Lifting device for track inspection robot

Abstract

The utility model provides a lifting device for a track inspection robot, which comprises a movable framework arranged between steel rails, a lifting unit arranged at the bottom of the movable framework and used for driving the movable framework to fall to the ground or be suspended, and an opening and closing unit arranged at the top of the movable framework and used for being clamped with or separated from the steel rails. The lifting unit and the opening and closing unit are both connected with the central control unit, and the opening and closing unit comprises a first anti-rollover rail wheel rolling along the outer side wall of a steel rail and a second anti-rollover rail wheel rolling along the inner side wall and the top face of the steel rail. When the robot detects that a bullet train approaches, a derailment program is triggered immediately, and the track inspection robot is rapidly fixed at a safe position in the middle of a track through the device, so that the inspection robot can be safely, accurately and rapidly separated from the track when detecting that the bullet train approaches, the potential collision risk is avoided, the detection efficiency is improved, and detection can be performed in any time period; and the method does not depend on window period operation.

Description

Technical Field

[0001] This utility model belongs to the technical field of track inspection, specifically a lifting device for a track inspection robot. Background Technology

[0002] In rail transit systems such as railways and subways, track inspection is a crucial aspect of ensuring operational safety.

[0003] Existing track inspection vehicles rely on off-peak hours for operation. Due to the limited duration of these off-peak hours, it is difficult to complete a large number of inspections in a short period of time, thus limiting inspection efficiency. At the same time, off-peak inspections are easily affected by factors such as weather and holidays, resulting in poor scheduling flexibility. Once the operation schedule is temporarily adjusted, the inspection plan can be easily disrupted, affecting regular track maintenance, increasing safety hazards, and posing a challenge to the long-term stable operation of the track.

[0004] Therefore, how to effectively solve the problem of limited inspection efficiency caused by the reliance of track inspection vehicles on off-peak operations is an urgent technical issue that needs to be addressed. Utility Model Content

[0005] To address the shortcomings in the aforementioned background technology, this utility model proposes a lifting device for a track inspection robot, which solves the problem of limited inspection efficiency caused by the track inspection vehicle's reliance on off-peak operations.

[0006] The technical solution of this application is as follows:

[0007] A lifting device for a track inspection robot includes a movable frame disposed between rails. The bottom of the movable frame is provided with a lifting unit for driving the movable frame to land or levitate, and the top is provided with an opening and closing unit for engaging or disengaging with the rails. Both the lifting unit and the opening and closing unit are connected to a central control unit. The opening and closing unit includes an anti-rollover track wheel one that rolls along the outer wall of the rail and an anti-rollover track wheel two that rolls along the inner wall and top surface of the rail.

[0008] Furthermore, the movable frame includes a U-shaped plate arranged along the width direction of the track. The U-shaped plate is slidably engaged with the opening and closing unit. An arc-shaped structure is connected to the outer side of the U-shaped plate, and the arc-shaped structure is connected to the lifting unit.

[0009] Furthermore, the lifting unit includes a hydraulic rod that extends and retracts in the vertical direction, with the top of the hydraulic rod connected to the inner wall of the first arc-shaped structure and the bottom connected to the second arc-shaped structure.

[0010] Furthermore, the size of the second arc-shaped structure is smaller than that of the first arc-shaped structure. The second arc-shaped structure is fitted inside the first arc-shaped structure, which effectively reduces the volume of the entire device, making it highly integrated and easy to install.

[0011] Furthermore, the opening and closing unit includes a symmetrically arranged arc-shaped structure three, which is slidably connected to an inclined extension plate via a drive unit one, and the end of the extension plate is provided with an anti-tipping track wheel one.

[0012] Furthermore, the drive unit one includes a dual-output shaft motor one connected to the arc-shaped structure three. The output shafts at both ends of the dual-output shaft motor one are connected to a gear linkage mechanism one. The other end of the gear linkage mechanism one is connected to an extension plate. A slide rail one is provided on the side of the extension plate. A slider one that slides in cooperation with the slide rail one is provided on the inner wall of the arc-shaped structure three.

[0013] Furthermore, the inner wall of the U-shaped plate is provided with a slide rail two, and the arc-shaped structure three is provided with a slider two that slides and engages with the slide rail two. The slider two is connected to the drive unit two.

