Track inspection robot

Abstract

The utility model provides a track inspection robot which is hung on an H-shaped track and comprises a robot body, and a walking mechanism and a detachable electric power system are arranged on the upper portion of the robot body. The control system, the inspection system, the encoder mechanism and the driving mechanism are arranged in the robot body and electrically connected with the electric power system, the driving mechanism is connected with the walking mechanism on the robot body, and the encoder mechanism comprises an encoder wheel, a power system and a power system. The encoder wheel is fixed to the side wall of the robot body through a fixing assembly, and the encoder wheel is connected with the bottom of the H-shaped rail. And the encoder is connected with the encoder wheel through an encoder shaft.

Description

Technical Field

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

[0002] The power industry is a basic industry of the national economy, and its development level is directly related to the national economy and people's livelihood. Among them, the regional operation management of the coal transportation system of thermal power plants is a complex systemic issue. In this scenario, belt tearing, belt deviation, belt coal dropping and withdrawal, abnormal transportation materials, and abnormal roller temperature often occur. If there is any negligence, potential hidden dangers will be transformed into safety accidents, affecting the production safety of power companies.

[0003] A large amount of coal is piled up in indoor and outdoor warehouses in thermal power plants, but coal is flammable. After a long period of transportation and storage, coal becomes more dangerous due to factors such as volatilization of moisture and changes in compaction. Spontaneous combustion may occur anywhere coal is piled or transported, and is more likely to occur on coal conveyor belt systems. Coal oxidizes with oxygen in the air, causing the temperature to rise. If there is no monitoring system that cannot detect when it rises to 400 degrees Celsius, it is very easy to cause a fire. This not only threatens the safety of the staff, but may also damage the running belt, and even cause losses to a larger area, complete interruption of power generation, etc. During these pre-oxidation processes, a large amount of methane and carbon monoxide gases are also produced. These toxic gases make firefighting more difficult.

[0004] In recent years, major power generation groups have successively carried out comprehensive and in-depth information, automation, and intelligent construction on the fuel business, which accounts for more than 70% of the cost of thermal power plants, and have achieved good results. However, as an important part of the fuel transportation line business, the inspection of the coal transport trestle is a heavy labor task and harsh conditions. At present, the traditional manual operation method is still used, which has many problems such as low efficiency, poor timeliness and safety, weak reliability and stability, frequent false alarms and missed alarms, a large number of blind spots in video surveillance, and the inability to track the on-site situation in a timely and rapid manner. In addition, the dust volume in the coal drop area is extremely high, which has a great impact on related equipment and often causes alarms. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a track inspection robot which can monitor and inspect the belt condition in the coal dropping area at the end of the coal conveying system, improve production efficiency and avoid the influence of dust.

[0006] The utility model provides a track inspection robot, the robot is suspended on an H-shaped track, the robot comprises a robot body, a walking mechanism is arranged on the upper part of the robot body, a detachable power system, and a control system, an inspection system, an encoder mechanism and a driving mechanism arranged inside the robot body and electrically connected to the power system, the driving mechanism is connected to the walking mechanism on the robot body, wherein the encoder mechanism comprises:

[0007] An encoder wheel, wherein the encoder wheel is fixed to the side wall of the robot body through a fixing assembly, and the encoder wheel is connected to the bottom of the H-shaped track; and

[0008] An encoder is connected to the encoder wheel via an encoder shaft.

[0009] Furthermore, the fixing assembly comprises:

[0010] A mechanism fixing seat, wherein the mechanism fixing seat is installed on a side wall of the robot body;

[0011] a mechanism support frame, one end of which is connected to the mechanism fixing seat via a support bearing;

[0012] An encoder spring, one end of which is fixed to the mechanism fixing seat, and the other end of which is against the mechanism supporting frame, wherein

[0013] The encoder shaft passes through the end of the mechanism support frame that is not connected to the mechanism fixing seat, so that the encoder wheel and the encoder are respectively located on two sides of the mechanism support frame.

