Railway line detection intelligent robot

Abstract

The utility model relates to the technical field of railway maintenance, in particular to an intelligent robot for railway line detection, which comprises a cross beam, two ends of the cross beam are provided with frames, and the bottom of each frame is provided with a driving wheel assembly used for running on a track; the mounting plate I is fixed on the frame; the motor I is fixed on the mounting plate I; the center position of the oil absorption body is connected with the output end of the first motor, and the protective cover is arranged above the oil absorption body and fixed to the first mounting plate; the oil tank is fixed on the cross beam and is used for supplying oil to the oil absorption body; and the camera is arranged on one side of the oil absorption body and mounted on the frame through a camera bracket, and the camera is used for shooting and recording the oiling condition of the sleeper spike bolt. The first motor drives the oil absorption body to roll, lubricating oil on the oil absorption body is evenly smeared on the sleeper bolt in the mode that the oil absorption body makes contact with, grinds and extrudes the top of the sleeper bolt, the structure is simple, operation is convenient, and the oil smearing quality and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of railway maintenance, in particular to an intelligent robot for railway line detection. Background Art

[0002] The strength and wear resistance of existing rails have been significantly improved compared to before, but some problems still exist. For example, due to long-term corrosion, the sleeper spike bolts in the track may become difficult to remove or fail, posing a serious threat to the safe operation of the railway. Therefore, regular rail inspection is necessary to ensure their safety. Traditional inspection methods mainly rely on manual observation, but this method is inefficient and cannot ensure the quality and quantity of lubrication of the sleeper spike bolts. With technological advances, railway inspection equipment can be used to inspect railway lines and lubricate the spike bolts. However, the current inspection equipment does not provide a good lubrication effect, which poses a challenge to the maintenance and management of railway tracks. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the existing technology and propose to design an intelligent robot for railway line detection.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] An intelligent robot for railway line inspection, comprising:

[0006] A crossbeam with frames mounted at both ends, and a driving wheel assembly mounted at the bottom of the frame for traveling on the track;

[0007] A mounting plate 1, fixed on the frame;

[0008] Motor 1, fixed on mounting plate 1;

[0009] An oil absorbing body, the center of which is connected to the output end of the first motor, and the height between the oil absorbing body and the top of the sleeper bolt is adjusted. The first motor drives the oil absorbing body to rotate, and the oil absorbing body contacts, rolls, and squeezes the top of the sleeper bolt to achieve oiling of the railway sleeper spike bolt;

[0010] A protective cover is provided above the oil absorbing body and fixed on the first mounting plate;

[0011] The oil tank is fixed on the crossbeam and is used to supply oil to the oil absorption body;

[0012] The camera is arranged on one side of the oil absorbing body and is installed on the frame through a camera bracket. The camera is used to capture images of railway sleeper spike bolts and the oiling process.

[0013] The above technical solution supplies oil to the oil absorber through the oil tank. The oil absorber absorbs lubricating oil and contacts or presses against the sleeper spike bolts. Motor 1 drives the oil absorber to rotate, and the oil absorber rotates to evenly apply oil to the sleeper spike bolts, thus improving work efficiency. Furthermore, a camera is used to capture images of the railway sleeper spike bolts and the oiling process, thereby improving the oiling quality.

[0014] Furthermore, a group of oil absorbing bodies are provided on each side of the frame for simultaneously lubricating the bolts on both sides of the sleeper.

[0015] Furthermore, the detection intelligent robot also includes:

[0016] Laser radar, installed on the frame, is used to detect three-dimensional topographic maps such as the track structure status and roadbed settlement structure status;

[0017] Attitude sensors, installed on the frame and beam, are used to measure whether the beam is perpendicular to the rail, as well as the horizontal state, height and direction of the rail, thereby monitoring the inclination changes of the track in real time;

[0018] 3D line laser scanning sensor, installed on the frame, is used to measure the rail surface profile dimensions (rail damage), rail profile surface damage size and depth.

[0019] Furthermore, the camera is also installed at one end of the frame and one side of the beam to collect image data, which includes the surface profile of the railway sleepers and rails.