[0014] Furthermore, the second drive unit includes a second motor mounted on a U-shaped plate, the second motor being connected to a second gear linkage mechanism, and the other end of the second gear linkage mechanism being connected to a third arc-shaped structure.

[0015] Furthermore, the anti-rollover track wheel two moves along the width direction of the track through the drive unit three. The drive unit three includes a plate that is slidably connected to the U-shaped plate, and the plate is connected to the motor three through the gear linkage mechanism three.

[0016] Furthermore, the anti-rollover track wheel two is connected to the plate through the drive unit four.

[0017] The specific beneficial effects of this utility model include:

[0018] 1. This utility model ensures the safe inspection of the track inspection robot throughout the entire process. When the robot detects the approach of a train, it immediately triggers the derailment program. The track inspection robot is quickly fixed in a safe position in the middle of the track through this device, ensuring that the inspection robot can safely, accurately and quickly derail when it detects the approach of a train, avoiding potential collision risks, improving inspection efficiency, and allowing inspection to be carried out at any time without relying on off-peak hours.

[0019] 2. By using anti-rollover track wheels one and two to roll against the inner and outer walls and top surface of the rail respectively, a two-way clamping structure is formed, which effectively prevents the robot from rolling over due to center of gravity shift or vibration during operation; the lifting unit can quickly adjust the height of the moving frame to realize the switching between the robot's "landing" and "airborne" states; and it is also functionally integrated, compact in size, and easy to operate. Attached Figure Description

[0020] To more clearly illustrate the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the detection status of this utility model;

[0022] Figure 2 This is a schematic diagram showing the changing states of this utility model;

[0023] Figure 3 This is a schematic diagram of the closed state of this utility model;

[0024] Figure 4 This is a schematic diagram of the moving skeleton.

[0025] Figure 5 These are schematic diagrams of arc-shaped structure one and arc-shaped structure two;

[0026] Figure 6 This is a perspective view of the present utility model;

[0027] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0028] Figure 8 for Figure 5 Enlarged view at point B in the middle;

[0029] Figure 9 A schematic diagram showing the connection between the gear linkage mechanism and the extension plate. Figure 1 ;

[0030] Figure 10 A schematic diagram showing the connection between the gear linkage mechanism and the extension plate. Figure 2 ;

[0031] Figure 11 This is a schematic diagram of arc-shaped structure three;

[0032] Figure 12 This is a schematic diagram of the opening and closing unit;

[0033] Figure 13 for Figure 12 Enlarged view at point C;

[0034] Figure 14 for Figure 12 Enlarged view of point D in the middle.

[0035] Explanation of icon numbers:

[0036] 1. Steel rails; 2. Movable frame;

[0037] 21. U-shaped plate; 22. Arc-shaped structure one;

[0038] 23. Hydraulic rod; 24. Arc-shaped structure II;

[0039] 25. Arc-shaped structure three; 26. Extension plate;

[0040] 27. Anti-rollover track wheel one; 28. Anti-rollover track wheel two;

[0041] 31. Dual-shaft motor; 32. Gear;

[0042] 33. Pole 1; 34. Pole 2; 35. Pole 3;

[0043] 36. Slide rail one; 37. Slider one;

[0044] 41. Slide rail two; 42. Slider two; 43. Motor two; 44. Motor three;

[0045] 45. Gear Two; 46. Rod Four; 47. Rod Five; 48. Rod Six;

[0046] 48. Board; 49. Motor 4; 50. Gear 4. Detailed Implementation

[0047] 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.

[0048] A lifting device for a track inspection robot includes a movable frame 2 disposed between rails 1. The bottom of the movable frame 2 is equipped with a lifting unit for landing or levitation, and the top is equipped with an opening / closing unit for engaging or disengaging with the rails 1. Both the lifting unit and the opening / closing unit are connected to a central control unit. The opening / closing unit includes an anti-tipping track wheel 27 that rolls along the outer wall of the rail 1 and an anti-tipping track wheel 28 that rolls along the inner wall and top surface of the rail 1. This invention includes two operating states. The first state is a detection state, where the movable frame 2 is in a levitation state, the opening / closing unit is deployed, and the anti-tipping track wheel 27 and the anti-tipping track wheel 28 are attached to both sides of the rail 1. This invention can then perform detection along the rail 1. Figure 1 As shown; the second is the closed state, that is, the mobile frame 2 is in the ground state. The track inspection robot is quickly fixed in a safe position in the middle of the track by this device, without affecting the passage of the train. The opening and closing unit closes, the anti-tipping track wheel 1 27 and the anti-tipping track wheel 28 are retracted, and it is separated from the rail 1, as shown. Figure 3 As shown; when the state changes from detection to closed, the lifting unit descends and supports itself on the ground, as... Figure 2 As shown, anti-rollover track wheel 1 27 and anti-rollover track wheel 28 retract with the opening and closing unit; when changing from the closed state to the detection state, the lifting unit drives the moving frame 2 to rise, the opening and closing unit unfolds, so that anti-rollover track wheel 1 27 and anti-rollover track wheel 28 engage with the rail 1, and the lifting unit rises and levitates.

