Track inspection robot with cleaning function

Abstract

The utility model relates to the technical field of inspection robots, and discloses a track inspection robot with a cleaning function, which comprises a robot body, two moving boxes and four moving wheels, the outer walls of the two supporting plates are both connected with folding mechanisms, the output ends of the two folding mechanisms are both connected with transposition mechanisms, the interiors of the two transposition mechanisms are both connected with transmission mechanisms, and the output ends of the two transmission mechanisms penetrate through the two transposition mechanisms correspondingly and are connected with a plurality of supporting rods. According to the track inspection robot with the cleaning function, when a railway inspector inspects a track through the robot body, the two folding mechanisms and the transmission mechanism located at the front end of the robot body can be opened at the same time, and then a supporting rod can be driven to rotate through the transmission mechanism; and therefore, the surface of the track can be cleaned through the cleaning brush, and the practicability is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a track inspection robot with a cleaning function. Background Art

[0002] A track inspection robot is an automated device used to inspect and monitor the condition of railway tracks. It is usually equipped with various sensors and cameras, and can travel on the track and collect data for evaluating the safety and operating status of the track.

[0003] The patent with announcement number CN215922182U discloses a railway track inspection robot, including an inspection robot body, a PTZ camera, an RTK locator, an external device power supply and communication plug, a 4G / 5G antenna, an audible and visual alarm, and a binocular camera are installed on the top of the inspection robot body, both sides of the inspection robot body are provided with a left and right telescopic wheel frame combination, the side wall of the left and right telescopic wheel frame combination is provided with a front and rear telescopic wheel frame, the bottom of the front and rear telescopic wheel frame is provided with a driving nylon wheel and a driven nylon wheel, the bottom of the front and rear telescopic wheel frame is also provided with a high-precision distance encoder, the side wall of the inspection robot body is provided with an ultrasonic detector, the bottom of the inspection robot body is provided with a detection radar, and the side wall of the inspection robot body is provided with a high-definition camera. The robot body structure can be retracted and stored, and it is convenient to transport and carry, and does not require hoisting, which is convenient for daily inspection.

[0004] However, the above-mentioned railway track inspection robot still has the following problems:

[0005] Because most tracks are located outdoors, garbage, debris, fallen leaves, branches and other debris are likely to accumulate on the track surface, which will affect the operation of the train and may even cause damage to the track. However, the current railway track inspection robots only have the function of detecting and identifying track defects when inspecting the railway tracks, and do not have the function of cleaning the debris on the track surface, which is inconvenient. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model provides a track inspection robot with a cleaning function. When the railway inspection personnel inspect the track through the robot body, the two sets of folding mechanisms and transmission mechanisms located at the front end of the robot body can be opened at the same time, and the support rod can be driven to rotate through the transmission mechanism, and the track surface can be cleaned through the cleaning brush, which is more practical.

[0007] The utility model provides the following technical solutions: a track inspection robot with a cleaning function, comprising a robot body, two mobile boxes installed on both sides of the robot body and four mobile wheels installed in the two mobile boxes, wherein one of the mobile boxes is fixedly connected to two symmetrically arranged support plates on a side away from the robot body, the outer walls of the two support plates are connected to folding mechanisms, the output ends of the two folding mechanisms are connected to transposition mechanisms, the interiors of the two transposition mechanisms are connected to transmission mechanisms, the output ends of the two transmission mechanisms respectively pass through the two transposition mechanisms and are connected to a number of support rods, the outer walls of the several support rods are fixedly connected to cleaning brushes, and the positions and heights of the several cleaning brushes are aligned with the four mobile wheels.

[0008] Furthermore, the folding mechanism includes a folding motor and a connecting block, the outer wall of the folding motor is fixedly connected to the bottom surface of the support plate, the output shaft of the folding motor passes through the support plate and the connecting block, and is fixedly connected to the inner wall of the connecting block, and the side of the connecting block away from the moving box is connected to the shifting mechanism.