[0020] Furthermore, the driving wheel assembly includes a driving wheel, a driving wheel bracket and a second motor; the driving wheel is mounted on the driving wheel bracket, the driving wheel bracket is mounted on the bottom of the frame, and the second motor is mounted on the driving wheel bracket, and its output end is connected to the driving wheel for driving the driving wheel to rotate, so that the driving wheel runs on the track, thereby driving the entire device to run on the track.

[0021] Furthermore, a drive wheel flexible side pressure mechanism is installed on the frame, and the drive wheel flexible side pressure mechanism includes:

[0022] a driving wheel bracket, fixed to the frame;

[0023] A driving wheel, mounted on a driving wheel bracket;

[0024] The clamping wheel fixing plate is an inverted L-shaped plate, the upper end surface of the clamping wheel fixing plate is fixed to the upper end surface of the driving wheel bracket, and the side surface is connected to the side surface of the driving wheel bracket through a guide column;

[0025] A clamping wheel mounting plate is sleeved on the guide post;

[0026] Spring 1, sleeved on the guide post between the clamping wheel mounting plate and the clamping wheel fixing plate;

[0027] The clamping wheel is arranged horizontally and is mounted on the clamping wheel mounting plate through a clamping wheel bracket. Under the action of spring 1, it is squeezed on the inner side of the guide rail. On the one hand, it provides a guiding function for the intelligent robot. On the other hand, it can adapt to different track gauges to ensure the stability of the intelligent robot during driving.

[0028] Furthermore, the intelligent robot also includes a track gauge measuring device for measuring the distance between the inner sides of two tracks.

[0029] Furthermore, the track gauge measurement device includes mounting brackets and laser rangefinders. The track gauge measurement assembly includes two mounting brackets, one mounted on each side of the frame. The mounting brackets include a vertical portion and a horizontal portion. The vertical portion is detachably mounted on the frame. Two horizontal portions are provided, one mounted on top of the other, one mounted on top of the other. Each horizontal portion is mounted with a laser rangefinder. The two lower laser rangefinders are located at a specified distance from the upper surface of the track. The lower left laser rangefinder measures the distance L1 between the laser light source emission point of the left laser rangefinder and the left railway track. The lower right laser rangefinder measures the distance L2 between the laser light source emission point of the right laser rangefinder and the right railway track. The upper two laser rangefinders measure the distance L3 between the laser light source emission points of the two laser rangefinders. The sum of L1, L2, and L3 is the track gauge between the two tracks.

[0030] Furthermore, the track gauge measuring device includes a distance measuring adjustment plate, a bearing seat pad, a distance measuring shaft, and a downward pressure spring. The bearing seat pads are provided in two groups, located below the distance measuring adjustment plate and distributed on both sides below the distance measuring adjustment plate. A bolt passes through the top of each group of bearing seat pads and the distance measuring adjustment plate, and nuts are fixed at both ends of the bolts. A downward pressure spring is sleeved around the outer periphery of the bolt. The downward pressure spring is located between the bearing seat pad and the distance measuring adjustment plate, and presses the bearing seat pad downward through the distance measuring adjustment plate and the downward pressure spring. The distance measuring shaft passes through the bottom of the two groups of bearing seat pads, and the distance measuring shaft is arranged parallel to the crossbeam. Magnetic distance measuring wheels are installed at both ends of the distance measuring shaft. The distance measuring wheels are placed on the railway track, can be in close contact with the track surface, and can rotate relative to the distance measuring shaft, so that the distance measuring shaft can follow the intelligent robot on the railway track. Each set of bearing block blocks is connected to a laser rangefinder via a connecting rod. The laser rangefinder is located below the measuring axis. The measuring wheel, pressed down by a spring, maintains contact with the rail, ensuring the laser rangefinder is always positioned at a specified distance from the track's upper surface, ensuring accurate track gauge measurement. The left laser rangefinder measures the distance M1 between its laser source emission point and the left track. The right laser rangefinder measures the distance M2 between its laser source emission point and the right track. The distance between the two tracks is the sum of M1, M2, and the distance M3 between the laser source emission points of the two laser rangefinders.

