Rail transit inspection robot
By designing anti-tipping and buffer components on the rail transit inspection robot and using electric telescopic rods and connecting rods to deploy auxiliary wheels, the problem of the robot tipping over on inclined slopes has been solved, achieving stable movement and structural protection, and improving the safety and efficiency of inspections.
Patent Information
- Application Number
- CN202520241132.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-17
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2035-02-17
AI Technical Summary
Existing rail transit inspection robots are unable to accurately adjust their center of gravity when encountering sloping surfaces, leading to frequent rollovers and limiting their inspection range and safety in complex terrain.
The design incorporates anti-tipping and buffer components, including an electric telescopic rod, connecting rods, hinged columns, auxiliary wheels, and a buffer plate. The electric telescopic rod drives the connecting rods and hinged columns to deploy the auxiliary wheels, providing stable support for the robot. The buffer components utilize a buffer plate, a return spring, and a damping ring to disperse and absorb impact forces.
It effectively prevents the robot from tipping over on sloping surfaces, ensures stable movement, and protects the structural integrity of the robot during inspection, thus improving the safety and efficiency of inspections in complex terrain.
Smart Images
Figure CN223657033U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of rail transit, and in particular to a rail transit inspection robot. Background Technology
[0002] With rail transit systems becoming increasingly large and complex, ensuring the safety and normal operation of tracks and their ancillary facilities is of paramount importance.
[0003] As an intelligent device that can replace manual track inspection, the rail transit inspection robot can move along the positioning line and use its onboard camera module to perform high-precision scanning of the guide rail and surrounding equipment, promptly discovering potential problems such as track wear and loose parts, and transmitting relevant signals to the terminal to remind staff, greatly improving inspection efficiency and accuracy.
[0004] Currently, existing rail transit inspection robots have some shortcomings: some robots lack effective anti-rollover devices, and when encountering inclined slopes, they rely solely on their own chassis structure and balance algorithms to maintain stability, which is often ineffective. They cannot accurately adjust according to the slope angle and the robot's real-time center of gravity changes, which makes them prone to rollover in some sections with slightly steeper slopes. This limits the robot's inspection range on complex terrain tracks and affects the overall inspection effect and safety. Therefore, a rail transit inspection robot is proposed to solve the above problems. Utility Model Content
[0005] To overcome the above shortcomings, this utility model provides a rail transit inspection robot, which aims to solve the problem in the prior art that it is impossible to make corresponding adjustments based on the slope inclination angle and the real-time changes in the robot's center of gravity.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: a rail transit inspection robot, including a vehicle body, a camera module is provided at the top of the outer wall of the vehicle body, an anti-tipping component is provided on the inner side of the bottom of the vehicle body, and a buffer component is provided on the surface of both sides of the vehicle body.
[0007] The anti-tipping assembly includes an electric telescopic rod, with an L-rod fixedly connected to the telescopic end of the electric telescopic rod. A connecting rod b is hinged to the end of the L-rod away from the electric telescopic rod, and a hinged column is hinged to the end of the connecting rod b away from the L-rod. A connecting column is slidably connected to the inner wall of the bottom end of the hinged column, and a protrusion is fixedly connected to the outer side wall of the connecting column. A connecting rod a is hinged to the surface of the protrusion, and an auxiliary wheel is provided at the bottom end of the outer wall of the connecting column.
[0008] As a further description of the above technical solution:
[0009] The buffer assembly includes a buffer plate, a hinge rod is hinged to the inner side wall of the buffer plate, a slider is hinged to the end of the hinge rod away from the buffer plate, a fixed post is elastically connected to the inner side wall of the buffer plate by a return spring, a damping ring is provided on the inner wall of the fixed post, and a sliding post is slidably connected to the inner wall of the fixed post.
[0010] As a further description of the above technical solution:
[0011] The electric telescopic rod is fixedly connected to the surface of the top of the vehicle body, and the telescopic end of the electric telescopic rod passes through and is slidably connected to the inner wall of the vehicle body.
[0012] As a further description of the above technical solution:
[0013] The inner sidewall of the vehicle body is provided with an L-shaped guide groove, and the L-rod is slidably connected to the inner wall of the L-shaped guide groove of the vehicle body.
[0014] As a further description of the above technical solution:
[0015] The side wall of the vehicle body has a cavity, the hinge column is hinged to the inner wall of the cavity, and the end of the connecting rod a away from the protrusion is hinged to the bottom of the cavity.
[0016] As a further description of the above technical solution:
[0017] The side wall of the hinged column is provided with a sliding groove, and the protrusion passes through and is slidably connected to the inner wall of the sliding groove.
