A railway train bottom detection robot and an overhauling system

Abstract

The utility model relates to a railway train underbody detection robot, including car body, underbody detection sensor, gyro wheel subassembly, support gyro wheel subassembly and drive assembly. Underbody detection sensor sets up on the car body. Gyro wheel subassembly is swingably arranged at both sides of car body movement direction to make gyro wheel subassembly have at least the working state of making robot move along the inside of steel rail and the obstacle avoidance state of disengaging from steel rail. Support gyro wheel subassembly is liftably arranged at the bottom of car body to make robot still keep moving when gyro wheel subassembly is in obstacle avoidance state. Drive assembly connects gyro wheel subassembly and support gyro wheel subassembly and is used for driving gyro wheel subassembly swing and support gyro wheel subassembly lift. Its beneficial effect is that can move with the help of the existing track and overhaul the underbody of train through underbody detection sensor, also can avoid the fish tail and bolt at the rail joint when moving.

Description

Technical Field

[0001] This utility model relates to the field of railway train maintenance technology, and in particular to a railway train undercarriage inspection robot and maintenance system. Background Technology

[0002] Inspection of the condition of railway train carriages is a crucial step in ensuring safe train operation. Currently, manual inspection methods suffer from low efficiency, high labor costs, and a high rate of missed inspections, necessitating the use of automated equipment.

[0003] Currently, some inspection robots obtain their operating paths by adding dedicated robot tracks to existing train sleepers. However, this involves collaboration among multiple disciplines such as track maintenance and electrical engineering, making implementation difficult, costly, and time-consuming. Utilizing the space inside existing tracks for mobile inspection is a more economical and feasible approach. However, standard railway tracks have joints every 25 meters, connected by fishplates and bolts. This connection method creates geometric protrusions in the fishplates and bolts, which can interfere with the robot's movement along the track.

[0004] Therefore, there is an urgent need for a robot that can move along existing tracks and adapt to changes in the track joint structure. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a railway train undercarriage inspection robot and maintenance system, which solves the technical problem that the geometric protrusions at the track joints in the prior art will interfere with the robot's movement along the existing track.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0009] In a first aspect, this utility model provides a railway train undercarriage inspection robot, including a train body, undercarriage inspection sensors, a roller assembly, a supporting roller assembly, and a drive assembly;

[0010] The undercarriage detection sensor is mounted on the vehicle body;

[0011] The roller assembly is oscillatingly disposed on both sides of the vehicle body in the direction of movement, so that the roller assembly has at least a working state for moving the robot along the inside of the rail and an obstacle avoidance state for detaching from the rail.

[0012] The support roller assembly is vertically and flexibly mounted at the bottom of the vehicle body so that the robot can continue to move even when the roller assembly is in obstacle avoidance mode;

[0013] The drive assembly connects the roller assembly and the support roller assembly, and is used to drive the roller assembly to swing and the support roller assembly to rise and fall.

[0014] According to this utility model, the roller assembly includes a support arm and a roller;

[0015] The support arm is hinged to the vehicle body by swinging up and down, and the roller is provided on the support arm;

[0016] The drive end of the drive motor is connected to the support arm and is used to drive the roller support arm to make the roller swing up and down.

[0017] According to this utility model, the rollers of the roller assembly located on both sides of the vehicle body moving direction are arranged in an inclined manner from the bottom of the roller to the top of the roller, so as to provide rolling support on the inner side of the rail.

[0018] According to this utility model, when the roller is supported on the inner side of the rail, the angle between the axial direction of the roller and the horizontal direction is 15–30°.

[0019] According to this utility model, the support roller assembly includes a roller bracket and a plurality of support rollers;

[0020] The roller bracket is vertically connected to the vehicle body, and a plurality of the supporting rollers are disposed on the roller bracket and located on both sides in the width direction of the vehicle body.

[0021] According to this utility model, the drive assembly includes an electric telescopic rod;

[0022] The main body of the electric telescopic rod is fixed to the vehicle body, and the telescopic end is fixedly connected to the roller bracket. The electric telescopic rod is used to drive the support roller assembly to rise and fall.

[0023] According to this utility model, the vehicle body has a guide hole, and the roller bracket is provided with a vertical guide rod. The guide rod is inserted into the guide hole and can move up and down along the guide hole.

[0024] According to this utility model, the driving component includes a drive motor;

[0025] The main body of the drive motor is connected to the vehicle body, and the drive end is connected to the roller assembly. The drive motor is used to drive the roller assembly to swing.