[0031] Furthermore, the top of the distance adjustment plate is connected to the distance bracket via a distance rotation shaft, and the distance bracket is connected to the crossbeam. A set of guide wheel mechanisms are also installed at each end of the distance shaft. The guide wheel mechanism includes a guide wheel fixing plate and a guide wheel. The guide wheel is mounted on the guide wheel fixing plate and is in contact with the inner side of the track. The guide wheel fixing plate is mounted on the distance shaft. A baffle fixed to the distance shaft is provided on one side of the guide wheel fixing plate. A pressure spring is provided between the baffle and the guide wheel fixing plate. The pressure spring is mounted on the distance shaft to enable the distance shaft to be perpendicular to the track. A posture sensor is installed on the distance adjustment plate to return the horizontal direction parameters of the distance adjustment plate. A laser rangefinder for measuring track height is installed on the guide wheel fixing plate to detect the horizontal state of the distance shaft and whether the guide wheel is rotating in contact with the track during track gauge measurement.

[0032] Technical effects of this utility model:

[0033] Compared with the prior art, the utility model is a railway line inspection intelligent robot. The oil absorbing body is driven by a motor to roll. The oil absorbing body contacts, rolls, and squeezes the top of the sleeper bolt to achieve oiling of the railway sleeper spike bolts. The lubricating oil on the oil absorbing body is evenly applied to the sleeper bolts. The utility model has a simple structure, is easy to operate, and improves the oiling quality and efficiency. A variety of inspection tools are integrated on the frame and beam, and the inspection tools are set in specific positions. The inspection items are diverse and have the characteristics of high efficiency, stability, and accuracy. A clamping wheel is set on one side of the driving wheel. The clamping wheel can always be squeezed on the inner side of the railway track under the action of a spring, preventing the driving wheel from derailing, making it more stable and reliable. A guide column is installed on the clamping wheel fixing plate and the driving wheel bracket. This not only makes the connection between the clamping wheel fixing plate and the driving wheel bracket more stable, but also is used to install a spring, which squeezes the clamping wheel mounting plate, thereby achieving the effect of the clamping wheel squeezing the inner side of the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a working state diagram of the railway line detection intelligent robot of the present invention;

[0035] Figure 2 This is a schematic diagram of the three-dimensional structure of the railway line inspection intelligent robot of the present invention;

[0036] Figure 3 This is a schematic structural diagram of the frame of the present invention and the components installed on the frame;

[0037] Figure 4 This is a schematic structural diagram of the oil coating device of the present invention;

[0038] Figure 5 This is an exploded view of the protective cover structure of the present invention;

[0039] Figure 6 This is a schematic structural diagram of the flexible side pressure mechanism of the driving wheel of the present invention;

[0040] Figure 7 Schematic diagram of the structure of the track gauge measuring device according to embodiment 1 of the present invention;

[0041] Figure 8 Schematic diagram of the structure of a track gauge measuring device according to embodiment 2 of the present invention;

[0042] Figure 9 This is a schematic diagram of the installation structure of the track gauge measuring device according to embodiment 2 of the present invention.

[0043] In the figure, 1, frame; 2, oil absorption body; 3, motor 1; 4, mounting plate 1; 5, protective cover; 501, outer side; 502, protective cover body; 6, mounting plate 2; 7, reinforcing rib; 8, gasket; 9, camera; 10, connecting ear; 11, screw; 12, nut; 13, crossbeam; 14, laser radar; 15, attitude sensor; 16, 3D line laser scanning sensor; 17, laser rangefinder; 18, battery; 19, driving wheel; 20, driving wheel bracket; 21, motor 2; 22, fuel tank; 23, Clamping wheel fixing plate; 24. Guide column; 25. Clamping wheel mounting plate; 26. Spring 1; 27. Clamping wheel; 28. Clamping wheel bracket; 29. ​​Mounting bracket; 2901. Vertical part; 2902. Horizontal part; 30. Distance measuring adjustment plate; 31. Bearing seat pad; 32. Distance measuring shaft; 33. Distance measuring shaft; 34. Downward pressure spring; 35. Connecting rod; 36. Distance measuring wheel; 37. Distance measuring bracket; 38. Oil pump; 39. Industrial computer; 40. Guide wheel fixing plate; 41. Guide wheel; 42. Baffle; 43. Pressure measuring spring. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings.