[0018] As a further description of the above technical solution:
[0019] The side wall of the vehicle body is provided with a guide groove, the slider is slidably connected to the inner wall of the guide groove of the vehicle body, one end of the return spring is fixedly connected to the surface of the fixed column, and the other end of the return spring is fixedly connected to the inner side wall of the buffer plate.
[0020] As a further description of the above technical solution:
[0021] The end of the sliding column away from the fixed column is fixedly connected to the inner side wall of the buffer plate, the fixed column is fixedly connected to the outer side wall of the vehicle body, and the bottom end of the sliding column is in contact with the damping ring.
[0022] This utility model has the following beneficial effects:
[0023] 1. In this utility model, through the linkage of components such as electric telescopic rods and connecting rods, when the robot is on an inclined slope such as an uphill or downhill slope, the auxiliary wheels can be automatically triggered to extend and contact the ground, thereby providing stable support for the robot, effectively adjusting the center of gravity, avoiding tipping over due to an unstable center of gravity, and ensuring that the robot can move safely and stably on various complex terrains.
[0024] 2. In this utility model, the buffer assembly utilizes the coordinated cooperation of components such as buffer plate, return spring, and damping ring to construct a complete buffer system, which can provide all-round and multi-level buffering of impact forces from different directions during track inspection, effectively avoiding damage to internal robot components caused by excessive impact force, and ensuring the structural integrity and normal operation capability of the robot. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a rail transit inspection robot proposed in this utility model;
[0026] Figure 2 This is a schematic diagram of the unfolded structure of the anti-tipping component of a rail transit inspection robot proposed in this utility model;
[0027] Figure 3 This is a partial cross-sectional view of the vehicle body of a rail transit inspection robot proposed in this utility model.
[0028] Figure 4 This is a schematic diagram of the structure of a rail transit inspection robot in the separated state of link a and protrusion proposed in this utility model.
[0029] Figure 5 This is a partial cross-sectional view of the fixed column structure of a rail transit inspection robot proposed in this utility model.
[0030] Legend:
[0031] 1. Vehicle body; 2. Buffer assembly; 21. Buffer plate; 22. Return spring; 23. Fixed column; 24. Damping ring; 25. Sliding column; 26. Hinge rod; 27. Slider; 3. Anti-tipping assembly; 31. Hinge rod; 32. Connecting column; 33. Auxiliary wheel; 34. L-bar; 35. Electric telescopic rod; 36. Link a; 37. Protrusion; 38. Link b; 4. Camera module. Detailed Implementation
[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0033] Reference Figure 1 - Figure 3One embodiment of this utility model is a rail transit inspection robot, including a vehicle body 1. A camera module 4 is provided at the top of the outer wall of the vehicle body 1. The camera module 4 is a prior art technology. A horizontal rotation control mechanism is provided at its bottom end, and an image capture module is provided inside it. The image capture module can scan the guide rails and other objects at the rail transit site and transmit signals to the terminal, thereby reminding the staff of problems such as the current location requiring maintenance. An anti-tipping component 3 is provided on the inner side of the bottom end of the vehicle body 1, and a buffer component 2 is provided on the surface of both sides of the vehicle body 1.
[0034] Reference Figure 2 - Figure 4 The anti-tipping component 3 includes an electric telescopic rod 35, which is fixedly connected to the surface of the top of the vehicle body 1. The telescopic end of the electric telescopic rod 35 passes through and is slidably connected to the inner wall of the vehicle body 1. When the vehicle is going uphill or downhill, the electric telescopic rod 35 can be driven by the electronic control unit to work, thereby passing through the inner wall of the vehicle body 1 and causing the L-rod 34 to descend. The telescopic end of the electric telescopic rod 35 is fixedly connected to the L-rod 34. An L-shaped guide groove is provided on the inner side wall of the vehicle body 1. The L-rod 34 is slidably connected to the inner wall of the L-shaped guide groove of the vehicle body 1. A connecting rod b38 is hinged to the end of the L-rod 34 away from the electric telescopic rod 35, and a hinge pin 31 is hinged to the end of the connecting rod b38 away from the L-rod 34. Driven by the electric telescopic rod 35, the L-rod 34 can be lowered. At the same time, during the descent, the L-rod 34 will push the hinge pin 31 to unfold around its rotation center point through the connecting rod b38.