[0026] Secondly, this utility model also provides a railway train undercarriage maintenance system, including the robot and multiple support plates laid on sleepers, each support plate corresponding to one of the rail joints;

[0027] When the roller assembly is in obstacle avoidance mode, the support roller assembly moves to support the support plate, so that the robot remains in operation and maintenance mode.

[0028] According to this utility model, a running groove parallel to the rail is provided on the support plate, and the support roller assembly can be lowered to roll and support within the running groove.

[0029] (III) Beneficial Effects

[0030] The beneficial effects of this utility model are:

[0031] This robot can move along existing tracks and inspect the undercarriage of trains using undercarriage inspection sensors. When the roller assembly is in operation, it moves along the inside of the rails. When a rail joint appears in front of the robot, the supporting roller assembly first lowers to support the robot, then switches to obstacle avoidance mode, swinging upwards to detach from the rails and avoid fishplates and bolts at the rail joint. When the robot leaves the rail joint, the roller assembly can switch back to operation and continue moving along the inside of the rails. This allows the robot to move without stopping, both at rail joints and non-rail joints, enabling the undercarriage inspection equipment to continuously monitor the condition of the train's undercarriage and improving inspection efficiency. Attached Figure Description

[0032] Figure 1 This diagram illustrates the different states of the robot as it moves along the track (the arrows indicate the direction of movement of the motion device);

[0033] Figure 2 for Figure 1 Enlarged view of point A;

[0034] Figure 3 Assembly drawing for support plate and track

[0035] Figure 4 This is an exploded view of the support plate and track;

[0036] Figure 5 This is a schematic diagram of the roller assembly in the robot in its working state.

[0037] Figure 6 for Figure 5 A bottom view;

[0038] Figure 7 for Figure 5 The main view;

[0039] Figure 8 This is a schematic diagram of the roller assembly in an obstacle avoidance state in a robot.

[0040] Figure 9 for Figure 8 The main view.

[0041] [Explanation of Labels in the Attached Image]

[0042] 100: Robot;

[0043] 1: Vehicle body; 11: Guide hole;

[0044] 2: Support roller assembly; 21: Roller bracket; 211: Guide rod; 22: Support roller;

[0045] 3: Roller assembly; 31: Support arm; 32: Roller;

[0046] 4: Electric telescopic pole;

[0047] 5: Support plate; 51: Travel slot;

[0048] 201: Rail; 202: Sleeper; 203: Fishplate; 204: Bolt. Detailed Implementation

[0049] To better explain and facilitate understanding of this utility model, a detailed description of its specific embodiments is provided below with reference to the accompanying drawings. In this document, directional terms such as "upper" and "lower" are used interchangeably with... Figure 1 The orientation is used as a reference.

[0050] See Figure 1 and Figure 2 The track is made up of multiple steel rails 201 connected end to end. The standard length of the steel rail 201 is 25 meters, that is, there is a steel rail joint every 25 meters. At the steel rail joint, bolts 204 are inserted through fishplates 203 to connect two steel rails 201. The fishplates 203 and bolts 204 protrude from the side wall of the steel rail 201.

[0051] Example 1

[0052] See Figure 1-9 To avoid the fishplate and bolts protruding from the side wall of the rail 201, this embodiment provides a railway train undercarriage inspection robot. The robot 100 includes a vehicle body 1, undercarriage inspection sensors, roller assembly 3, supporting roller assembly 2, and drive assembly.

[0053] A bottom detection sensor is mounted on the vehicle body 1. Roller assemblies 3 are pivotally mounted on both sides of the vehicle body 1 in the direction of movement, so that roller assemblies 3 have at least a working state for moving the robot along the inner side of rail 201 and an obstacle avoidance state for detaching from rail 201. Support roller assemblies 2 are vertically mounted on the bottom of the vehicle body 1 to keep the robot moving even when roller assemblies 3 are in obstacle avoidance mode. A drive assembly connects roller assemblies 3 and support roller assemblies 2, and is used to drive the roller assemblies 3 to pivot and the support roller assemblies 2 to rise and fall.

[0054] It should be noted that the drive component is only used to drive the roller assembly 3 and support the roller assembly 2, and a separate power source is provided to drive the robot 100 to move along the track.

