Rail cleaning mobile robot

Abstract

The utility model belongs to the technical field of track cleaning, and provides a track cleaning mobile robot which comprises a mobile platform, a guide column, a water conveying pipe and a lifting mechanism, a water storage tank and a water pump are located above the mobile platform, track wheels are arranged at the four corners of the lower portion of the mobile platform, and every two adjacent track wheels on different sides are connected through a shaft rod. The shaft rod is driven by electric power to rotate; the guide columns are vertically arranged, the at least four guide columns are located at the four corners of the moving platform respectively, the lower ends of the guide columns rotationally sleeve the shaft rod, and the upper ends of the guide columns penetrate through the moving platform and protrude upwards, so that the moving platform is fixed to move up and down in the axial direction of the guide columns; the water conveying pipe is transversely arranged above the movable platform in the width direction of the movable platform. The track cleaning device can replace manpower to clean the track, greatly improves the working efficiency of cleaning the long-section track, and effectively reduces the investment of manpower and time cost.

Description

Technical Field

[0001] This utility model belongs to the field of track cleaning technology, and specifically relates to a track cleaning mobile robot. Background Technology

[0002] Rail tracks play a vital role in transportation, and track cleaning is a necessary maintenance method to ensure the safe and efficient operation of rail transit.

[0003] Currently, traditional track cleaning methods rely heavily on manual operation. When cleaning long sections of track, the work efficiency is significantly low, and it also increases labor and time costs.

[0004] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Utility Model Content

[0005] The purpose of this invention is to overcome the problems of low efficiency and high labor and time costs associated with traditional manual track cleaning methods, and to provide a mobile robot for track cleaning.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A track cleaning mobile robot includes: a mobile platform, guide columns, a water supply pipe, and a lifting mechanism. A water tank and a water pump are located above the mobile platform. Track wheels are located at the four corners of the mobile platform, and adjacent tracks on different sides are connected by axles that rotate electrically. At least four guide columns are vertically arranged at the four corners of the mobile platform. The lower end of each guide column is rotatably fitted onto the outside of the axle, and the upper end of each guide column penetrates the mobile platform and protrudes upwards, allowing the mobile platform to move vertically along the axial direction of the guide column. The water supply pipe is horizontally positioned above the mobile platform along its width. A pair of spray pipes are vertically connected to the lower ends of each end of the water supply pipe, and the lower ends of adjacent spray pipes penetrate the mobile platform and bend towards each other, so that the nozzles of the adjacent spray pipes, after decreasing in height, face the inner and outer sides of the track. The lifting mechanism is located below the mobile platform and adjusts the height of the mobile platform.

[0008] In the track cleaning mobile robot described above, preferably, the water tank is located behind and centered on the mobile platform, and the water pump is located in front of the water tank;

[0009] The water pump inlet is connected to the water storage tank, and the water pump outlet is connected to the water delivery pipe via conduits.

[0010] Preferably, both ends of the water pipe have vertically extending lifting columns at their bottom, and the bottom of the lifting columns abuts against the upper surface of the mobile platform.

[0011] Preferably, the lower end of the guide post is provided with a bearing seat, and the shaft is interference-fitted with the bearing in the bearing seat.

[0012] Preferably, the lifting mechanism includes: a guide frame, a bracket, a power arm, and a hydraulic cylinder. The guide frame is provided in pairs, and the two guide frames are symmetrically arranged on both sides of the lower platform of the mobile platform.

[0013] The guide frame consists of a pair of rectangular frames arranged opposite each other and spaced apart.

[0014] Preferably, the bracket includes a support rod and a connecting rod, wherein the support rod is horizontally arranged at the center below the moving platform along its length direction;

[0015] Both ends of the support rod are connected to two connecting rods simultaneously. One end of the connecting rod is connected to the end of the support rod, and the other end of the connecting rod is connected to the outer side of the corresponding bearing seat.

[0016] Preferably, the power arms are provided in pairs, and both power arms are obliquely positioned between the mobile platform and the bracket;

[0017] The lower ends of the two power arms are rotatably sleeved on the outside of the support rod;

[0018] The upper ends of the two power arms extend into the space between the two adjacent rectangular frames.

[0019] Preferably, the upper end of the power arm is rotatably fitted with a sliding shaft, and the end of the sliding shaft extends toward the opening of the rectangular frame;

[0020] The end of the slide shaft is provided with a limiting plate.