[0049] Based on the above embodiments, as a preferred embodiment, such as... Figure 4 As shown, the movable frame 2 includes a U-shaped plate 21 arranged along the width direction of the track, that is, the wing plate of the U-shaped plate 21 is perpendicular to the length direction of the rail 1. The U-shaped plate 21 is slidably engaged with the opening and closing unit, and the opening and closing unit moves along the width direction of the track. The outer side of the U-shaped plate 21 is connected to an arc-shaped structure 22, which is connected to the lifting unit.

[0050] Preferably, the arc-shaped structure 22 has a C-shaped curved surface, and a cavity is formed between the C-shaped curved surface and the flange of the U-shaped plate 21, such as... Figure 5 As shown, the lifting unit moves freely up and down within the cavity. The lifting unit includes a hydraulic rod 23 that extends and retracts vertically. The top of the hydraulic rod 23 is connected to the inner wall of the first arc-shaped structure 22, and the bottom is connected to the second arc-shaped structure 24. The second arc-shaped structure 24 is smaller than the first arc-shaped structure 22. Similarly, the second arc-shaped structure 24 is similar in shape to the first arc-shaped structure 22, also having a C-shaped curved surface. The second arc-shaped structure 24 is fitted inside the first arc-shaped structure 22, effectively reducing the volume of the entire device, achieving high integration and convenient installation.

[0051] Based on the above embodiments, as a preferred embodiment, the opening and closing unit includes an arc-shaped structure 25 that slides with the U-shaped plate 21, such as... Figure 6 As shown, two arc-shaped structures 25 are symmetrically arranged. An extension plate 26 is slidably fitted onto the lower surface of each arc-shaped structure 25 via a drive unit. An anti-tipping track wheel 27 is provided at the end of the extension plate 26. Similarly, the arc-shaped structure 25 is similar in shape to the arc-shaped structure 22, also exhibiting a C-shaped curved surface. The extension plate 26 can be housed within the space at the bottom of the arc-shaped structure 25 to reduce the device's size and achieve greater integration. The drive unit includes a dual-output shaft motor 31 connected to the arc-shaped structure 25. Both output shafts of the dual-output shaft motor 31 are connected to a gear linkage mechanism. The other end of the gear linkage mechanism is connected to the extension plate 26. Figure 11 As shown, the side of the extension plate 26 is provided with a slide rail 36, and the inner wall of the arc-shaped structure 25 is provided with a slider 37 that slides in cooperation with the slide rail 36.

[0052] Specifically, such as Figures 7-9As shown, the gear linkage mechanism includes a gear 32 connected to the output shaft of the dual-output shaft motor 31. The gear 32 is connected in sequence to rods 33, 34, and 35. The rods 33, 34, and 35 are hinged together. The dual-output shaft motor 31 drives the gear linkage mechanism to move, thereby pulling the extension plate 26 to move along the slide rail 36.

[0053] Specifically, such as Figure 10 As shown, the extension plate 26 is inclined. When the extension plate 26 is retracted through the gear linkage mechanism, it drives the anti-tipping track wheel 27 to retract obliquely upwards, avoiding the rail 1.

[0054] Based on the above embodiments, as a preferred embodiment, such as... Figure 12 As shown, the inner wall of the U-shaped plate 21 is provided with a slide rail 41, and the arc-shaped structure 25 is provided with a slider 42 that slides with the slide rail 41. The slider 42 is connected to the drive unit 2. The drive unit 2 drives the slider 42 to move horizontally along the slide rail 41. The drive unit 2 includes a motor 43 disposed on the U-shaped plate 21. The motor 43 is connected to a gear linkage mechanism 2, and the other end of the gear linkage mechanism 2 is connected to the arc-shaped structure 25.