[0055] The robot 100 can move along existing tracks and inspect the undercarriage of trains using undercarriage inspection sensors. When the roller assembly 3 is in operation, it can move along the inside of the rail 201. When a rail joint appears in front of the robot 100, the supporting roller assembly 2 first descends to contact the supporting plate 5 laid on the sleeper 202 to support the robot 100, then triggers the roller assembly 3 to switch to obstacle avoidance mode. The roller assembly 3 swings upward to detach from the rail, and the robot 100 continues to move forward with the support of the supporting roller assembly 2. When the robot 100 leaves the rail joint, the roller assembly 3 can switch back to operation and continue moving along the inside of the rail. This ensures that the robot 100 does not need to stop operating when moving between rail joints and non-rail joints, allowing the undercarriage inspection equipment to continuously monitor the condition of the train's undercarriage and improving inspection efficiency.

[0056] The working principle of this robot 100 is as follows:

[0057] See Figure 1 and Figure 5-7 When the robot 100 moves at the non-joint section of the rail, the roller assembly 3 is in operation. The roller assembly 3 rolls and supports the inner side of the rail 201 to drive the robot 100 through the non-joint section of the rail.

[0058] See Figure 1 and Figure 8-9 When a rail joint is present in front of robot 100, the support roller assembly 2 contacts the support plate 5 and rolls on it. Then, the roller assembly 3 swings upwards to disengage from the rail 201. The roller assembly 3 switches from its working state to obstacle avoidance state, reducing the distance between the two roller assemblies 3 and raising their position to avoid the fishplate 203 and bolt 204 at the rail joint. The support roller assembly 2 then drives robot 100 away from the rail joint.

[0059] See Figure 1 and Figure 5-7 When robot 100 moves away from the rail joint, roller assembly 3 swings downward and rolls to support the inner side of rail 201, and roller assembly 3 switches back from obstacle avoidance mode to working mode. Subsequently, support roller assembly 2 detaches upward from support plate 5, and roller assembly 3 continues to drive robot 100 to move along the inner side of rail 201.

[0060] See Figure 1It should be noted that the rail 201 is an I-beam, and the train wheels roll on the top of the rail 201. Therefore, when the roller assembly 3 moves along the inner side of the rail 201, the roller assembly 3 and the train wheels will not interfere with each other.

[0061] Preferably, when the roller assembly swings upward and detaches from the rail, the overall width of the robot 100 is less than 318mm, allowing it to be positioned within the groove of the sleeper 202, thereby avoiding the fishplate and bolts at the rail joint without affecting the train's operation.

[0062] When the support roller assembly 2 moves along the travel groove 51, the distance between the top of the robot 100 and the top of the rail 201 is less than 20mm, which is less than the height distance between the bottom of the train and the rail 201, so that the robot 100 can move and detect under the train.

[0063] See Figure 5-9 Furthermore, the roller assembly 3 includes a support arm 31 and a roller 32.

[0064] The support arm 31 is hinged to the vehicle body 1 and swings up and down. The roller 32 is mounted on the support arm 31. The drive end of the drive motor is connected to the support arm 31 and is used to drive the support arm 31 to drive the roller 32 to swing up and down.

[0065] The specific working principle of roller assembly 3 switching between working state and obstacle avoidance state is as follows:

[0066] See Figure 5-7 When the roller assembly 3 is in working condition, the roller 32 is supported on the inner side of the rail 201 and drives the robot 100 to move forward along the rail 201.

[0067] See Figure 8-9 When the roller assembly 3 is in obstacle avoidance mode, the support arm 31 drives the roller 32 to swing upward and disengage from the rail 201.

[0068] Specifically, the drive component includes a drive motor.

[0069] The main body of the drive motor is connected to the vehicle body 1, and the drive end is connected to the roller assembly 3. The drive motor is used to drive the roller assembly 3 to swing.

[0070] Specifically, the support arm 31 is equipped with a roller drive motor, which drives the roller 32 to rotate so as to move the robot 100.

[0071] Preferably, to ensure the stability of movement, the roller assembly 3 located on one side of the vehicle body 1 in the direction of movement includes at least two support arms 31 and at least two rollers 32 arranged at intervals along the direction of movement of the vehicle body 1.

[0072] The first ends of at least two support arms 31 are hinged to the vehicle body 1 via a pivot 311. The drive end of the drive motor is connected to the pivot 311 to drive the at least two support arms 31 to rotate synchronously, thereby improving the synchronicity of the up-and-down swing of the at least two rollers 32.