[0021] Preferably, the power arm is composed of a pair of support plates arranged at a distance from front to back;

[0022] The hydraulic cylinder is horizontally positioned between the two power arms, and the head and tail of the hydraulic cylinder are respectively hinged between the two adjacent support plates. The hydraulic cylinder controls the tilt angle of the upper ends of the two power arms.

[0023] Preferably, one of the connecting rods has a support plate at its top, and a motor is mounted on the support plate;

[0024] The motor shaft is connected to the adjacent shaft via a gear set.

[0025] Beneficial effects: This utility model can replace manual cleaning of tracks and greatly improves the work efficiency of cleaning long sections of tracks, effectively reducing the input of manpower and time costs. Attached Figure Description

[0026] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. Wherein:

[0027] Figure 1 This is a front view schematic diagram of the present invention;

[0028] Figure 2 This is a side view of the present invention;

[0029] Figure 3 This is a schematic diagram of the overall structure of this utility model;

[0030] Figure 4 This is a bottom view of the present invention;

[0031] Figure 5 This is a schematic diagram of the overall lifting mechanism of this utility model;

[0032] Figure 6 This is a schematic diagram of the overall structure of the power arm of this utility model.

[0033] In the diagram: 1. Mobile platform; 2. Water tank; 3. Water pump; 4. Rail wheel; 5. Shaft; 6. Guide column; 7. Water supply pipe; 8. Spray pipe; 9. Lifting column; 10. Bearing seat; 11. Guide frame; 12. Power arm; 13. Hydraulic cylinder; 14. Support rod; 15. Connecting rod; 16. Sliding shaft; 17. Limiting plate; 18. Motor. Detailed Implementation

[0034] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art are within the protection scope of this utility model.

[0035] In the description of this utility model, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not require that this utility model be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this utility model. The terms "connected" and "linked" used in this utility model should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection through intermediate components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0036] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0037] This embodiment aims to provide a track cleaning mobile robot, whose main function is to replace manual cleaning of tracks, thereby improving work efficiency and saving manpower and time costs.

[0038] Reference Figures 1-6 The system includes: a mobile platform 1, a guide column 6, a water supply pipe 7, and a lifting mechanism. A water storage tank 2 and a water pump 3 are located on top of the mobile platform 1. The water pump 3 is located in the middle of the front side of the water storage tank 2. The base of the water pump 3 is fixed to the mobile platform 1 by bolts. The bottom of the water storage tank 2 is welded and fixed to the upper surface of the mobile platform 1. Track wheels 4 are rotatably installed at the four corners of the bottom of the mobile platform 1. The track wheels 4 on two adjacent sides are connected by a shaft 5. The shaft 5 is driven to rotate by electricity. The water storage tank 2 is located at the rear of the mobile platform 1 and is centered. The position of the water storage tank 2 will not exceed the rear shaft 5 to prevent the head of the mobile platform 1 from tilting up.

[0039] The guide columns 6 are vertically arranged, and there are four guide columns 6, which are located at the four corners of the moving platform 1. The lower end of the guide column 6 is welded with a bearing seat 10. The bearing in the bearing seat 10 is rotated and fitted onto the outside of the shaft 5, and the shaft 5 and the bearing in the bearing seat 10 are interference fitted. The upper end of the guide column 6 passes through the moving platform 1 and protrudes upward, so that the moving platform 1 can be fixed to move up and down along the axial direction of the guide column 6.

[0040] The water supply pipe 7 is horizontally installed above the moving platform 1 along its width direction, and is located in front of the water pump 3. The water inlet of the water pump 3 is connected to the water storage tank 2, and the water outlet of the water pump 3 is connected to the water supply pipe 7 through conduits. Both ends of the water supply pipe 7 have vertically extending lifting columns 9 at their bottom. The bottom of the lifting columns 9 rests against the upper surface of the moving platform 1, and the water supply pipe 7 is lifted upward by the lifting columns 9 so that the conduit connecting the water supply pipe 7 and the water pump 3 can be connected. Both ends of the water supply pipe 7 are vertically connected to a pair of spray pipes 8, and the lower ends of the two adjacent spray pipes 8 pass through the moving platform 1 and bend towards each other to change the spray direction. This allows the nozzles of the two adjacent spray pipes 8 after the height decreases to face the inner and outer sides of the track respectively. By reasonably arranging the position of the spray pipes 8, it is ensured that the inner and outer sides of the track, i.e., the left and right sides, can be cleaned. The nozzles of the spray pipes 8 can be set in a fan shape to increase the vertical spraying area, and the position of the spray pipes 8 should be between the front and rear rail wheels 4.