[0055] Preferably, such as Figure 13 As shown, the gear linkage mechanism 2 includes a gear 2 45 fixedly connected to the output shaft of the motor 2 43. The gear 2 45 is connected in sequence to rod 4, rod 5 46, and rod 6 47. Rod 6 47 is hinged to the arc structure 3 25. As the gear 2 45 rotates, it drives the gear linkage mechanism 2 to move, and drives the arc structure 3 25 to translate along the slide rail 2 41.

[0056] Based on the above embodiments, as a preferred embodiment, the anti-rollover track wheel 28 moves along the width direction of the track through the drive unit 3. The drive unit 3 includes a plate 48 that is slidably connected to the U-shaped plate 21. The plate 48 is connected to the motor 44 through the gear linkage mechanism 3.

[0057] Preferably, the gear linkage mechanism three includes a gear three connected to the motor three 44. The gear three is sequentially hinged with rod seven, rod eight and rod nine. The other end of rod nine is hinged to plate 48. Plate 48 is C-shaped. A slider three is provided on the outer wall of plate 48. The slider three slides in cooperation with the slide rail three provided on U-shaped plate 21. When the motor three 44 drives the gear linkage mechanism three to rotate, the gear linkage mechanism three drives plate 48 to move in the horizontal direction.

[0058] Specifically, the anti-rollover track wheel 28 is provided with a step, which is precisely locked onto the side and top surface of the rail 1. While the rail 1 supports the anti-rollover track wheel 28, the anti-rollover track wheel 28 is also clamped between the two rails 1, thereby enhancing stability.

[0059] Based on the above embodiments, as a preferred embodiment, the anti-rollover track wheel 28 is connected to the plate 48 via the drive unit 4, such as... Figure 14 As shown, two anti-rollover track wheels 28 are arranged side by side. The drive unit 4 includes a motor 49 connected to the plate 48. The output shaft of the motor 49 is fixedly connected to a gear 50. A gear 5 is fixedly connected to the anti-rollover track wheel 28. The rotation of gear 450 drives gear 5 to rotate, and the rotation of gear 5 drives the anti-rollover track wheel 28 to rotate. A total of four anti-rollover track wheels 28 are arranged between the rails 1.

[0060] The method of using this utility model is as follows:

[0061] 1. The hydraulic rod 23 in the lifting unit drives the moving frame 2 to rise, and the opening and closing unit opens to both sides, that is, 43 drives the gear linkage mechanism 2 to move, and the gear linkage mechanism 2 drives the arc structure 3 25 and the extension plate 26 to move horizontally and gradually approach the rail 1.

[0062] 2. After the opening and closing unit is opened, the extension plate 26 can be extended in two stages, that is, the dual-output shaft motor 31 and the gear linkage mechanism 1 rotate, the gear linkage mechanism 1 drives the extension plate 26 to extend, and the anti-rollover track wheel 27 is attached to the outer wall of the rail 1.

[0063] 3. Motor 3 44 drives gear linkage mechanism 3 to rotate, and gear linkage mechanism 3 drives plate 48 to move horizontally until anti-rollover track wheel 2 is in contact with the inner wall and top surface of the rail;

[0064] 4. The hydraulic rod 23 in the lifting unit drives the arc-shaped structure 24 to rise, putting it in a suspended state;

[0065] 5. Motor 49 drives anti-rollover track wheel 28 to rotate, and this device can move along rail 1.

[0066] This invention provides a dual safety mechanism for a track inspection robot, ensuring safe inspection throughout its operation. During its movement, the robot monitors the road conditions ahead in real time. When it detects an approaching train, it uses a high-precision integrated positioning system to obtain the train's preliminary position and speed information and make accurate dynamic estimates. If a prediction indicates that a train will approach the robot in a short time, a risk assessment is immediately triggered. If the predicted safety threshold is exceeded, a derailment procedure is immediately initiated. The robot quickly anchors itself in a safe position in the middle of the track using this device. Simultaneously, the wireless communication module communicates with the train in real time, ensuring a coordinated and consistent derailment and obstacle avoidance process. This ensures that the robot can safely, accurately, and quickly derail when it detects an approaching train, avoiding potential collision risks.

