercarriage after cleaning, avoiding the corrosion risks caused by liquid residue, thus significantly improving the accuracy and reliability of the inspection operation.

[0026] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the cleaning assembly 5 includes a conveying pipe 501, which is installed on the outer side of the outer hub of the robotic arm 1. The bends of the conveying pipe 501 are telescopic, designed to cooperate with the operation of the robotic arm 1. A cleaning nozzle 508 is installed at the top of the conveying pipe 501. An adjusting wheel 502 and a limiting wheel 503 are respectively provided on the outer side of the output end of the conveying pipe 501, with the adjusting wheel 502 located above the limiting wheel 503. The conveying pipe 501 passes through the adjusting wheel 502 and the limiting wheel 503 in an S-shape. The limiting wheel 503 is installed on the surface of the robotic arm 1 via a rotating shaft and a connecting piece. A transmission arm 504 is fixedly connected to the outer axis of the adjusting wheel 502. The other end of 4 is movably connected to the outer shaft of the limiting wheel 503 via a bearing. A control motor 505 is fixedly connected to the outer side of the transmission arm 504, so that the control motor 505 drives the adjusting wheel 502 to rotate through the transmission arm 504, thereby changing the orientation of the cleaning nozzle 508. An equipment frame 506 is installed on the outer side of the bottom of the mechanical arm 1, and a liquid storage tank 507 is fixedly connected to the surface of the equipment frame 506 for storing cleaning liquid. The bottom of the delivery pipe 501 extends into the interior of the liquid storage tank 507 and a booster pump is installed at its bottom for spraying the cleaning liquid from the liquid storage tank 507 through the delivery pipe 501 from the cleaning nozzle 508 to clean important inspection positions on the train.

[0027] Powered by the liquid storage tank 507 on the outer equipment frame 506 at the bottom of the robotic arm 1 and the booster pump at its bottom, the cleaning liquid is sprayed from the cleaning nozzle 508 through the delivery pipe 501 to clean important areas of the train. The delivery pipe 501 is installed on the outer hub of the robotic arm 1 and is designed to be telescopic at the bend, which can adapt to the operation of the robotic arm 1 to ensure the continuity and flexibility of the liquid supply. At the same time, the control motor 505 drives the transmission arm 504 to rotate the adjusting wheel 502, which changes the pulling angle of the delivery pipe 501, which is S-shaped and passes through the adjusting wheel 502 and the limiting wheel 503. This allows for precise adjustment of the orientation of the cleaning nozzle 508, effectively expanding the cleaning range and angle, solving the limitation of single-direction spraying, and ensuring the comprehensiveness and efficiency of the cleaning operation.

[0028] like Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10 As shown, the stabilizing component 8 includes a bidirectional electric push rod 801. Both output ends of the bidirectional electric push rod 801 are fixedly connected to a transmission bar 802, and both ends of the transmission bar 802 are movably connected to a control bar 803 via a rotating shaft. A slider 804 is fixedly connected to the bottom of the transmission bar 802, and the slider 804 is in the shape of an inverted T. Two sets of symmetrical sliding grooves 805 are formed on the surface of the equipment platform 2, and the sliding grooves 805 are also in the shape of an inverted T. The sliders 804 are slidably connected inside the sliding grooves 805, ensuring that the bidirectional electric push rod 801, when driving the transmission bar 802, is not affected by external forces. To ensure straight-line operation, control frames 806 are movably connected inside the placement slot 7 via rotating shafts. The control frames 806 are X-shaped and can be folded and retracted. The other end of the control frame 806 is movably connected to the end of the control bar 803 away from the transmission bar 802 via rotating shafts, so that the transmission bar 802 drives the control frame 806 to retract or expand through the control bar 803. Stabilizing wheels 807 are installed on the end of the control frame 806 away from the control bar 803, so that the equipment can be pressed against the side walls when moving forward, so that the equipment runs smoothly and the entire equipment is located directly under the train.

[0029] The bidirectional electric push rod 801 drives the two-end transmission bars 802 to move away from or closer to each other. The inverted T-shaped slider 804 slides within the inverted T-shaped groove 805 on the surface of the equipment platform 2 to ensure that the transmission bars 802 maintain linear motion during operation without being disturbed by external forces. The transmission bars 802 then drive the X-shaped control frame 806 inside the placement groove 7 to contract or expand through the control bar 803, so that the stabilizing wheel 807 at the end of the control frame 806 is pressed against the side walls of the train. This achieves guidance and centering of the equipment, effectively ensuring that the entire equipment is always located directly under the train, ensuring the stability of the equipment's operating posture and smooth movement.