[0073] Preferably, to improve the moving speed, this embodiment also includes the following settings:

[0074] The rollers 32 of the roller assembly 3 located on both sides of the moving direction of the vehicle body 1 are arranged in an inclined manner from the bottom to the top of the roller 32, so as to provide rolling support on the inner side of the rail 201.

[0075] By tilting the roller 32 to the rail 201, the top of the roller 32 can be increased while avoiding collision with the upper inner edge of the rail 201, so as to maximize the diameter of the roller 32, increase the moving speed, and improve the detection speed.

[0076] More preferably, when the roller 32 is supported on the inner side of the rail 201, the angle between the axial direction of the roller 32 and the horizontal direction is 15–30°. The specific setting value should ensure that the bottom of the car body 1 does not interfere with the sleeper 202 and that the roller assembly 3 does not interfere with the inner side of the rail 201 when it swings.

[0077] More preferably, the roller 32 is a rubber roller 32 to buffer and absorb shock, improving the stability of the robot 100 during movement. The wheel diameter of the roller 32 is preferably 100mm, and the specific setting should ensure that the bottom of the vehicle body 1 does not interfere with the sleeper 202, and that the roller assembly 3 does not interfere with the inner side of the rail 201 when swinging. The rubber layer thickness of the roller 32 is 5mm. It should be noted that the above values ​​are set in a preferred embodiment, and the specific values ​​can be set according to actual needs.

[0078] See Figure 5-9 Furthermore, in this embodiment, the specific configuration of the supporting roller assembly 2 is as follows:

[0079] The support roller assembly 2 includes a roller bracket 21 and a plurality of support rollers 22.

[0080] The roller bracket 21 can be vertically connected to the vehicle body 1. Multiple support rollers 22 are provided on the roller bracket 21 and located on both sides of the width direction of the vehicle body 1 to improve the movement stability of the support roller assembly 2.

[0081] Specifically, the drive assembly also includes an electric telescopic pole 4.

[0082] The main body of the electric telescopic rod 4 is fixed to the vehicle body 1, and the telescopic end is fixedly connected to the roller bracket 21. The electric telescopic rod 4 is used to drive the roller bracket 21 to lift and lower the supporting roller assembly 2.

[0083] Specifically, the roller bracket 21 is equipped with a support roller drive motor, which drives the support roller 22 to rotate so as to move the robot 100.

[0084] Preferably, to improve the lifting accuracy and stability of the supporting roller assembly 2, this embodiment further specifies:

[0085] See Figure 4 A guide hole 11 is provided on the vehicle body 1, and a vertical guide rod 211 is provided on the roller bracket 21. The guide rod 211 is inserted into the guide hole 11 and can move up and down along the guide hole 11.

[0086] The guide rod 211 and the guide hole 11 work together to improve the lifting accuracy and stability of the roller bracket 21 relative to the vehicle body 1, thereby improving the lifting accuracy and stability of the supporting roller assembly 2.

[0087] Furthermore, the under-vehicle detection sensors include visual sensors, temperature sensors, sound sensors, and vehicle number sensors.

[0088] Furthermore, the robot 100 also includes a joint detection sensor, which is used to detect rail joints.

[0089] When the joint detection equipment detects a rail joint within a first set distance in front of the robot 100, the roller assembly 3 swings to disengage from the rail 201, and the support roller assembly 2 descends to roll and support itself on the sleeper 202.

[0090] Furthermore, the robot 100 also includes a controller.

[0091] The controller is electrically connected to the joint detection equipment, roller assembly 3, and support roller assembly 2. The controller is used to receive information from the joint detection equipment that there is a rail joint ahead, and to control the roller assembly 3 to switch between working and obstacle avoidance states and to control the lifting and lowering of the support roller assembly 2, and to control the roller assembly 3 and the support roller assembly 2 to drive the movement of the robot 100.

[0092] During operation, when the controller receives a signal from the joint detection sensor indicating the presence of a rail joint within a first set distance ahead, the controller controls the roller assembly 3 to swing upwards and disengage from the rail 201, and controls the support roller assembly 2 to descend and roll to support the robot 100 as it passes through the rail joint.

[0093] It should be noted that the drive motor is either communicatively or electrically connected to the controller, and the controller controls the switching of the state of the roller assembly 3 through the drive motor. The electric telescopic rod 4 is connected to the controller, and the controller controls the raising and lowering of the support roller assembly 2 through the electric telescopic rod 4.

[0094] Specifically, the seam detection sensor is also used to detect the movement distance of robot 100.