[0014] Furthermore, the driving mechanism comprises:

[0015] A driving frame, wherein the driving frame is fixed inside the robot body, and the driving frame is symmetrical relative to the H-shaped track as a whole, and the driving frame comprises: a frame bottom plate, a motor frame located on the frame bottom plate, a guide rod frame located at both ends of the motor frame, and a synchronous pulley frame, wherein the synchronous pulley frame is arranged above the guide rod frame;

[0016] A driving motor for providing power;

[0017] A reducer, one end of which is connected to the driving motor, and the other end of which is arranged in the motor frame;

[0018] A guide rod, the guide rod passes through the guide rod frame and the frame bottom plate, and a compression spring is sleeved on the guide rod;

[0019] A synchronous pulley, the synchronous pulley comprising: an upper pulley, a lower pulley and a belt, the belt is sleeved on the upper pulley and the lower pulley, the upper pulley is arranged on the synchronous pulley frame through a wheel shaft, the lower pulley is arranged on both sides of the motor frame and connected to the reducer through a transmission shaft; and

[0020] The driving wheel is arranged at one end of the wheel shaft passing through the synchronous pulley frame, and the upper pulley rotates to drive the driving wheel to rotate, wherein

[0021] The driving wheel is clamped on the track groove of the H-shaped track.

[0022] Furthermore, the walking mechanism comprises:

[0023] A base, fixed on the side wall of the robot body, the base being symmetrically arranged relative to the track;

[0024] The wheel seat is connected to the base through a guide shaft, and the wheel seat is provided with a moving wheel, the moving wheel is located in the middle position of the wheel seat, wherein the moving wheel is located on the track groove, and a guide spring is sleeved on the guide shaft.

[0025] Furthermore, the walking mechanism also includes a walking brush, which is located in front of and / or behind the moving wheel, with its top fixed to the upper surface of the wheel seat through a fixing plate and its lower end located on the upper surface of the track groove.

[0026] Furthermore, the inspection robot includes a braking device, and the braking device is located behind the driving motor.

[0027] Furthermore, the inspection system is connected via a pan-tilt platform and is arranged at the lower part of the robot body, and the inspection system includes a camera, an infrared thermal imager, an ultrasonic sensor, and a temperature and humidity sensor.

[0028] Furthermore, the power system is a charging power supply, and the charging power supply is located on the side of the robot body.

[0029] Furthermore, the control system includes a power switch, an emergency stop switch, a debugging network port, a manual charging aviation plug, a signal transmission device and an alarm indicator light located on the robot body, and a status indicator light located in the middle of the front end of the robot body.

[0030] Furthermore, a dust cleaning device is provided in front of the camera and the infrared thermal imager for cleaning dust on the surface of the camera and the infrared thermal imager.

[0031] The utility model provides a track inspection robot. The inspection robot drives a walking mechanism through a driving mechanism, so that the inspection robot can move on the track, and the inspection robot is equipped with a cleaning brush, which can clean the track in real time to prevent dust and smoke in the environment from remaining on the track and affecting the normal movement of the inspection robot, and can prevent the smoke and dust on the track from falling into the robot. In addition, the position of the robot can be accurately measured and controlled by configuring an encoder mechanism, and the position of the inspection robot can be monitored in real time. When a problem occurs, the staff can be in place in one step. The inspection robot is equipped with a charging power supply, which can automatically charge at the charging pile when it stops using, without connecting wires or designing wiring, saving costs and space.

[0032] The inspection robot of the utility model can carry out video monitoring and identification of the belt in the coal dropping area at the end of the coal conveying system. It can take pictures through the high-definition camera carried by the robot and judge whether the belt is deviated or torn through image recognition. When an alarm occurs and is fed back to the control center, the staff can carry out repairs to improve production efficiency and reduce unnecessary losses in the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of a track inspection robot according to the utility model;

[0034] Figure 2 It is a structural schematic diagram of the encoder mechanism and the robot body of the track inspection robot according to the utility model;

[0035] Figure 3 It is a structural schematic diagram of the walking mechanism and the robot body of the track inspection robot according to the utility model;

[0036] Figure 4 is a schematic diagram of an encoder mechanism of a track inspection robot according to the utility model;

[0037] Figure 5 It is a schematic diagram of the driving mechanism of the track inspection robot according to the utility model.

[0038] Figure number: 100-inspection robot, 1-robot body, 2-walking mechanism, 21-base, 22-wheel seat, 23-guide shaft, 24-guide spring, 25-moving wheel, 26-walking brush, 27-fixed plate, 28-brush head, 3-power system, 4-encoder mechanism, 41-encoder wheel, 42-encoder, 431-mechanism fixing seat, 432-mechanism support frame, 433-encoder spring, 434-support bearing, 5-driving mechanism, 51-driving frame, 511-motor frame, 512- Guide rod frame, 513-synchronous pulley frame, 514-frame bottom plate, 52-drive motor, 53-reducer, 54-guide rod, 55-compression spring, 56-upper pulley, 57-lower pulley, 58-belt, 59-drive wheel, 6-pan head, 7-H-type track, 81-camera, 82-infrared thermal imager, 83-ultrasonic sensor, 91-power switch, 92-emergency stop switch, 93-debugging network port, 94-manual charging aviation plug, 95-signal transmission device, 96-alarm indicator light, 97-status indicator light. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. The principles and features of the present invention are described below in combination with the accompanying drawings. It should be noted that the embodiments and features in the embodiments in this application can be combined with each other without conflict. The embodiments cited are only used to explain the present invention and are not used to limit the scope of the present invention.