[0030] Working principle: First, the drive wheels 6 driven by the drive systems on both sides of the equipment platform 2 move the robot to the bottom of the train. During this process, in order to ensure that the equipment can pass smoothly and always be directly under the train, the stabilizing component 8 starts to operate. The bidirectional electric push rod 801 is activated, pushing the transmission bars 802 at both ends to move away from or closer to each other. The inverted T-shaped slider 804 at the bottom of the transmission bar 802 slides in the inverted T-shaped groove 805 on the surface of the equipment platform 2, ensuring that the transmission bar 802 runs in a straight line. The movement of the transmission bar 802 drives the control bar 803 through the rotating shaft and connecting parts, which in turn drives the X-shaped control frame 806 inside the placement slot 7 to retract or expand. When the control frame 806 expands, the stabilizing wheel 807 at its end presses against the walls or track sides on both sides of the train, thereby guiding and centering the equipment to ensure the stability of the equipment's operating posture. At the same time, the probe 10 at the front end of the equipment platform 2 detects obstacles in front in real time and uploads environmental images, which, together with the anti-collision beam 9, prevents collision damage. When the equipment reaches the designated detection position, the drive seat 3 adjusts the orientation of the robotic arm 1 so that the detection component 4 and the cleaning component 5 are aligned with the area to be detected. If there is oil or debris under the train, the cleaning component 5 will work first, and the booster pump inside the storage tank 507 will start, delivering the cleaning liquid through the delivery pipe 501 to the cleaning nozzle 508 for spraying. The delivery pipe 501 is installed according to the outer hub of the robotic arm 1, and the bend is designed to be telescopic, which can adapt to the operation of the robotic arm 1. During the spraying process, if it is necessary to adjust the spraying angle of the cleaning nozzle 508, the control motor 505 is started, which drives the adjusting wheel 502 to rotate through the transmission arm 504. Since the delivery pipe 501 is S-shaped and passes through the adjusting wheel 502 and the limiting wheel 503, the rotation of the adjusting wheel 502 changes the pulling angle of the delivery pipe 501, thereby realizing the adjustment of the orientation of the cleaning nozzle 508 and accurately cleaning important positions of the train. After cleaning, the inspection component 4 begins operation. The inspection camera 404 and several sensors 405 on the surface of the platform 401 work together to inspect the wear, connection strength, service life and other attributes of the train undercarriage connecting parts. During the operation of the cleaning component 5, in order to prevent liquid adhesion from affecting the inspection data, the motor inside the drive disc of the shield 406 drives the arc-shaped keel to rotate, so that the transparent film unfolds to cover the inspection camera 404 and sensors 405 for protection. During inspection, the shield 406 can be folded up. At the same time, the quick-drying fan 403 on the extension arm 402 on the surface of the platform 401 is activated to quickly dry the residual liquid after cleaning and prevent corrosion. Finally, the inspection data is uploaded in real time, completing the automated inspection of the train undercarriage.

[0031] It should be noted that in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "fixed," "installed," "connected," and "linked" should be interpreted broadly. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "linked" can be a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A train undercarriage inspection robot, comprising a robotic arm (1) and an equipment platform (2), characterized in that: The outer side of the robotic arm (1) is provided with a drive seat (3), a detection component (4) and a cleaning component (5). The drive seat (3) is installed at the bottom of the robotic arm (1) and is used for adjusting the orientation of the robotic arm (1). The detection component (4) is fixed to the output end of the robotic arm (1) by welding and is used for inspection of the undercarriage of the train; The cleaning component (5) is fixedly connected to the bottom outer side of the robotic arm (1), and the output end of the cleaning component (5) extends to the top of the robotic arm (1). The cleaning component (5) is used to clean the bottom of the train to facilitate the observation and detection of the detection component (4). The two sides of the equipment platform (2) are equipped with drive wheels (6) through the drive system for overall equipment movement detection. The four corners of the equipment platform (2) are provided with placement slots (7). A set of front and rear symmetrical stabilizing components (8) are installed on the surface of the equipment platform (2) to ensure stable operation of the equipment while ensuring that the equipment platform (2) is moved to the bottom of the train when it is being tested. The front end of the equipment platform (2) is equipped with a crash beam (9) by welding, and a probe (10) is fixedly connected to the front end of the surface of the equipment platform (2) for detecting obstacles and real-time uploading of ring images.