[0095] When the joint detection sensor transmits to the controller that the robot 100 has moved away from the second set distance of the rail joint, the controller controls the roller assembly 3 to roll and support the inner side of the rail 201 to drive the robot 100 to move, and controls the support roller assembly 2 to rise.

[0096] Specifically, the seam detection sensor includes the following two configuration methods:

[0097] The first configuration of the joint detection sensor is as follows: the joint detection device includes a laser joint detection sensor located at the front end of the vehicle body 1, and a first displacement sensor located on the vehicle body 1. The laser joint detection sensor can detect the presence of a rail joint within a first predetermined distance ahead, and the first displacement sensor can detect the movement distance of the robot 100 to obtain the distance at which the robot 100 has moved away from the rail joint, i.e., to obtain the second predetermined distance at which the robot 100 has moved away from the rail joint.

[0098] The second setting method is as follows: the joint detection device includes a second displacement sensor installed on the vehicle body 1. The second displacement sensor can detect the moving distance of the robot 100 to obtain the distance between the robot 100 and the front rail joint, that is, to obtain the existence of a rail joint within the first set distance in front, and the distance between the robot 100 and the rail joint, that is, to obtain the second set distance between the robot 100 and the rail joint.

[0099] Since there are joints every 25 meters on the rail 201, the first displacement sensor and the second displacement sensor can obtain the first set distance of the robot 100 from the rail joint in front and the second set distance of the robot 100 from the rail joint by monitoring the distance the robot 100 moves along the track.

[0100] Preferably, the first set distance is 3-6m, which allows sufficient switching time for the roller assembly 3 and the support roller assembly 2.

[0101] Optionally, the laser seam detection sensor is a proximity switch. The first displacement sensor and the second displacement sensor are odometer encoders.

[0102] It should be noted that the seam detection sensors used in the two settings described above have an accuracy of ±1mm, a detection range of 0–500mm, and a power consumption of <1W. A sensor with a size of 10×10×5mm can be selected; however, this size is only one preferred embodiment, and the present invention does not limit it.

[0103] Example 2

[0104] See Figure 1 , Figure 3 and Figure 4This embodiment, based on Embodiment 1, also provides a railway train undercarriage maintenance system. The maintenance system includes a robot 100 and multiple support plates 6 laid on sleepers 202. The multiple support plates 6 are arranged one-to-one with the rail joints, and running grooves 51 are formed on the support plates 6.

[0105] When there is a rail joint in front of the robot 100, the roller assembly 3 swings to disengage from the rail 201, and the support roller assembly 2 descends to roll and support the support plate 6, driving the robot 100 through the rail joint.

[0106] This maintenance system, by laying support plates 6 on the sleepers 202 corresponding to the rail joints, allows the support roller assembly 2 to move along the support plates 6 when the robot 100 moves at the rail joints. This ensures that the robot 100 operates stably at both rail joints and non-joint areas, preventing the car body 1 from swaying and improving the inspection accuracy and maintenance efficiency of the undercarriage inspection equipment. Furthermore, since the support plates 6 are only laid on the sleepers 202 at the rail joints, and the number of rail joints traversed when inspecting a single train is limited, the number of support plates 6 required is small and their individual lengths are short, making installation easy. Moreover, its structure is simple and its cost is low.

[0107] Specifically, a travel groove 51 parallel to the rail 201 is opened on the support plate 6.

[0108] The support roller assembly 2 can be lowered to roll within the travel groove 51, so as to move along the travel groove 51 and improve the accuracy of movement.

[0109] More specifically, the distance between the front end of the support plate 6 and the front side of the joint of the rail 201 is greater than a first predetermined distance, and the distance between the rear end of the support plate 6 and the rear side of the joint of the rail 201 is greater than a second predetermined distance. This allows the support roller assembly 2 to move stably along the travel groove 51 of the support plate 6 during obstacle avoidance.

[0110] Preferably, the support plate 6 is laid in the groove of the sleeper 202 to reduce the installation height of the support plate 6.

[0111] Preferably, the length of the support plate 6 is twice the sum of the length of the vehicle body 1 and the length of the fishtail plate, so as to ensure that the robot 100 can move stably along the support plate 6 when avoiding obstacles.

[0112] See Figure 1 Furthermore, the testing method for this maintenance system includes the following testing steps:

[0113] S1: The roller assembly 3 is supported on the inner side of the rail 201 to drive the robot 100 through the non-joint part of the rail, and the undercarriage inspection equipment inspects the undercarriage of the train.