[0009] Furthermore, the transposition mechanism includes a connecting box and a transposition motor, the inner wall of the connecting box is provided with a transmission cavity, the outer wall of the transposition motor is fixedly connected to the side of the connecting block away from the moving box, the connecting box is sleeved on the outside of the transposition motor, and the output shaft of the transposition motor is fixedly connected to the inner wall of the transmission cavity, a side of the transmission cavity away from the moving box is penetrated with a plurality of turning openings, the outer wall of the transmission mechanism is connected to the inner wall of the transmission cavity, and the output end of the transmission mechanism passes through the plurality of turning openings.

[0010] Furthermore, the transmission mechanism includes a rotating motor, a main gear, a chain and several rotating components. The outer wall of the rotating motor is fixedly connected to the inner wall of the transmission cavity, the output shaft of the rotating motor is fixedly connected to one side of the main gear, the outer walls of the several rotating components are respectively connected to the inner walls of the several transfer ports, the sides of the several rotating components away from the moving box are respectively connected to the several support rods, and the chain is sleeved on the outer walls of the main gear and the several rotating components, and is meshed with both the main gear and the rotating components.

[0011] Furthermore, the rotating assembly includes a slave gear and a connecting rod, the outer wall of the connecting rod is rotatably connected to the inner wall of the turntable through a bearing, the side of the connecting rod located outside the turntable is connected to the support rod, and the side of the connecting rod located inside the turntable is fixedly connected to one side of the slave gear, and the chain is sleeved on the outer wall of the slave gear and meshes with the slave gear.

[0012] Furthermore, a threaded hole is opened on one side of the support rod close to the moving box, and a connecting bolt is threadedly connected to the inner wall of the threaded hole. The other end of the connecting bolt passes through the swivel, connecting rod, slave gear and connecting box, and is fixedly connected to the inner walls of the connecting rod and the slave gear.

[0013] Furthermore, a plurality of embedded openings are provided on one side of the connection box close to the moving box, one end of the connection bolt close to the moving box is located in the embedded opening, and the length of the end located in the embedded opening is not greater than the depth of the embedded opening.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] This track inspection robot with a cleaning function is configured with a folding mechanism on the outside of a moving box at the front end of the robot body, and the folding mechanism is used to connect a transposition mechanism, a transmission mechanism, a support rod and a cleaning brush. When railway inspection personnel inspect the track through the robot body, they can simultaneously open the two sets of folding mechanisms and transmission mechanisms at the front end of the robot body, and then the support rod can be driven to rotate through the transmission mechanism, and then the track surface can be cleaned through the cleaning brush, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0017] Figure 2 This is a schematic diagram of the overall appearance of the two sets of cleaning brushes of the utility model after being folded;

[0018] Figure 3 It is a detailed connection diagram of the folding mechanism, the shifting mechanism, the cleaning brush and other components in the utility model;

[0019] Figure 4 It is a partial cross-sectional schematic diagram of the connection box in the utility model;

[0020] Figure 5 For this utility model Figure 4 Exploded diagram of the various components.

[0021] In the figure: 1. robot body; 2. moving box; 3. folding motor; 4. connecting box; 5. support rod; 6. cleaning brush; 7. connecting block; 8. support plate; 9. transposition motor; 10. rotating motor; 11. main gear; 12. slave gear; 13. chain; 14. connecting rod; 15. connecting bolt; 16. moving wheel; 401. transmission cavity; 402. rotating port; 403. embedded port; 501. threaded hole. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] See also Figure 1-Figure 5A track inspection robot with a cleaning function comprises a robot body 1, two mobile boxes 2 installed on both sides of the robot body 1 and four mobile wheels 16 installed in the two mobile boxes 2, wherein one side of the mobile box 2 away from the robot body 1 is fixedly connected to two symmetrically arranged support plates 8, the outer walls of the two support plates 8 are connected to folding mechanisms, the output ends of the two folding mechanisms are connected to transposition mechanisms, the interiors of the two transposition mechanisms are connected to transmission mechanisms, the output ends of the two transmission mechanisms respectively pass through the two transposition mechanisms, and are connected to a number of support rods 5, the outer walls of the several support rods 5 are fixedly connected to cleaning brushes 6, and the positions and heights of the several cleaning brushes 6 are aligned with the four mobile wheels 16.