2. The train undercarriage inspection robot according to claim 1, characterized in that: The detection component (4) includes a placement platform (401), which is circular. The placement platform (401) is welded to the output end of the robotic arm (1). Four extension arms (402) extend outward from the surface of the placement platform (401), and the extension arms (402) are evenly distributed in a ring array. Each extension arm (402) is equipped with a quick-drying fan (403) at the end away from the placement platform (401) to quickly dry the liquid remaining at the bottom of the train after the cleaning component (5) is used to prevent corrosion.

3. The train undercarriage inspection robot according to claim 2, characterized in that: The surface of the placement platform (401) is provided with an inspection camera (404), several sensors (405) and a shield (406). The inspection camera (404) is fixedly connected to the center of the placement platform (401). The several sensors (405) are distributed around the inspection camera (404) and installed on the surface of the placement platform (401). The several sensors (405) are used to detect the wear condition, connection strength, service life and other attributes of the train undercarriage connecting parts.

4. The train undercarriage inspection robot according to claim 3, characterized in that: The shield (406) is composed of several arc-shaped keels, which are connected to each other by a transparent film to ensure that the inspection camera (404) and sensor (405) can operate in special environments and to prevent liquid from adhering to the outside of the cleaning component (5) and affecting the detection data. The two ends of the arc-shaped keel are mounted on the surface of the placement platform (401) by a drive disk. The drive disk is equipped with a motor to control the drive disk to drive the arc-shaped keel to rotate, thereby driving the transparent film to protect the inspection camera (404) and sensor (405) and fold itself up.

5. A train undercarriage inspection robot according to claim 1, characterized in that: The cleaning component (5) includes a delivery pipe (501), which is installed on the outside of the outer hub of the robotic arm (1), and the bend of the delivery pipe (501) is telescopic, which is used to cooperate with the operation of the robotic arm (1). A cleaning nozzle (508) is installed at the top of the delivery pipe (501).

6. A train undercarriage inspection robot according to claim 5, characterized in that: An adjusting wheel (502) and a limiting wheel (503) are respectively provided on the outer side of the output end of the conveying pipe (501), and the adjusting wheel (502) is located above the limiting wheel (503). The conveying pipe (501) passes through the adjusting wheel (502) and the limiting wheel (503) in an S shape. The limiting wheel (503) is installed on the surface of the robotic arm (1) through a rotating shaft and a connecting piece. A transmission arm (504) is fixedly connected to the outer axis of the adjusting wheel (502), and the other end of the transmission arm (504) is movably connected to the outer axis of the limiting wheel (503) through a bearing.

7. A train undercarriage inspection robot according to claim 6, characterized in that: A control motor (505) is fixedly connected to the outside of the transmission arm (504), so that the control motor (505) drives the adjusting wheel (502) to rotate through the transmission arm (504), thereby changing the orientation of the cleaning nozzle (508).

8. A train undercarriage inspection robot according to claim 7, characterized in that: The bottom outer side of the robotic arm (1) is equipped with an equipment frame (506), and a liquid storage tank (507) is fixedly connected to the surface of the equipment frame (506) for storing cleaning liquid. The bottom of the delivery pipe (501) extends into the interior of the liquid storage tank (507) and a booster pump is installed at its bottom for spraying the cleaning liquid from the liquid storage tank (507) through the delivery pipe (501) from the cleaning nozzle (508) to clean important inspection positions on the train.

9. A train undercarriage inspection robot according to claim 1, characterized in that: The stabilizing component (8) includes a bidirectional electric push rod (801). Both ends of the bidirectional electric push rod (801) are fixedly connected to a transmission bar (802). Both ends of the transmission bar (802) are movably connected to a control bar (803) via a rotating shaft. A slider (804) is fixedly connected to the bottom of the transmission bar (802). The slider (804) is in the shape of an inverted T. Two sets of symmetrical grooves (805) are provided on the surface of the equipment platform (2). The grooves (805) are in the shape of an inverted T. The sliders (804) are slidably connected inside the grooves (805) respectively, so as to ensure that the bidirectional electric push rod (801) drives the transmission bar (802) to run in a straight line without being affected by external forces.

10. A train undercarriage inspection robot according to claim 9, characterized in that: The placement slot (7) is movably connected to a control frame (806) via a rotating shaft. The control frame (806) is X-shaped and can be folded and retracted. The other end of the control frame (806) is movably connected to the end of the control bar (803) away from the transmission bar (802) via a rotating shaft, so that the transmission bar (802) drives the control frame (806) to retract or expand through the control bar (803). The end of the control frame (806) away from the control bar (803) is equipped with a stabilizing wheel (807) for the equipment to be close to the side walls when the equipment moves forward, so that the equipment runs smoothly and the equipment is located directly under the train.

Images