[0040] The utility model provides a track inspection robot 100, which is suspended on an H-shaped track 7, which may generally include a track hanger assembly, a track body, and the like, and the robot is mounted on the track and walks. The robot track may preferably be made of an H-shaped high-strength aluminum alloy profile, the surface of which is anodized and has high corrosion resistance and strong wear resistance. Figure 1 The specific structure of the track is shown in FIG. The H-shaped track 7 includes an upper protrusion and a lower protrusion, with a track groove formed in the middle. The inspection robot 100 is suspended in the track grooves on the left and right sides through the walking mechanism 2 .

[0041] See also Figure 1The inspection robot 100 provided by the utility model includes a robot body 1, on which a walking mechanism 2 is provided, a detachable power system 3, and a control system, an inspection system, an encoder mechanism 4 and a driving mechanism 5 are arranged inside the robot body 1 and electrically connected to the power system 3, and the driving mechanism 5 is connected to the walking mechanism 2 on the robot body 1. Further, the encoder mechanism 4 includes: an encoder wheel 41 and an encoder 42, the encoder wheel 41 is fixed to the side wall of the robot body 1 through a fixing assembly, the encoder wheel 41 is located below the H-shaped track 7, and the encoder wheel 41 is connected to the bottom of the H-shaped track 7, and the encoder 42 is connected to the encoder wheel 41 through the encoder 42 shaft.

[0042] The encoder 42 is a sensor for measuring the position of an object. It generates a digital signal by triggering a change in the magnetic field on the surface of the object. When working, the inspection robot 100 moves (including moving backward) on the H-shaped track 7. The encoder wheel 41 is tangent to the bottom of the H-shaped track 7, driving the encoder wheel 41 to rotate, thereby driving the encoder 42 to rotate. The rotation of the wheel drives the encoder 42 to rotate, and then detects the actual walking distance of the machine, forming a closed loop with the distance of the motor rotation.

[0043] Therefore, the inspection robot 100 of the utility model provides power to the entire inspection robot 100 through the power system 3, drives the walking mechanism 2 through the driving mechanism 5, so that the inspection robot 100 runs on the track, and controls the various systems and mechanisms of the entire inspection robot 100 through the control system, inspects and monitors the overall environment of the coal conveyor belt 58 through the inspection system, and accurately locates the position of the robot through the encoder mechanism 4, so that when a problem is found during the inspection process, the position of the robot can be fed back immediately, thereby providing a quick maintenance position. In this way, real-time monitoring of the belt 58 is achieved.

[0044] The detailed structure of the inspection robot 100 of the present invention will be described in detail below.

[0045] As described above, the encoder mechanism 4 and the drive mechanism 5 are both provided inside the robot body 1 .

[0046] Specifically, Figure 2 and Figure 4 As shown, the fixing components of the above-mentioned fixed encoder mechanism 4 include:

[0047] The mechanism fixing seat 431 is installed on the side wall of the inspection part body. Specifically, a base is provided at one end of the mechanism fixing seat 431, and the base can be fixed to the side wall of the inspection part body by screws. The base is provided with a fixing rod extending from the base to the center of the robot body 1. The base and the fixing rod can be integrally formed to form an integral mechanism fixing seat 431, or can be connected by gluing or welding, etc., and the present application does not specifically limit this.

[0048] The fixing assembly further includes a mechanism support frame 432, one end of which is connected to the mechanism fixing seat 431 via a support bearing 434. Specifically, the mechanism support frame 432 is connected to one end of the mechanism fixing seat 431 away from the side wall of the inspection part body via a support bearing 434.

[0049] The encoder 42 shaft passes through the end of the mechanism support frame 432 that is not connected to the mechanism fixing seat 431 , so that the encoder wheel 41 and the encoder 42 are respectively located on both sides of the mechanism support frame 432 .

