A track inspection robot
By incorporating a tracked chassis and robotic arm design, and equipped with grippers and image acquisition devices, the track inspection robot solves the problems of inefficient inspection processes and insufficient accuracy in complex track environments, and achieves improved accuracy in removing and detecting small foreign objects.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NANJING PILOT INTELLIGENT AVIATION TECH CO LTD
- Filing Date
- 2025-07-20
- Publication Date
- 2026-07-14
AI Technical Summary
Existing track inspection robots suffer from slow progress and insufficient detection accuracy in complex track environments, especially affected by changes in lighting and small foreign objects.
It adopts a tracked chassis and main and auxiliary inspection robotic arms, equipped with grippers and image acquisition devices, combined with lighting devices, to improve the removal and detection accuracy of small foreign objects.
It improves the smoothness and accuracy of track inspection, and can effectively remove or avoid small foreign objects such as gravel, plastic bottles and branches.
Smart Images
Figure CN224489120U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automated detection technology, and in particular to a track inspection robot. Background Technology
[0002] In rail transit systems such as railways and subways, track inspection is a crucial link in ensuring operational safety. Currently, track inspection mainly relies on manual inspection and automated inspection robots. Existing inspection robots are typically equipped with visible light cameras, infrared sensors, or LiDAR, primarily used to detect structural problems such as track geometric deformation, missing fasteners, and rail surface defects. However, due to the complex track environment, including significant variations in lighting and the presence of small foreign objects such as gravel, plastic bottles, and branches intruding into the clearance gauge, the progress and accuracy of inspection robots are all affected. Therefore, how to address the complex track environment and improve the smoothness and accuracy of the inspection process has become an urgent problem to be solved. Utility Model Content
[0003] Therefore, in order to solve the problems in the prior art, this utility model provides a track inspection robot with high detection accuracy, which includes a main inspection robot arm and an auxiliary inspection robot arm, and can deal with small foreign objects and changes in lighting, respectively.
[0004] Therefore, this utility model provides a track inspection robot, comprising:
[0005] The base is fixed to the mounting bracket of the tracked chassis;
[0006] Both the main inspection robotic arm and the auxiliary inspection robotic arm are mounted on the base. The end of the main inspection robotic arm furthest from the base is equipped with a gripper and a first image acquisition device. The gripper is used to hold the operating equipment. The end of the auxiliary inspection robotic arm furthest from the base is equipped with a lighting device and a second image acquisition device.
[0007] Optionally, the gripper includes a first gripper, a second gripper, and a gripping drive member, wherein the first gripper and the second gripper can move closer to each other or further apart under the drive of the gripping drive member.
[0008] Optionally, the operating device is a hydraulic shear, and both the first and second jaws are provided with slots that match the handle of the hydraulic shear.
[0009] Optionally, both the main inspection robotic arm and the auxiliary inspection robotic arm are six-degree-of-freedom robotic arms.
[0010] Optionally, a first mounting plate is provided at the end of the main inspection robot arm away from the base, and the gripper and the first image acquisition device are both fixed on the first mounting plate.
[0011] Optionally, a second mounting plate is provided at the end of the auxiliary inspection robot arm away from the base, and the gripper and the first image acquisition device are both fixed on the second mounting plate.
[0012] Optionally, the tracked chassis includes a mounting frame and two tracked traveling mechanisms respectively disposed on both sides of the mounting frame; both ends of the mounting frame in the traveling direction are equipped with laser navigators and non-contact collision sensors.
[0013] Optionally, the main inspection robotic arm and the auxiliary inspection robotic arm are arranged forward and backward along the walking direction.
[0014] The technical solution provided by this utility model has the following advantages:
[0015] The track inspection robot provided by this utility model uses a tracked chassis as its walking mechanism, enabling it to walk on uneven surfaces such as gravel. Furthermore, by incorporating a main inspection arm and an auxiliary inspection arm, each equipped with a first and second image acquisition device for track surface and environmental detection, and further equipped with grippers and lighting devices, the robot can effectively remove small foreign objects. The grippers can hold and operate the equipment to remove them, while the lighting devices provide supplementary illumination around the grippers to assist in positioning. Ultimately, this track inspection robot can remove or avoid small foreign objects such as gravel, plastic bottles, and branches encroaching on the track boundaries, improving the smoothness of the inspection process and the accuracy of detection. Attached Figure Description
[0016] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0017] Figure 1 A schematic diagram of the structure of a track inspection robot provided for an embodiment of this utility model;
[0018] Figure 2 A schematic diagram of a specific structure of the gripper provided in an embodiment of this utility model;
[0019] Explanation of reference numerals in the attached figures:
[0020] 1- Tracked chassis; 11- Mounting frame; 12- Tracked traveling mechanism
[0021] 2-Base;
[0022] 3-Main inspection robotic arm; 31-First mounting plate;
[0023] 4-Auxiliary inspection robotic arm;
[0024] 5-Gripper; 51-First gripper; 511-Slot; 52-Second gripper; 53-Gripper drive component;
[0025] 6-First image acquisition device;
[0026] 7-Lighting devices;
[0027] 8-Second image acquisition device. Detailed Implementation
[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0029] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0031] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.
[0032] Please refer to Figures 1-2This is a schematic diagram of the structure of a track inspection robot provided in an embodiment of the present invention. The track inspection robot includes a tracked chassis 1, a base 2, a main inspection robotic arm 3, and an auxiliary inspection robotic arm 4. The base 2 is fixed on the mounting frame 11 of the tracked chassis 1. The main inspection robotic arm 3 and the auxiliary inspection robotic arm 4 are both mounted on the base 2. The end of the main inspection robotic arm 3 away from the base 2 is provided with a gripper 5 and a first image acquisition device 6. The gripper 5 is used to hold the operating equipment. The end of the auxiliary inspection robotic arm 4 away from the base 2 is provided with a lighting device 7 and a second image acquisition device 8.