[0045] Example 1:

[0046] like Figure 1-9 As shown, the present embodiment involves an intelligent robot for railway line inspection, comprising a frame 1, a crossbeam 13, a laser radar 14, a posture sensor 15, a 3D line laser scanning sensor 16, a laser rangefinder 17 and a battery 18, a driving wheel 19, a driving wheel bracket 20, a second motor 21, an oil tank 22, an oiling device, a driving wheel flexible side pressure mechanism, a gauge measuring device and an industrial computer 39 arranged on the crossbeam 13 for realizing automatic control.

[0047] like Figure 1 As shown, the two ends of the beam 13 are mounted with a frame 1, and the bottom of the frame 1 is mounted with a driving wheel assembly for driving the intelligent robot to travel on the track. Figure 2 and 6 As shown, the driving wheel assembly includes a driving wheel 19, a driving wheel bracket 20 and a second motor 21; the driving wheel 19 is mounted on the driving wheel bracket 20, the driving wheel bracket 20 is mounted on the bottom of the frame 1, and the second motor 21 is mounted on the driving wheel bracket 20, and its output end is connected to the driving wheel 19. The second motor 21 drives the driving wheel 19 to rotate, and the driving wheel 19 travels on the track, driving the intelligent robot to travel on the track.

[0048] like Figure 3 、 Figure 4 and Figure 5 As shown, the oiling device is used to simultaneously apply a fixed amount of oil to four railway sleeper spike bolts on a sleeper. Specifically, the oiling device comprises an oil absorbing body 2, a motor 3, a mounting plate 4, a protective cover 5, a mounting plate 2 6, a reinforcing rib 7, a gasket 8, a camera 9, a connecting lug 10, a screw 11, and a nut 12. A set of oil absorbing bodies 2 is positioned on either side of each frame 1, enabling simultaneous oiling of the bolts on both sides of the sleeper. Specifically, the oil absorbing body 2 has a circular longitudinal cross-section, with its center connected to the output end of motor 3. Gaskets 8 are positioned on either side of the oil absorbing body 2. Motor 3 is secured to mounting plate 4. A protective cover 5 is positioned above the oil absorbing body 2 and bolted to mounting plate 4. Mounting plate 4 is secured to the frame 1. Mounting plate 2 6 is positioned on the side of the oil absorbing body 2 opposite motor 3, with the bottom of mounting plate 2 6 connected to the protective cover 5. The top of mounting plate 2 (6) is connected to the top of mounting plate 1 (4) via a connecting plate, which is bolted to frame 1. Preferably, mounting plate 2 (6) and mounting plate 1 (4) are integrally connected to the connecting plate. Reinforcing ribs (7) are also provided between mounting plate 1 (4) and mounting plate 2 (6).