[0050] In addition, the fixing assembly further includes an encoder spring 433, one end of which is fixed to the mechanism fixing seat 431, and the other end of which is against the mechanism support frame 432. The end fixed to the mechanism fixing seat 431 can be fixed by bolts or direct welding. The encoder spring 433 is used to achieve the effect of pressing the encoder wheel 41, and the whole can be in a curved shape, so as to convert the direction of the elastic force from the axial direction of the spring to perpendicular to the mechanism support frame 432, thereby pressing the encoder wheel 41.

[0051] The encoder mechanism 4 can be fixed on the left or right wall of the robot body 1, as long as the encoder wheel 41 can be in contact with the bottom surface of the H-shaped track 7. Figure 2 As shown, the encoder mechanism 4 can be arranged on a side wall on one side.

[0052] Furthermore, the driving mechanism 5 of the present application is used to convert the power provided by the power system 3 into driving force. Specifically, Figure 5 As shown, the driving mechanism 5 comprises:

[0053] The driving frame 51 is fixed inside the robot body 1, and the driving frame 51 is symmetrical with respect to the H-shaped track 7 as a whole. In other words, Figure 5 The driving frame 51 in the robot body 1 is symmetrical as a whole. After the driving frame 51 is set in the robot body 1 and placed on the track, the length direction of the driving frame 51 ( Figure 5 The direction of a in the figure actually corresponds to the width direction of the robot body 1 ( Figure 1 direction of b in the figure).

[0054] Further, the drive frame 51 includes: a frame base plate 514, a motor frame 511 located on the frame base plate 514, guide rod frames 512 located at both ends of the motor frame 511, and a synchronous pulley frame 513. The synchronous pulley frame 513 is disposed above the guide rod frame 512. The motor frame 511 is square and can be arranged on the frame base plate 514 by means such as welding or bolt fixation; when viewed from the left, the guide rod frame 512 is an H-shaped structure, the synchronous pulley frame 513 is located at the top of the H-shaped structure, and when viewed from the top, the synchronous pulley frame 513 is a "U" structure. The two side plates of the synchronous pulley frame 513 are fixed to the tops of the two side plates of the guide rod frame 512, as Figure 5 shown in

[0055] The above-mentioned drive mechanism 5 includes a drive motor 52, a speed reducer 53, a guide rod 54, a synchronous pulley, and a drive wheel 59, and these components are all located on the drive frame 51.

[0056] Specifically, the drive motor 52 is used to provide power. One end of the speed reducer is connected to the drive motor 52, and the other end is disposed in the motor frame 511. The guide rod 54 is used to provide guidance for the entire drive device when the track is bent. The guide rod 54 passes through the guide rod frame 512 and the frame base plate 514. A compression spring 55 is sleeved on the guide rod 54. The compression spring 55 can provide pressure to the entire drive mechanism when the machine climbs or descends, so as to keep the drive mechanism stable.

[0057] The synchronous pulley includes an upper pulley 56, a lower pulley 57, and a belt 58. The belt 58 is sleeved on the upper pulley 56 and the lower pulley 57. The upper pulley 56 is arranged on the synchronous pulley frame 513 through a wheel shaft, and the lower pulley 57 is disposed on both sides of the click frame and is connected to the speed reducer through a transmission shaft. The transmission shaft passes through the side plate of the motor frame 511 and is inserted into the speed reducer. The speed reducer can drive the lower pulley 57 to rotate. A bearing can be arranged at the position where the transmission shaft contacts the motor frame 511 to reduce the friction generated by the rotation of the transmission shaft. After the lower pulley 57 rotates, it drives the belt 58, thereby driving the upper pulley 56 to rotate. Thus, a transmission device is formed.

[0058] The above-mentioned drive wheel 59 is arranged at one end where the wheel shaft passes through the synchronous pulley frame 513. When the upper pulley 56 rotates, it can drive the drive wheel 59 to rotate. The drive wheel 59 is clamped on the track groove of the H-shaped track 7. Thus, when the upper pulley 56 rotates, it can drive the entire robot body 1 to travel on the track.

[0059] The drive mechanism 5 is usually arranged at the middle position of the robot body 1, so as to stably drive the entire robot to travel. In order to make the traveling process of the robot more stable and smooth. The inspection robot 100 of the present application is further provided with a traveling mechanism 2.

[0060] The walking mechanism 2 of the inspection robot 100 can not only realize the movement of the robot on the track, but also ensure that the robot can be stably suspended on the track. Figure 3 As shown, the walking mechanism 2 includes:

[0061] The base 21 is fixed on the side wall of the robot body 1. The base 21 is symmetrically arranged along the track, that is, the upper edges of the two side walls of the robot body 1 are provided with bases 21, and the two are symmetrical, so that the bases 21 can be located on both sides of the track.