[0035] Reference Figure 2 - Figure 4 The side wall of the vehicle body 1 has a cavity. The hinge column 31 is hinged to the inner wall of the cavity of the vehicle body 1. The end of the connecting rod a36 away from the protrusion 37 is hinged to the bottom end of the cavity of the vehicle body 1. When the hinge column 31 is extended around its rotation center point, the length of the connecting rod a36 is fixed, and its bottom end is hinged to the side wall of the vehicle body 1. As the hinge column 31 rotates, the connecting rod a36 pushes the protrusion 37 to drive the connecting column 32 to extend outward on the inner wall of the hinge column 31, and allows the auxiliary wheel 33 to be supported by the ground, so that the whole body can move on the inclined slope. It can provide stable support and prevent the center of gravity from being unstable and causing the overturning. The inner wall of the bottom end of the hinge column 31 is slidably connected to the connecting column 32. The bottom end of the outer wall of the connecting column 32 is provided with an auxiliary wheel 33. The outer side wall of the connecting column 32 is fixedly connected to the protrusion 37. The side wall of the hinge column 31 is provided with a sliding groove. The protrusion 37 passes through and is slidably connected to the inner wall of the sliding groove. The protrusion 37 can only move to the end within the sliding groove of the side wall of the hinge column 31, so that the connecting column 32 can drive the inner wall of the hinge column 31 to move. The surface of the protrusion 37 is hinged to the connecting rod a36.
[0036] Reference Figure 3 and Figure 5The buffer assembly 2 includes a buffer plate 21. A hinge rod 26 is hinged to the inner side wall of the buffer plate 21. A slider 27 is hinged to the end of the hinge rod 26 away from the buffer plate 21. A guide groove is provided on the side wall of the vehicle body 1. The slider 27 is slidably connected to the inner wall of the guide groove of the vehicle body 1. When the buffer plate 21 is impacted by an external force, the slider 27 will be pushed to move on the inner wall of the guide groove of the vehicle body 1 through the hinge rod 26, thereby distributing the impact force. One end of the return spring 22 is fixedly connected to the surface of the fixed post 23, and the other end of the return spring 22 is fixedly connected to the inner side wall of the buffer plate 21. The function of the return spring 22 is to automatically reset the position of the buffer plate 21 after it is squeezed and collided. At the same time, the elastic potential energy of the return spring 22 can buffer the impact force of the buffer plate 21.
[0037] Reference Figure 5 The inner sidewall of the buffer plate 21 is elastically connected to a fixed post 23 via a return spring 22. A damping ring 24 is provided on the inner wall of the fixed post 23. A sliding post 25 is slidably connected to the inner wall of the fixed post 23. The end of the sliding post 25 away from the fixed post 23 is fixedly connected to the inner sidewall of the buffer plate 21. The fixed post 23 is fixedly connected to the outer sidewall of the vehicle body 1. The bottom end of the sliding post 25 is in contact with the damping ring 24. The contact between the two allows the sliding post 25 to move synchronously when the buffer plate 21 is impacted, which can compress multiple sets of damping rings 24. Thus, the movement of the sliding post 25 and the buffer plate 21 can be buffered by multiple sets of damping rings 24, avoiding excessive impact and damage to the internal components.
[0038] Working principle: When the inspection robot moves on an uphill or downhill slope, to prevent tipping due to changes in the center of gravity, the electronic control unit drives the electric telescopic rod 35. The telescopic end of the electric telescopic rod 35 extends, pushing the L-rod 34 downward along the L-shaped guide groove of the vehicle body 1. During the downward movement of the L-rod 34, a thrust is applied to the hinge column 31 through the connecting rod b38, causing the hinge column 31 to unfold outward around its hinge point (rotation center point). As the hinge column 31 rotates, since one end of the connecting rod a36 is hinged to the bottom of the cavity of the vehicle body 1 and is long... With the angle fixed, the rotation of the hinge column 31 will pull the connecting rod a36, which in turn pushes the protrusion 37 to move outward in the groove on the side wall of the hinge column 31. This causes the connecting column 32 to extend outward on the inner wall of the hinge column 31 until the auxiliary wheel 33 contacts the ground and forms a support. Through the support of the auxiliary wheel 33 and the ground, the stability of the robot when moving on the inclined slope is increased, the weight of the robot is distributed, and the rollover accident caused by the unstable center of gravity is effectively prevented, ensuring that the robot can continue to carry out inspection work safely on complex road conditions such as slopes.