[0049] like Figure 2 As shown, the oil absorbing body 2 is connected to the oil tank 22 via an oil pipe and an oil pump 38. The oil in the oil tank 22 is pumped into the oil absorbing body 2 via the oil pipe by the oil pump 38. Specifically, the oil tank 22 is fixed to the crossbeam 13. To prevent oil leakage due to the production process or accidental impact, the oil tank 22 is manufactured using a one-step metal forming process. The oil pump 38 uses an intelligent oil pump for oil supply and is connected to an industrial computer 39, enabling adjustable oil supply speed and volume, enabling intelligent quantitative lubrication of railway sleeper spike bolts. For example, an oil pipe is provided directly above the oil absorbing body 2, passing through the protective cover 5. The connection between the oil pipe and the protective cover 5 is sealed and fixed, and the oil pipe is connected to the oil tank 22. The oil absorbing body 2 is made of one of oil-absorbing cotton, oil-absorbing paper, oil-absorbing sponge, and oil-absorbing towel. The lubricating oil absorbed by the oil absorbing body 2 can be liquid or semi-solid. The camera 9 is mounted on the frame 1 via a camera bracket, located on one side of the oil absorbing body 2, and is used to capture and record the lubrication of the sleeper bolts. During operation, the height of the oil absorbing body 2 and the top of the sleeper bolt are adjusted, and the motor 1 drives the oil absorbing body 2 to rotate. The oil absorbing body 2 is pressed against the top of the sleeper bolt while the oil absorbing body 2 rotates, achieving synchronous quantitative lubrication of the railway sleeper spike bolts.

[0050] like Figure 4 and Figure 5As shown, the protective cover 5 includes a protective cover body 502 and an outer side surface 501. The outer side surface 501 of the protective cover 5 is detachably connected to the protective cover body 502 of the protective cover 5. Specifically, a connecting ear 10 is provided on the inner side of the protective cover body 502 of the protective cover 5, and a screw 11 is provided on the connecting ear 10. The outer side surface 501 of the protective cover 5 is connected to the connecting ear 10 via the screw 11 and the nut 12. This connection method facilitates the removal of the outer side surface 501 of the protective cover 5 and facilitates the replacement of the oil absorbent body 2.

[0051] The oil absorbing body 2 can cover the area of ​​the sleeper bolts and adapt to the shape and arrangement of the bolts. As a storage and distribution unit for lubricating oil, it can evenly distribute oil to the sleeper bolts. To further improve the oiling efficiency, a plurality of corresponding oil absorbing bodies 2 can be set on the frame 1 according to the actual distribution of the sleepers. When the utility model is in use, the frame 1 is placed on the sleeper. When the oil absorbing body 2 is located at the sleeper bolt, oil is poured into the oil absorbing body 2. At the same time, the motor 3 is started, and the motor 3 drives the oil absorbing body 2 to roll. As the oil absorbing body 2 rolls, it squeezes the lubricating oil evenly onto the sleeper bolts. The oil absorbing body 2 contacts, rolls, and squeezes the top of the sleeper bolts to achieve synchronous quantitative oiling of the railway sleeper spike bolts, which can effectively prevent the sleeper bolts from rusting and corrosion, and improve the safety and reliability of the railway. As the intelligent robot moves forward, it can drive the oiling device forward to oil the sleeper bolts in sequence.

[0052] like Figure 2 and Figure 3 As shown, the camera 9 is also installed at one end of the frame 1 and one side of the crossbeam 13 to collect image data such as the surface profile of the railway sleeper and the rail. Preferably, two cameras 9 can be set on the same side of the crossbeam 13, such as Figure 2 As shown, it is used to collect images of railway sleepers, railway sleeper spike bolts, and rail surfaces in order to expand the monitoring range. The laser radar 14 is installed on the frame 1 and is used to detect three-dimensional topographic maps such as the track structure status and the roadbed settlement structure status. The attitude sensor 15 is installed on the beam 13. The attitude sensor 15 is used to measure whether the beam 13 is perpendicular to the rail to ensure the measurement accuracy of the gauge measurement component when measuring the gauge. Specifically, an attitude sensor 15 is set on the front and rear sides above the frame 1 and in the middle of the upper side of the beam 13 to measure the dynamic inclination of the rail, such as horizontality, height, and rail direction, so as to realize the numerical detection of the height difference between the two rails. As shown Figure 3As shown, the 3D line laser scanning sensor 16 is mounted on the other end of the frame 1 and is used to measure the rail surface profile (rail damage). The battery 18 is installed on the frame 1, next to the laser radar 14, to power the device. By integrating the various types of detection equipment mentioned above on the frame 1 and crossbeam 13, multiple detection functions are achieved, with stable performance and high accuracy.