[0024] The track inspection robot with cleaning function in the utility model is similar in structure to the existing track inspection robot, such as the rail transit line inspection robot model: RIIS1005. Figures 1 to 5 As shown, when the track inspection robot with a cleaning function in the utility model inspects the track, the inspection personnel first cleans the area where the robot body 1 is placed to prevent the robot body 1 from slipping when moving, and then controls the robot body 1 to move along the track through a remote controller or a program set in advance. Before moving, the folding mechanism is opened by the internal controller of the robot body 1, and the two sets of transposition mechanisms and the cleaning brush 6 are turned to be parallel to the two tracks. Then, the internal controller of the robot body 1 turns on the switch of the transmission mechanism. After the transmission mechanism is started, it drives several support rods 5 and the cleaning brush 6 to rotate. When the cleaning brush 6 rotates, it will clean the debris that is adhered or accumulated on the surface of the track to the outside of the track (the rotation direction of the transmission mechanism can be set in advance here), thereby completing the cleaning purpose and being more practical.

[0025] Because the cleaning brush 6 maintains frictional contact with the track for a long time, and a cleaning period may take a long time, at this time, after a group of cleaning brushes 6 have cleaned the track for a period of time (or a sensor is added to sense the cleanliness of the track by the cleaning brush 6 and selectively open the transposition mechanism, which is not limited to the specific details), the internal controller of the robot body 1 controls the rotation of the transposition mechanism, and then the other group of support rods 5 and the cleaning brush 6 can be turned to contact the track, thereby avoiding the situation where the cleaning effect is poor due to damage of the cleaning brush 6, and the distance and time of one-time cleaning can be increased, so that all the cleaning brushes 6 can be replaced at one time after they are damaged (or after the cleaning of one end of the track is completed, they can be replaced uniformly during subsequent recovery and maintenance, which is not limited to the specific details).

[0026] Please refer to Figure 2-Figure 5The folding mechanism includes a folding motor 3 and a connecting block 7. The outer wall of the folding motor 3 is fixedly connected to the bottom surface of the support plate 8. The output shaft of the folding motor 3 passes through the support plate 8 and the connecting block 7, and is fixedly connected to the inner wall of the connecting block 7. The side of the connecting block 7 away from the moving box 2 is connected to the transposition mechanism.

[0027] More specifically, when it is necessary to control the rotation of the transposition mechanism and the cleaning brush 6, etc., the internal controller of the robot body 1 starts the switch of the folding motor 3. After the folding motor 3 is started, the output shaft will drive the connecting block 7 to rotate, and the rotation of the connecting block 7 can drive the transposition mechanism to rotate, thereby driving the transmission mechanism and the cleaning brush 6, etc. to rotate through the transposition mechanism.

[0028] Please refer to Figure 3-Figure 5 The transposition mechanism includes a connecting box 4 and a transposition motor 9. The inner wall of the connecting box 4 is provided with a transmission cavity 401. The outer wall of the transposition motor 9 is fixedly connected to the side of the connecting block 7 away from the moving box 2. The connecting box 4 is sleeved on the outside of the transposition motor 9, and the output shaft of the transposition motor 9 is fixedly connected to the inner wall of the transmission cavity 401. A plurality of turning ports 402 are penetrated and opened on the side of the transmission cavity 401 away from the moving box 2. The outer wall of the transmission mechanism is connected to the inner wall of the transmission cavity 401, and the output end of the transmission mechanism penetrates the plurality of turning ports 402.