[0041] The lifting mechanism is located below the mobile platform 1. The height of the mobile platform 1 is adjusted by the lifting mechanism, and the height of the water spray pipe 8 also changes with the mobile platform 1. Specifically, the lifting mechanism includes: a guide frame 11, a bracket, a power arm 12, and a hydraulic cylinder 13. There is a pair of guide frames 11, which are symmetrically welded to both sides of the lower platform surface of the mobile platform 1. The guide frame 11 is composed of a pair of rectangular frames arranged in a front-to-back and spaced-apart manner. The bracket includes: a support rod 14 and a connecting rod 15. The support rod 14 is horizontally arranged in the center below the mobile platform 1 along its length direction. Both ends of the support rod 14 are simultaneously connected to two connecting rods 15. One end of the connecting rod 15 is welded to the end of the support rod 14, and the other end of the connecting rod 15 is welded to the outer side of the corresponding bearing seat 10. The bracket supports the power arm 12 and can also connect the four guide columns 6 into one piece to enhance its stability.

[0042] A pair of power arms 12 are provided, both of which are obliquely positioned between the moving platform 1 and the bracket. The upper ends of the two power arms 12 are inclined in opposite directions, and the lower ends of the two power arms 12 are rotatably sleeved on the outside of the support rod 14. The upper ends of the two power arms 12 extend into the space between two adjacent rectangular frames. A sliding shaft 16 is rotatably sleeved on the upper end of the power arm 12, and the end of the sliding shaft 16 extends into the frame opening of the rectangular frame. A limit plate 17 is welded to the end of the sliding shaft 16 to prevent the sliding shaft 16 from falling off the rectangular frame. The power arms 12 are arranged in a pair with a front-to-back interval. The support plates are designed to facilitate the horizontal placement of a hydraulic cylinder 13 between the two power arms 12. The head of the hydraulic cylinder 13, i.e., the head end of the cylinder rod, and the tail end, i.e., the rear end of the cylinder body, are respectively hinged between the two adjacent support plates. The middle parts of the two adjacent support plates are then fixedly connected as one unit through the hinge shaft. The tilt angle of the upper ends of the two power arms 12 is controlled by the extension and retraction of the cylinder rod of the hydraulic cylinder 13. This means that the greater the tilt angle of the upper ends of the two power arms 12, the greater the descent of the moving platform 1, and correspondingly, the lower the position of the nozzle of the water spray pipe 8.

[0043] In this embodiment, the distance between two adjacent support plates must be greater than the diameter of the cylinder body to avoid interference between the cylinder body and the support plates.

[0044] A support plate is welded to the top of the connecting rod 15 located on the left front of the mobile platform 1. The support plate is welded to the connecting rod 15 and can also be welded to the adjacent bearing seat 10 to enhance stability. A motor 18 is fixedly installed above the support plate. The motor 18 can be a three-phase asynchronous motor. The shaft of the motor 18 is connected to the adjacent shaft 5 through a gear set. The gear set includes a driving wheel and a driven wheel. The middle part of the driving wheel is fixedly fitted to the shaft of the motor 18. The driven wheel is fixedly fitted to the shaft 5 and meshes with the driving wheel, so that the motor 18 drives the shaft 5 to rotate through the gear set, thereby enabling the robot platform to automatically move on the track.

[0045] In this embodiment, the front axle 5 and the rear axle 5 can be synchronously rotated through a sprocket set so that the front rail wheel 4 and the rear rail wheel 4 can move synchronously on the track. As for the setting position of the sprocket on the axle 5, it is best to be between the adjacent rail wheel 4 and the bearing seat 10, and it must be ensured that the chain will not affect the descent of the nozzle position of the water spray pipe 8.