[0053] Two sets of the driving wheel flexible side pressure mechanisms are installed on each set of frames 1, such as Figure 6 As shown, the drive wheel flexible side pressure mechanism includes a clamping wheel fixing plate 23, a guide post 24, a clamping wheel mounting plate 25, a spring 26, a clamping wheel 27, and a clamping wheel bracket 28. The clamping wheel fixing plate 23 is an inverted L-shaped plate. The upper end surface of the clamping wheel fixing plate 23 is bolted to the upper end surface of the drive wheel bracket 20, and the side surface is connected to the side surface of the drive wheel bracket 20 via the guide post 24. The clamping wheel mounting plate 25 is sleeved on the guide post 24. There are three guide posts 24, which can improve the stability of the clamping wheel mounting plate 25. The spring 26 is sleeved on the guide post 24 between the clamping wheel mounting plate 25 and the clamping wheel fixing plate 23. Preferably, two clamping wheels 27 are provided, both of which are arranged horizontally. The clamping wheels 27 are mounted on the clamping wheel mounting plate 25 through the clamping wheel bracket 28 by bolts. Under the action of spring 1 26, they are squeezed on the inner side of the guide rail and always press the inner side of the rail, which not only provides guidance for the intelligent robot, but also ensures the stability of the intelligent robot on the rail and the ability to adapt to different track gauges.

[0054] like Figure 2 and Figure 7As shown, the gauge measuring device includes two sets of mounting brackets 29 mounted on the two frames 1. Specifically, the mounting bracket 29 includes a vertical portion 2901 and a horizontal portion 2902. The vertical portion 2901 is in an inverted U-shaped structure and is mounted on the frame 1 by bolts. The horizontal portion 2902 includes two horizontal plates, and the laser range finder 17 is mounted between the two horizontal plates. The two lower laser range finders 17 are located 16 mm above the track surface. The lower left laser range finder 17 is used to measure the distance L1 between the laser light source emitting point of the left laser range finder 17 and the left track. The lower right laser range finder 17 is used to measure the distance L2 between the laser light source emitting point of the right laser range finder 17 and the right track. The two upper laser range finders 17 are used to measure the distance L3 between the laser light source emitting points of the two laser range finders 17. When the distances measured by the two upper laser range finders 17 are the same, the measurement data is valid. The sum of L1, L2 and L3 is the gauge between the two tracks. The mounting bracket 29 can move with the intelligent robot to realize dynamic detection of the gauge and improve the accuracy and stability of the measurement. The two mounting brackets 29 are installed on the inner side of the two frames 1. The mounting bracket 29 can move with the intelligent robot to realize dynamic detection of the gauge and improve the accuracy and stability of the measurement.

[0055] To further ensure the accuracy of the gauge measurement, a height laser range finder can be installed on the frame 1 directly above the track. The height laser range finder is used to measure the height of each point on the track relative to the detection mechanism and the dynamic jump data of the driving wheel 19 on the rail surface during operation, to ensure the adhesion of the four driving wheels 19 of the railway line detection intelligent robot to the rail surface. When the driving wheel 19 is adhered to the rail surface, the gauge measurement data is valid.

[0056] Embodiment 2:

[0057] This embodiment relates to a railway line detection intelligent robot, which has the same structure as embodiment 1. The difference is that:

[0058] As Figure 8 and Figure 9As shown, the gauge measuring device comprises a gauge adjusting plate 30, bearing seat pads 31, a gauge shaft 33, a laser gauge 17 and a pressing spring 34. The bearing seat pads 31 are provided in two groups below the gauge adjusting plate 30 and distributed on both sides of the gauge adjusting plate 30. Bolts are penetrated between the top of each group of bearing seat pads 31 and the gauge adjusting plate 30, and nuts are fixed at both ends of the bolts. The pressing spring 34 is sleeved on the outer periphery of the bolts and located between the bearing seat pads 31 and the gauge adjusting plate 30. The bearing seat pads 31 are pressed downward by the gauge adjusting plate 30 and the pressing spring 34. The gauge shaft 33 penetrates the bottom of the two groups of bearing seat pads 31 and is arranged in parallel with the cross beam 13. The gauge shaft 33 is provided with gauge wheels 36 at both ends. The gauge wheels 36 are placed on the railway track and can tightly adhere to the surface of the track and rotate relative to the gauge shaft 33, so as to facilitate the gauge shaft 33 to travel on the railway track with the intelligent robot. Each group of bearing seat pads 31 is connected with a group of laser gauges 17 through connecting rods 35. The laser gauges 17 are located below the gauge shaft 33. The gauge wheels 36 can always adhere to the steel rail under the pressing of the pressing spring 34, so as to ensure that the laser gauges 17 are always located at a distance of 16 mm from the upper surface of the track and ensure the accuracy of the gauge measurement. The left laser gauge 17 is used to measure the distance M1 between the laser light source emitting point of the left laser gauge 17 and the left track. The right laser gauge 17 is used to measure the distance M2 between the laser light source emitting point of the right laser gauge 17 and the right track. The distance between the two tracks is the sum of M1, M2 and the distance M3 between the laser light source emitting points of the two laser gauges 17.

[0059] As Figure 8 and Figure 9As shown, the top of the distance adjustment plate 30 is connected to the distance bracket 37 via the distance shaft 32, and the distance bracket 37 is connected to the crossbeam 13. In this embodiment, the laser rangefinder 17 is fixed to the bearing seat block 31 via a connecting rod 35. The downward pressure spring 34 presses the bearing seat block 31 downward, so that the distance wheels 36 at both ends of the distance shaft 33 are always in contact with the rail. This ensures that the laser rangefinder 17 is always located 16 mm from the upper surface of the track, improving measurement accuracy and stability and realizing dynamic track gauge detection. A guide wheel mechanism is mounted on each end of the distance measuring shaft 33. The guide wheel mechanism includes a guide wheel fixing plate 40 and a guide wheel 41. The guide wheel 41 is mounted on the guide wheel fixing plate 40 and is aligned with the inner side of the track. The guide wheel fixing plate 40 is sleeved onto the distance measuring shaft 33. A baffle 42 is mounted on one side of the guide wheel fixing plate 40, which is fixed to the distance measuring shaft 33. A pressure spring 43 is disposed between the baffle 42 and the guide wheel fixing plate 40. The pressure spring sleeve 43 is mounted on the distance measuring shaft 33 and can compress the guide wheel fixing plate 40, keeping it pressed against the inner side of the track. This helps to keep the distance measuring shaft 33 perpendicular to the track and improve the accuracy and precision of track gauge measurement. A posture sensor 15 is mounted on the distance measuring adjustment plate 30 to transmit the horizontal parameters of the distance measuring adjustment plate 30. A laser rangefinder 17 for measuring track height is mounted on the guide wheel fixing plate 40 to detect the horizontal state of the distance measuring shaft 33 and whether the guide wheel 41 is rotating in close contact with the track during track gauge measurement.

[0060] The above-mentioned specific implementation methods are only specific cases of the present utility model. The patent protection scope of the present utility model includes but is not limited to the above-mentioned specific implementation methods. Any appropriate changes or modifications made to them by ordinary technicians in the relevant technical field that comply with the claims of the present utility model shall fall within the patent protection scope of the present utility model.

Claims

1. A railway line inspection intelligent robot, characterized in that: include: A crossbeam with frames mounted on both ends, and a driving wheel assembly mounted on the bottom of the frame; A mounting plate 1, fixed on the frame; Motor 1, fixed on mounting plate 1; The oil absorbing body, the center position of the oil absorbing body is connected to the output end of the motor 1, A protective cover is provided above the oil absorbing body and fixed on the first mounting plate; The oil tank is fixed on the crossbeam and is used to supply oil to the oil absorption body; The camera is arranged on one side of the oil-absorbing body and is mounted on the frame through a camera bracket.

2. The railway line detection intelligent robot according to claim 1, characterized in that: A group of oil absorbing bodies is respectively arranged on both sides of the frame.