[0029] More specifically, when it is necessary to control the position change of the two groups of cleaning brushes 6, the internal controller of the robot body 1 starts the switch of the position change motor 9. After the position change motor 9 is started, the output shaft drives the connecting box 4 to rotate, and then the transmission mechanism located inside the transmission cavity 401 can be driven to rotate. After the transmission mechanism rotates, it can drive several support rods 5 and the cleaning brushes 6 to rotate, thereby achieving position change.

[0030] Please refer to Figure 4 and Figure 5 The transmission mechanism includes a rotating motor 10, a main gear 11, a chain 13 and a plurality of rotating components. The outer wall of the rotating motor 10 is fixedly connected to the inner wall of the transmission cavity 401, the output shaft of the rotating motor 10 is fixedly connected to one side of the main gear 11, the outer walls of the plurality of rotating components are respectively connected to the inner walls of the plurality of transfer ports 402, the sides of the plurality of rotating components away from the moving box 2 are respectively connected to the plurality of support rods 5, the chain 13 is sleeved on the outer walls of the main gear 11 and the plurality of rotating components, and is meshed with the main gear 11 and the rotating components.

[0031] More specifically, when it is necessary to clean the track surface with the cleaning brush 6, it is only necessary to turn on the rotating motor 10 through the internal controller of the robot body 1. After the rotating motor 10 is started, the output shaft drives the main gear 11 to rotate. After the main gear 11 rotates, it will drive several rotating components to rotate together through the meshing chain 13, so that several supporting rods 5 and the cleaning brush 6 can be driven to rotate together through several rotating components.

[0032] Please refer to Figure 4 and Figure 5 The rotating assembly includes a slave gear 12 and a connecting rod 14. The outer wall of the connecting rod 14 is rotatably connected to the inner wall of the rotating port 402 through a bearing. The side of the connecting rod 14 located outside the rotating port 402 is connected to the support rod 5, and the side of the connecting rod 14 located inside the rotating port 402 is fixedly connected to one side of the slave gear 12. The chain 13 is sleeved on the outer wall of the slave gear 12 and meshes with the slave gear 12.

[0033] More specifically, when the chain 13 is displaced under the engagement of the main gear 11, it will drive several slave gears 12 to rotate together. After the slave gears 12 rotate, they can drive the connecting rod 14 to rotate in the turning port 402. When the connecting rod 14 rotates, it will also drive the support rod 5 and the cleaning brush 6 located outside the connecting box 4 to rotate.

[0034] Please refer to Figure 5 A threaded hole 501 is provided on one side of the support rod 5 close to the moving box 2, and a connecting bolt 15 is threadedly connected to the inner wall of the threaded hole 501. The other end of the connecting bolt 15 passes through the turn mouth 402, the connecting rod 14, the slave gear 12 and the connecting box 4, and is fixedly connected to the inner walls of the connecting rod 14 and the slave gear 12.

[0035] More specifically, by providing the threaded hole 501 and the connecting bolt 15 , when the cleaning brush 6 needs to be cleaned or replaced, it is only necessary to unscrew the connecting bolt 15 from the threaded hole 501 , which is convenient and easy to operate.

[0036] It should be noted here that: the connecting friction between the connecting bolt 15 and the threaded hole 501 is much greater than the friction between the cleaning brush 6 and the track; or the spiral connection direction between the connecting bolt 15 and the threaded hole 501 is set opposite to the rotation direction between the cleaning brush 6 and the track. Through the above two methods, the cleaning brush 6 can be prevented from falling off by itself during cleaning the track.

[0037] Please refer to Figure 4 and Figure 5 A plurality of embedded openings 403 are provided on one side of the connection box 4 close to the moving box 2 , and one end of the connection bolt 15 close to the moving box 2 is located in the embedded opening 403 , and the length of the end located in the embedded opening 403 is not greater than the depth of the embedded opening 403 .

[0038] More specifically, by providing the embedded opening 403 , the connection bolt 15 can be accommodated to avoid affecting the rotation of the connection box 4 itself.