[0067] This invention simplifies the four-bar linkage mechanism into a gear linkage mechanism, and based on the characteristic that gears rotate in opposite directions when meshing, designs a structure that can achieve extension and retraction using only a single motor. The advantages of this structure are that it eliminates the need to control two mechanical components; the extension and retraction functions of both mechanical structures can be achieved by operating a single dual-output shaft motor. This not only simplifies control but also reduces costs and saves retraction time. Furthermore, the programming is more concise, focusing solely on motor control. When the inspection robot detects an approaching train, it retracts its robotic arm to achieve autonomous lifting and lowering. This device adopts a highly integrated design, compactly combining detection, braking, and signal transmission modules into a single integrated structure. This integrated structure makes the device compact and easy to install, allowing for rapid installation on a running track inspection vehicle without waiting for installation, enabling real-time dynamic detection. Moreover, the new process improves the device's adaptability to harsh environments, ensuring stable operation under complex conditions during non-downtime periods.

[0068] Any aspects of this utility model that are not detailed herein are conventional technical means known to those skilled in the art.

[0069] The above content shows and describes the basic principles, main features, and beneficial effects of this utility model. The above description is merely a preferred embodiment of this utility model and is not intended to limit it. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A lifting device for a track inspection robot, characterized in that: The system includes a movable frame (2) set between the rails (1). The bottom of the movable frame (2) is equipped with a lifting unit for driving the movable frame (2) to land or levitate, and the top is equipped with an opening and closing unit for engaging or separating from the rails (1). The lifting unit and the opening and closing unit are both connected to the central control unit. The opening and closing unit includes an anti-rollover track wheel one (27) that rolls along the outer wall of the rails (1) and an anti-rollover track wheel two (28) that rolls along the inner wall and top surface of the rails (1).

2. The lifting device for a track inspection robot according to claim 1, characterized in that: The movable frame (2) includes a U-shaped plate (21) arranged along the width direction of the track. The U-shaped plate (21) is slidably engaged with the opening and closing unit. An arc-shaped structure (22) is connected to the outer side of the U-shaped plate (21). The arc-shaped structure (22) is connected to the lifting unit.

3. The lifting device for a track inspection robot according to claim 2, characterized in that: The lifting unit includes a hydraulic rod (23) that extends and retracts in the vertical direction. The top of the hydraulic rod (23) is connected to the inner wall of the first arc structure (22), and the bottom is connected to the second arc structure (24).

4. The lifting device for a track inspection robot according to claim 3, characterized in that: The size of the second arc structure (24) is smaller than the size of the first arc structure (22).

5. The lifting device for a track inspection robot according to any one of claims 2-4, characterized in that: The opening and closing unit includes a symmetrically arranged arc-shaped structure three (25), which is slidably connected to an inclined extension plate (26) via a drive unit one. The end of the extension plate (26) is provided with an anti-rollover track wheel one (27).

6. The lifting device for a track inspection robot according to claim 5, characterized in that: The drive unit 1 includes a dual-output shaft motor 1 (31) connected to the arc-shaped structure 3 (25). The output shafts at both ends of the dual-output shaft motor 1 (31) are connected to a gear linkage mechanism 1. The other end of the gear linkage mechanism 1 is connected to the extension plate (26). The side of the extension plate (26) is provided with a slide rail 1 (36). The inner wall of the arc-shaped structure 3 (25) is provided with a slider 1 (37) that slides and engages with the slide rail 1 (36).

7. The lifting device for a track inspection robot according to claim 6, characterized in that: The inner wall of the U-shaped plate (21) is provided with a slide rail two (41), and the arc structure three (25) is provided with a slider two (42) that slides and engages with the slide rail two (41). The slider two (42) is connected to the drive unit two.

8. The lifting device for a track inspection robot according to claim 7, characterized in that: The second drive unit includes a second motor (43) mounted on a U-shaped plate (21). The second motor (43) is connected to a second gear linkage mechanism, and the other end of the second gear linkage mechanism is connected to an arc-shaped structure (25).

9. The lifting device for a track inspection robot according to claim 8, characterized in that: The anti-rollover track wheel 2 (28) moves along the width direction of the track through the drive unit 3. The drive unit 3 includes a plate (48) that is slidably connected to the U-shaped plate (21). The plate (48) is connected to the motor 3 (44) through the gear linkage mechanism 3.

10. The lifting device for a track inspection robot according to any one of claims 1-9, characterized in that: The anti-rollover track wheel 2 (28) is connected to the plate (48) through the drive unit 4.

Images