3. The railway line detection intelligent robot according to claim 1, characterized in that: The detection intelligent robot also includes: LiDAR, mounted on the frame; attitude sensors, mounted on the frame and beam; 3D line laser scanning sensor, mounted on the frame.

4. The railway line detection intelligent robot according to claim 1, characterized in that: The camera is also installed on one end of the frame and one side of the beam.

5. The railway line detection intelligent robot according to claim 1, characterized in that: The driving wheel assembly includes a driving wheel, a driving wheel bracket and a second motor; the driving wheel is mounted on the driving wheel bracket, the driving wheel bracket is mounted on the bottom of the frame, the second motor is mounted on the driving wheel bracket, and its output end is connected to the driving wheel.

6. The railway line detection intelligent robot according to claim 1, characterized in that: The frame is provided with a drive wheel flexible side pressure mechanism, and the drive wheel flexible side pressure mechanism comprises: a driving wheel bracket, fixed to the frame; A driving wheel, mounted on a driving wheel bracket; The clamping wheel fixing plate is an inverted L-shaped plate, the upper end surface of the clamping wheel fixing plate is fixed to the upper end surface of the driving wheel bracket, and the side surface is connected to the side surface of the driving wheel bracket through a guide column; A clamping wheel mounting plate is sleeved on the guide post; Spring 1, sleeved on the guide post between the clamping wheel mounting plate and the clamping wheel fixing plate; The clamping wheel is arranged horizontally and is mounted on the clamping wheel mounting plate through a clamping wheel bracket.

7. The railway line detection intelligent robot according to any one of claims 1 to 6, characterized in that: The intelligent robot also includes a track gauge measuring device for measuring the distance between the inner sides of two tracks.

8. The railway line detection intelligent robot according to claim 7, characterized in that: The track gauge measurement assembly includes a mounting bracket, which is provided in two groups and is respectively installed on the frames on both sides; the mounting bracket includes a vertical part and a horizontal part, the vertical part is detachably installed on the frame, and two horizontal parts are provided, which are installed on the vertical part in sequence from top to bottom, and a laser rangefinder is installed on each horizontal part.

9. The railway line detection intelligent robot according to claim 7, characterized in that: The gauge measurement assembly includes a distance measuring adjustment plate, a bearing seat pad, a distance measuring shaft and a downward pressure spring; the bearing seat pads are provided in two groups, located below the distance measuring adjustment plate and distributed on both sides below the distance measuring adjustment plate, a bolt is passed through the top of each group of bearing seat pads and the distance measuring adjustment plate, nuts are fixed at both ends of the bolts, a downward pressure spring is sleeved on the outer circumference of the bolt, and the downward pressure spring is located between the bearing seat pad and the distance measuring adjustment plate; the distance measuring shaft passes through the bottom of the two groups of bearing seat pads, the distance measuring shaft is arranged parallel to the crossbeam, and magnetic distance measuring wheels are installed at both ends of the distance measuring shaft, the distance measuring wheels are placed on the railway track, can be in close contact with the track surface and can rotate relative to the distance measuring shaft; each group of the bearing seat pads is connected to a group of laser rangefinders through a connecting rod, and the laser rangefinder is located below the distance measuring shaft.

10. The railway line detection intelligent robot according to claim 9, characterized in that: The top of the ranging adjustment plate is connected to the ranging bracket through the ranging shaft, and the ranging bracket is connected to the crossbeam; a group of guide wheel mechanisms are also installed at both ends of the ranging shaft, and the guide wheel mechanism includes a guide wheel fixing plate and a guide wheel, and the guide wheel is installed on the guide wheel fixing plate and fits with the inner side of the track, and the guide wheel fixing plate is sleeved on the ranging shaft, and a baffle fixed on the ranging shaft is provided on one side of the guide wheel fixing plate, and a pressure spring is provided between the baffle and the guide wheel fixing plate, and the pressure spring is sleeved on the ranging shaft; a posture sensor is provided on the ranging adjustment plate, and a laser rangefinder is installed on the guide wheel fixing plate.

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