[0039] When the buffer plate 21 is impacted by an external force (such as colliding with an object beside the track), the buffer plate 21 will first compress inward. During this process, the buffer plate 21 transmits the impact force to the slider 27 through the hinge rod 26, causing the slider 27 to slide in the guide groove on the side wall of the car body 1. The sliding of the slider 27 can distribute part of the impact force and change the direction of impact force transmission, thus playing a preliminary buffering role. At the same time, the inward compression of the buffer plate 21 will stretch the return spring 22. The return spring 22 uses its own elastic potential energy to resist the compression deformation of the buffer plate 21, absorbing and buffering part of the impact force, so that the impact force does not directly act on the car body 1 and internal components. In addition, the compression of the buffer plate 21 will also drive the sliding column 2 connected to it. 5. The sliding column 25 slides on the inner wall of the fixed column 23. During the sliding process, the sliding column 25 will squeeze multiple sets of damping rings 24. The resistance generated by the damping rings 24 can further slow down the moving speed of the sliding column 25 and the buffer plate 21, and further weaken the remaining impact force. Through this series of buffering mechanisms, the damage to the internal parts of the robot caused by excessive impact force is effectively avoided, ensuring the structural integrity and normal operation capability of the robot. After the impact force disappears, the return spring 22 pushes the buffer plate 21 back to the initial position by relying on its own elastic restoring force. At the same time, the slider 27 also slides back to its original position in the guide groove, so that the buffer assembly 2 is ready to deal with the next possible impact and maintain the stable operation of the robot in the rail transit environment.
[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A rail transit inspection robot, comprising a vehicle body (1), characterized in that: A camera module (4) is provided at the top of the outer wall of the vehicle body (1), an anti-tipping component (3) is provided on the inner side of the bottom of the vehicle body (1), and a buffer component (2) is provided on the surface of both sides of the vehicle body (1). The anti-tipping component (3) includes an electric telescopic rod (35), an L-rod (34) is fixedly connected to the telescopic end of the electric telescopic rod (35), a connecting rod b (38) is hinged to the end of the L-rod (34) away from the electric telescopic rod (35), a hinged column (31) is hinged to the end of the connecting rod b (38) away from the L-rod (34), a connecting column (32) is slidably connected to the inner wall of the bottom end of the hinged column (31), a protrusion (37) is fixedly connected to the outer side wall of the connecting column (32), a connecting rod a (36) is hinged to the surface of the protrusion (37), and an auxiliary wheel (33) is provided at the bottom end of the outer wall of the connecting column (32).
2. The rail transit inspection robot according to claim 1, characterized in that: The buffer assembly (2) includes a buffer plate (21), a hinge rod (26) is hinged to the inner side wall of the buffer plate (21), a slider (27) is hinged to the end of the hinge rod (26) away from the buffer plate (21), a fixed column (23) is elastically connected to the inner side wall of the buffer plate (21) through a return spring (22), a damping ring (24) is provided on the inner wall of the fixed column (23), and a sliding column (25) is slidably connected to the inner wall of the fixed column (23).
3. The rail transit inspection robot according to claim 1, characterized in that: The electric telescopic rod (35) is fixedly connected to the surface of the top of the vehicle body (1), and the telescopic end of the electric telescopic rod (35) passes through and is slidably connected to the inner wall of the vehicle body (1).
4. The rail transit inspection robot according to claim 1, characterized in that: The inner sidewall of the vehicle body (1) is provided with an L-shaped guide groove, and the L rod (34) is slidably connected to the inner wall of the L-shaped guide groove of the vehicle body (1).
5. A rail transit inspection robot according to claim 1, characterized in that: The side wall of the vehicle body (1) has a cavity, the hinge column (31) is hinged to the inner wall of the cavity of the vehicle body (1), and the end of the connecting rod a (36) away from the protrusion (37) is hinged to the bottom of the cavity of the vehicle body (1).
6. A rail transit inspection robot according to claim 1, characterized in that: The side wall of the hinge column (31) is provided with a sliding groove, and the protrusion (37) passes through and is slidably connected to the inner wall of the sliding groove.
7. A rail transit inspection robot according to claim 2, characterized in that: The side wall of the vehicle body (1) is provided with a guide groove, the slider (27) is slidably connected to the inner wall of the guide groove of the vehicle body (1), one end of the reset spring (22) is fixedly connected to the surface of the fixed column (23), and the other end of the reset spring (22) is fixedly connected to the inner side wall of the buffer plate (21).
8. A rail transit inspection robot according to claim 2, characterized in that: The sliding column (25) is fixedly connected to the inner side wall of the buffer plate (21) at one end away from the fixed column (23), the fixed column (23) is fixedly connected to the outer side wall of the vehicle body (1), and the bottom end of the sliding column (25) is in contact with the damping ring (24).