[0046] In actual use, staff can remotely control the water pump 3, hydraulic cylinder 13, and motor 18 separately. Each of the water pump 3, hydraulic cylinder 13, and motor 18 is equipped with a corresponding sensor, which is existing technology and will not be described in detail here. When the robot platform moves on the track, the cylinder rod of the hydraulic cylinder 13 extends, increasing the angle between the two power arms 12. At this time, the moving platform 1 will descend vertically due to gravity, and the nozzle position of the water spray pipe 8 will also decrease until the nozzle can face the web of the track. The nozzle can be fan-shaped to cover one side of the track and ensure cleaning quality. At this time, the water pump 3 and motor 18 can be started in sequence to make the robot platform move on the track and clean the track at the same time.

[0047] The cleaning robot provided in this embodiment can replace manual labor in cleaning tracks and greatly improves the efficiency of cleaning long sections of tracks, effectively reducing the input of manpower and time costs.

[0048] It is understood that the above description is merely exemplary and the embodiments of this application do not limit the scope of the application.

[0049] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be within the scope of protection of the pending claims of the present utility model.

Claims

1. A track-cleaning mobile robot, characterized in that, include: The mobile platform has a water tank and a water pump mounted on top. The four corners of the mobile platform are equipped with rail wheels. The rail wheels on two adjacent sides are connected by axles, which are driven to rotate by electricity. The guide column is vertically arranged, and there are at least four guide columns, which are respectively located at the four corners of the moving platform. The lower end of the guide column is rotatably fitted outside the shaft, and the upper end of the guide column passes through the moving platform and protrudes upward, so that the moving platform can move up and down along the axial direction of the guide column. A water supply pipe is horizontally installed above the moving platform along its width direction. A pair of water spray pipes are vertically connected to the lower ends of the water supply pipe. The lower ends of two adjacent water spray pipes pass through the moving platform and bend towards each other, so that the nozzles of the two adjacent water spray pipes after the height decreases face the inner and outer sides of the track respectively. A lifting mechanism is located below the mobile platform, and the height of the mobile platform is adjusted by the lifting mechanism.

2. The track cleaning mobile robot according to claim 1, characterized in that, The water storage tank is located behind and in the center of the mobile platform, and the water pump is located in front of the water storage tank. The water pump inlet is connected to the water storage tank, and the water pump outlet is connected to the water delivery pipe via conduits.

3. The track cleaning mobile robot according to claim 1, characterized in that, Both ends of the water pipe have vertically extending lifting columns at their bottom, and the bottom of the lifting columns abuts against the upper surface of the mobile platform.

4. The track cleaning mobile robot according to claim 1, characterized in that, The lower end of the guide post is provided with a bearing seat, and the shaft is interference-fitted with the bearing in the bearing seat.

5. The track cleaning mobile robot according to claim 4, characterized in that, The lifting mechanism includes: a guide frame, a bracket, a power arm, and a hydraulic cylinder. The guide frame is provided in pairs, and the two guide frames are symmetrically arranged on both sides of the lower platform of the mobile platform. The guide frame consists of a pair of rectangular frames arranged opposite each other and spaced apart.

6. The track cleaning mobile robot according to claim 5, characterized in that, The bracket includes a support rod and a connecting rod, wherein the support rod is horizontally arranged at the center below the moving platform along its length direction; Both ends of the support rod are connected to two connecting rods simultaneously. One end of the connecting rod is connected to the end of the support rod, and the other end of the connecting rod is connected to the outer side of the corresponding bearing seat.

7. The track cleaning mobile robot according to claim 6, characterized in that, The power arms are provided in a pair, and both power arms are obliquely positioned between the mobile platform and the bracket; The lower ends of the two power arms are rotatably sleeved on the outside of the support rod; The upper ends of the two power arms extend into the space between the two adjacent rectangular frames.

8. The track cleaning mobile robot according to claim 7, characterized in that, The upper end of the power arm is rotatably fitted with a sliding shaft, and the end of the sliding shaft extends toward the opening of the rectangular frame; The end of the slide shaft is provided with a limiting plate.

9. The track cleaning mobile robot according to claim 8, characterized in that, The power arm consists of a pair of support plates arranged at a distance from front to back; The hydraulic cylinder is horizontally positioned between the two power arms, and the head and tail of the hydraulic cylinder are respectively hinged between the two adjacent support plates. The hydraulic cylinder controls the tilt angle of the upper ends of the two power arms.

10. The track cleaning mobile robot according to claim 9, characterized in that, One of the connecting rods has a support plate at its top, and a motor is mounted on the support plate; The motor shaft is connected to the adjacent shaft via a gear set.

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