[0062] The wheel seat 22 is connected to the base 21 through a guide shaft 23. The guide shaft 23 is located at both ends of the wheel seat 22 and connected to both ends of the base 21. The guide shaft 23 is made of a bendable material. A guide spring 24 is sleeved on the guide shaft 23. The guide spring 24 can play a supporting role and assist in resetting the guide shaft 23. By setting the guide shaft 23, the wheel seat 22 can rotate, so that the direction change of the robot can be achieved.

[0063] The wheel seat 22 is provided with a moving wheel 25, which is located in the middle of the wheel seat 22 and in the track groove of the track. Thus, the moving wheel 25 is clamped in the track groove, and can not only rotate under the drive of the driving wheel 59 to ensure the stability of the robot's movement, but also ensure that the robot can be stably suspended on the track and will not fall off.

[0064] Furthermore, in order to enhance the cleaning of the track, the walking mechanism 2 may further include a walking brush 26, which is located in front of and / or behind the moving wheel 25 (see Figure 3 The walking brush 26 of the walking mechanism 2 in front of the robot body 1 is arranged in front of the moving wheel 25, and the walking brush 26 of the walking mechanism 2 behind the robot body 1 is arranged behind the moving wheel 25. The positions thereof can be changed according to the size of the robot and corresponding requirements. For example, the walking brush 26 of the walking mechanism 2 in front of the robot body 1 can be arranged behind the moving wheel 25. This application does not make any special limitation on this.

[0065] The top of the walking brush 26 is fixed to the upper surface of the wheel seat 22 through a fixing plate 27, and the lower end brush head 28 is located on the upper surface of the track groove. Thus, the track 4 can be further cleaned during the robot's travel.

[0066] Thus, the walking mechanism 2 is arranged above the robot body 1, so that the robot's travel process and both can be stably suspended on the track. In addition, according to the specific size of the robot, only two or more groups of walking mechanisms 2 can be symmetrically arranged to ensure the stability of the robot.

[0067] Furthermore, the inspection robot 100 of the present application may also include a braking device (not shown in the figure), which is located behind the drive motor. When encountering a dangerous situation, the emergency stop switch 92 can be activated to activate the braking device, causing the drive motor 5 to stop running instantly, causing the robot to stop moving.

[0068] Furthermore, as the main working module of the robot body 1, the inspection system is connected through the pan-tilt head 6 and is arranged at the lower part of the robot body 1. The inspection system includes a camera 81, an infrared thermal imager 82, an ultrasonic sensor 83 and a temperature and humidity sensor (not shown in the figure).

[0069] Furthermore, the power system 3 can be a charging power supply, which can be equipped with a charging pile. When the robot is not working, it can be docked at the charging pile for charging, or the charging power supply can be removed and charged separately. In order to facilitate disassembly and charging, the charging power supply is located on the side of the robot body 1.

[0070] Further, in order to realize the automatic control of the inspection robot 100, see again Figure 1 The control system of the inspection robot 100 includes a power switch 91, an emergency stop switch 92, a debugging network port 93, a manual charging plug 94, a signal transmission device 95 and an alarm indicator light 96 located on the robot body 1, and a status indicator light 97 located in the middle of the front end of the robot body 1. Usually, the power switch 91 can be directly electrically connected to the power system 3. Since the inspection robot 100 has a certain inertia during the movement, when encountering a dangerous situation, if the robot cannot be stopped quickly by only the power switch 91, an emergency stop switch 92 can be provided on the robot body 1, and the emergency stop switch 92 can control the above-mentioned brake device, so that the inspection robot 100 can stop running immediately. The signal transmission device 95 can be, for example, an antenna, a Bluetooth, a WiFi signal receiver, etc., so that the operator can control the inspection robot 100 outside the construction site and within the range where the signal transmission device 95 can receive signals. The alarm indicator light 96 can flash when a danger is detected, and these dangers include but are not limited to problems with the coal conveyor belt 58, fires on site, equipment failures, etc.

[0071] Furthermore, since the inspection robot 100 of the present invention is usually in a coal transportation environment, there will be a large amount of pollutants such as coal ash and dust, which will not only accumulate on the track, but also because static electricity will be generated on the surface of the robot in a working state, it will absorb a large amount of dust. Therefore, a dust cleaning device, such as a wiper, can be provided in front of the camera 81 and the infrared thermal imager 82 of the inspection robot 100 of the present invention to remove dust on the surface of the camera 81 and the infrared thermal imager 82, thereby ensuring that the camera 81 can stably acquire high-definition images and the outside of the infrared thermal imager 82 will not be blocked.