[0033] Specifically, the tracked chassis 1 also includes two tracked walking mechanisms 12 respectively disposed on both sides of the mounting frame 11; in specific implementation, the specific structure of the tracked walking mechanism 12 can be any of the existing structures, and no limitation is made in this embodiment.
[0034] Specifically, in order to ensure the stability of the track inspection robot in this embodiment during its forward and backward movement, laser navigators and non-contact collision sensors (not shown in the figure) can be installed at both ends of the mounting frame 11 in the tracked chassis 1 in the walking direction.
[0035] Specifically, the main inspection robotic arm 3 and the auxiliary inspection robotic arm 4 can be arranged front and back on the base 2 along the walking direction so that they can converge at the same position on the track to perform inspection or foreign object removal work (the gripper 5 on the main inspection robotic arm 3 performs the removal action, and the lighting device 7 on the auxiliary inspection robotic arm 4 provides lighting and positioning).
[0036] Specifically, both the main inspection robotic arm 3 and the auxiliary inspection robotic arm 4 are six-degree-of-freedom robotic arms.
[0037] Specifically, such as Figure 2 As shown, the gripper 5 in this embodiment can be a two-jaw gripper, which includes a first jaw 51, a second jaw 52, and a gripping drive member 53. The first jaw 51 and the second jaw 52 can move closer to each other or further apart under the drive of the gripping drive member 53. Of course, the gripper 5 in this embodiment can be a three-jaw or four-jaw gripper.
[0038] As an optional implementation of this embodiment, the operating device in this embodiment can be set to a hydraulic shear. In this case, if the gripper 5 in this embodiment is the aforementioned two-jaw gripper, then, as Figure 2 As shown, both the first claw 51 and the second claw 52 can be provided with slots 511 that match the handle of the hydraulic shears to ensure the clamping and operational stability of the claws 5 on the hydraulic shears. Those skilled in the art should understand that the hydraulic shears in this embodiment are manual hydraulic shears, and their operation is automated by using the clamping force of the claws 5 instead of manual labor.
[0039] In practice, in order to further improve the clamping and operational stability of the gripper 5 for the hydraulic shear, anti-slip pads can be provided on the wall of the slot 511 and the inner side of the two claws (first claw 51 and second claw 52).
[0040] As an optional implementation of this embodiment, to facilitate the mounting of both the gripper 5 and the first image acquisition device 6 on the main inspection robotic arm 3, such as... Figure 2 As shown, a first mounting plate 31 can be provided at the end of the main inspection robotic arm 3 away from the base 2, and the gripper 5 and the first image acquisition device 6 can both be fixed on the first mounting plate 31. Similarly, a second mounting plate can be provided at the end of the auxiliary inspection robotic arm 4 away from the base 2, and the gripper 5 and the first image acquisition device 6 can both be fixed on the second mounting plate.
[0041] In summary, the track inspection robot in this embodiment, by using a tracked chassis 1 as its walking mechanism, enables the robot to walk on uneven surfaces such as gravel. Furthermore, by configuring its inspection robotic arms, including a main inspection robotic arm 3 and an auxiliary inspection robotic arm 4, and by respectively equipping them with a first image acquisition device 6 and a second image acquisition device 8 to achieve track surface detection and environmental detection, it is also equipped with grippers 5 and lighting devices 7. The grippers 5 can hold and operate the equipment to remove small foreign objects, while the lighting devices 7 can provide supplementary light sources around the grippers 5 to assist in positioning. Ultimately, this track inspection robot can remove or avoid small foreign objects such as gravel, plastic bottles, and branches intruding into the track clearance, improving the smoothness of the inspection process and the accuracy of detection.
[0042] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this utility model.
Claims
1. A track inspection robot, characterized in that, include: The base is fixed to the mounting bracket of the tracked chassis; Both the main inspection robotic arm and the auxiliary inspection robotic arm are mounted on the base. The main inspection robotic arm is equipped with a gripper and a first image acquisition device at the end furthest from the base. The gripper is used to hold the operating equipment. The auxiliary inspection robotic arm is equipped with a lighting device and a second image acquisition device at the end furthest from the base.
2. The track inspection robot according to claim 1, characterized in that, The gripper includes a first gripper, a second gripper, and a gripping drive member. The first gripper and the second gripper can move closer to each other or further away from each other under the drive of the gripping drive member.
3. The track inspection robot according to claim 2, characterized in that, The operating device is a hydraulic shear, and both the first and second claws are provided with slots that match the handle of the hydraulic shear.
4. The track inspection robot according to claim 1, characterized in that, Both the main inspection robotic arm and the auxiliary inspection robotic arm are six-degree-of-freedom robotic arms.
5. The track inspection robot according to claim 4, characterized in that, The main inspection robotic arm has a first mounting plate at the end furthest from the base, and the gripper and the first image acquisition device are both fixed to the first mounting plate.
6. The track inspection robot according to claim 4, characterized in that, The auxiliary inspection robotic arm has a second mounting plate at the end furthest from the base, and the gripper and the first image acquisition device are both fixed to the second mounting plate.
7. The track inspection robot according to claim 1, characterized in that, The tracked chassis includes the mounting frame and two tracked walking mechanisms respectively disposed on both sides of the mounting frame; the mounting frame is equipped with laser navigation devices and non-contact collision sensors at both ends in the walking direction.
8. The track inspection robot according to claim 7, characterized in that, The main inspection robotic arm and the auxiliary inspection robotic arm are arranged one in front of the other along the walking direction.