[0039] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A track inspection robot with a cleaning function, comprising a robot body (1), two moving boxes (2) installed on both sides of the robot body (1), and four moving wheels (16) installed in the two moving boxes (2), characterized in that: One side of one of the moving boxes (2) away from the robot body (1) is fixedly connected to two symmetrically arranged support plates (8), the outer walls of the two support plates (8) are connected to folding mechanisms, the output ends of the two folding mechanisms are connected to transposition mechanisms, the interiors of the two transposition mechanisms are connected to transmission mechanisms, the output ends of the two transmission mechanisms respectively pass through the two transposition mechanisms and are connected to a plurality of support rods (5), the outer walls of the plurality of support rods (5) are fixedly connected to cleaning brushes (6), and the positions and heights of the plurality of cleaning brushes (6) are aligned with the four moving wheels (16).

2. A track inspection robot with cleaning function according to claim 1, characterized in that: The folding mechanism comprises a folding motor (3) and a connecting block (7); the outer wall of the folding motor (3) is fixedly connected to the bottom surface of the support plate (8); the output shaft of the folding motor (3) passes through the support plate (8) and the connecting block (7) and is fixedly connected to the inner wall of the connecting block (7); and the side of the connecting block (7) away from the moving box (2) is connected to the shifting mechanism.

3. A track inspection robot with cleaning function according to claim 2, characterized in that: The transposition mechanism comprises a connection box (4) and a transposition motor (9); a transmission cavity (401) is provided on the inner wall of the connection box (4); an outer wall of the transposition motor (9) is fixedly connected to a side of a connection block (7) away from a moving box (2); the connection box (4) is sleeved on the outside of the transposition motor (9); an output shaft of the transposition motor (9) is fixedly connected to the inner wall of the transmission cavity (401); a plurality of rotation ports (402) are provided through the side of the transmission cavity (401) away from the moving box (2); the outer wall of the transmission mechanism is connected to the inner wall of the transmission cavity (401); and an output end of the transmission mechanism passes through the plurality of rotation ports (402).

4. The track inspection robot with cleaning function according to claim 3, characterized in that: The transmission mechanism comprises a rotating motor (10), a main gear (11), a chain (13) and a plurality of rotating components. The outer wall of the rotating motor (10) is fixedly connected to the inner wall of a transmission cavity (401), the output shaft of the rotating motor (10) is fixedly connected to one side of the main gear (11), the outer walls of the plurality of rotating components are respectively connected to the inner walls of a plurality of rotating ports (402), the sides of the plurality of rotating components away from the moving box (2) are respectively connected to a plurality of supporting rods (5), and the chain (13) is sleeved on the outer walls of the main gear (11) and the plurality of rotating components, and is meshed with the main gear (11) and the rotating components.

5. The track inspection robot with cleaning function according to claim 4, characterized in that: The rotating assembly comprises a slave gear (12) and a connecting rod (14); the outer wall of the connecting rod (14) is rotatably connected to the inner wall of the rotating port (402) via a bearing; the side of the connecting rod (14) located outside the rotating port (402) is connected to the support rod (5); the side of the connecting rod (14) located inside the rotating port (402) is fixedly connected to one side of the slave gear (12); and the chain (13) is sleeved on the outer wall of the slave gear (12) and meshes with the slave gear (12).

6. A track inspection robot with cleaning function according to claim 5, characterized in that: A threaded hole (501) is provided on one side of the support rod (5) close to the moving box (2); a connecting bolt (15) is threadedly connected to the inner wall of the threaded hole (501); the other end of the connecting bolt (15) passes through the turning port (402), the connecting rod (14), the slave gear (12) and the connecting box (4), and is fixedly connected to the inner walls of the connecting rod (14) and the slave gear (12).

7. The track inspection robot with cleaning function according to claim 6, characterized in that: A plurality of embedded openings (403) are provided on a side of the connection box (4) close to the moving box (2); one end of the connection bolt (15) close to the moving box (2) is located in the embedded opening (403), and the length of the end located in the embedded opening (403) is not greater than the depth of the embedded opening (403).

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