[0072] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0073] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0075] It should be understood that although the terms "first", "second", etc. can be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first element discussed below can be referred to as the second element without departing from the teachings of the utility model. Similarly, the second element can also be referred to as the first element.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. A track inspection robot, the robot being suspended on an H-shaped track, characterized in that: The robot comprises a robot body, a walking mechanism is arranged on the upper part of the robot body, a detachable power system, and a control system, an inspection system, an encoder mechanism and a driving mechanism arranged inside the robot body and electrically connected to the power system, wherein the driving mechanism is connected to the walking mechanism on the robot body, wherein the encoder mechanism comprises: An encoder wheel, wherein the encoder wheel is fixed to the side wall of the robot body through a fixing assembly, and the encoder wheel is connected to the bottom of the H-shaped track; and An encoder is connected to the encoder wheel via an encoder shaft.

2. The rail inspection robot according to claim 1, characterized in that: The fixing assembly comprises: A mechanism fixing seat, wherein the mechanism fixing seat is installed on a side wall of the robot body; a mechanism support frame, one end of which is connected to the mechanism fixing seat via a support bearing; An encoder spring, one end of which is fixed to the mechanism fixing seat, and the other end of which is against the mechanism supporting frame, wherein The encoder shaft passes through the end of the mechanism support frame that is not connected to the mechanism fixing seat, so that the encoder wheel and the encoder are respectively located on two sides of the mechanism support frame.

3. The rail inspection robot according to claim 2, characterized in that: The driving mechanism comprises: A driving frame, wherein the driving frame is fixed inside the robot body, and the driving frame is symmetrical relative to the H-shaped track as a whole, and the driving frame comprises: a frame bottom plate, a motor frame located on the frame bottom plate, a guide rod frame located at both ends of the motor frame, and a synchronous pulley frame, wherein the synchronous pulley frame is arranged above the guide rod frame; A driving motor for providing power; A reducer, one end of which is connected to the driving motor, and the other end of which is arranged in the motor frame; A guide rod, the guide rod passes through the guide rod frame and the frame bottom plate, and a compression spring is sleeved on the guide rod; A synchronous pulley, the synchronous pulley comprising: an upper pulley, a lower pulley and a belt, the belt is sleeved on the upper pulley and the lower pulley, the upper pulley is arranged on the synchronous pulley frame through a wheel shaft, the lower pulley is arranged on both sides of the motor frame and connected to the reducer through a transmission shaft; and The driving wheel is arranged at one end of the wheel shaft passing through the synchronous pulley frame, and the upper pulley rotates to drive the driving wheel to rotate, wherein The driving wheel is clamped on the track groove of the H-shaped track.

4. The rail inspection robot according to claim 3, characterized in that: The walking mechanism comprises: A base, fixed on the side wall of the robot body, the base being symmetrically arranged relative to the track; The wheel seat is connected to the base through a guide shaft, and the wheel seat is provided with a moving wheel, the moving wheel is located in the middle position of the wheel seat, wherein the moving wheel is located on the track groove, and a guide spring is sleeved on the guide shaft.

5. The rail inspection robot according to claim 4, characterized in that: The walking mechanism also includes a walking brush, which is located in front of and / or behind the moving wheel. The top of the walking brush is fixed to the upper surface of the wheel seat through a fixing plate, and the lower end is located on the upper surface of the track groove.

6. The rail inspection robot according to claim 5, characterized in that: The inspection robot comprises a brake device, and the brake device is located behind the drive motor.

7. The rail inspection robot according to claim 6, characterized in that: The inspection system is connected via a pan-tilt platform and is arranged at the lower part of the robot body. The inspection system includes a camera, an infrared thermal imager, an ultrasonic sensor, and a temperature and humidity sensor.

8. The rail inspection robot according to claim 7, characterized in that: The power system is a charging power source, and the charging power source is located on the side of the robot body.

9. The rail inspection robot according to claim 8, characterized in that: The control system includes a power switch, an emergency stop switch, a debugging network port, a manual charging aviation plug, a signal transmission device and an alarm indicator light located on the robot body, and a status indicator light located in the middle of the front end of the robot body.

10. The rail inspection robot according to claim 9, characterized in that: A dust cleaning device is provided in front of the camera and the infrared thermal imager to clean dust on the surface of the camera and the infrared thermal imager.

Images