[0114] S2: When there is a rail joint within the first set distance in front of the robot 100, the roller assembly 3 swings to disengage from the rail 201 to avoid the rail joint, the support roller assembly 2 falls to roll and support itself in the travel trough 51 and drives the robot 100 through the rail joint, and the undercarriage detection equipment keeps the undercarriage of the inspection train in place.

[0115] S3: When the robot 100 moves away from the second set distance of the rail joint, the roller assembly 3 rolls and supports the inner side of the rail 201 and supports the roller assembly 2 to rise. The roller assembly 3 drives the robot 100 to move, and the undercarriage inspection equipment keeps the undercarriage of the inspection train in place.

[0116] S4: Repeat steps S1-S3 to drive robot 100 from the first end of the train to the second end of the train.

[0117] Therefore, this mobile system can accurately and efficiently inspect the undercarriage of trains.

[0118] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. 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. They can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0119] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0120] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0121] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A railway train undercarriage inspection robot, characterized in that, It includes the vehicle body (1), under-vehicle detection sensors, roller assembly (3), support roller assembly (2), and drive assembly; The undercarriage detection sensor is mounted on the vehicle body (1); The roller assembly (3) is oscillatingly disposed on both sides of the vehicle body (1) in the direction of movement, so that the roller assembly (3) has at least a working state that moves the robot along the inside of the rail (201) and an obstacle avoidance state that moves away from the rail (201). The support roller assembly (2) is vertically and vertically mounted at the bottom of the vehicle body (1) so that the robot can still move when the roller assembly (3) is in obstacle avoidance mode; The drive assembly connects the roller assembly (3) and the support roller assembly (2) and is used to drive the roller assembly (3) to swing and the support roller assembly (2) to rise and fall.

2. The railway train undercarriage inspection robot as described in claim 1, characterized in that, The roller assembly (3) includes a support arm (31) and a roller (32); The support arm (31) is hinged to the vehicle body (1) by swinging up and down, and the roller (32) is provided on the support arm (31).

3. The railway train undercarriage inspection robot as described in claim 2, characterized in that, The drive component includes a drive motor; The main body of the drive motor is connected to the vehicle body (1), and the drive end is connected to the support arm (31). The drive motor is used to drive the support arm (31) to drive the roller (32) to swing up and down.

4. The railway train undercarriage inspection robot as described in claim 1, characterized in that, The rollers (32) of the roller assembly (3) located on both sides of the moving direction of the vehicle body (1) are arranged in an inclined manner from the bottom of the roller (32) to the top of the roller (32) to provide rolling support on the inner side of the rail (201).

5. The railway train undercarriage inspection robot as described in claim 4, characterized in that, When the roller (32) is supported on the inside of the rail (201), the angle between the axial direction of the roller (32) and the horizontal direction is 15–30°.

6. The railway train undercarriage inspection robot as described in claim 1, characterized in that, The support roller assembly (2) includes a roller bracket (21) and a plurality of support rollers (22); The roller bracket (21) is vertically connected to the vehicle body (1), and a plurality of the support rollers (22) are provided on the roller bracket (21) and located on both sides of the width direction of the vehicle body (1).

7. The railway train undercarriage inspection robot as described in claim 6, characterized in that, The drive assembly includes an electric telescopic rod (4); The main body of the electric telescopic rod (4) is fixed on the vehicle body (1), and the telescopic end is fixedly connected to the roller bracket (21). The electric telescopic rod (4) is used to drive the support roller assembly (2) to rise and fall.

8. The railway train undercarriage inspection robot as described in claim 6, characterized in that, The vehicle body (1) has a guide hole (11), and the roller bracket (21) is provided with a vertical guide rod (211). The guide rod (211) is inserted into the guide hole (11) and can move up and down along the guide hole (11).

9. A railway train undercarriage inspection system, comprising the railway train undercarriage inspection robot as described in any one of claims 1-8, characterized in that, It also includes multiple support plates (5) laid on the sleepers (202), each of which corresponds to one of the rail joints; When the roller assembly (3) is in obstacle avoidance mode, the support roller assembly (2) moves to support the support plate (5) so that the robot is kept in maintenance mode.

10. The railway train undercarriage maintenance system as described in claim 9, characterized in that, The support plate (5) has a running groove (51) parallel to the rail (201), and the support roller assembly (2) can be lowered to roll and support itself in the running groove (51).

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