CN113957842A - Railway track cleaning robot - Google Patents
Railway track cleaning robot Download PDFInfo
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- CN113957842A CN113957842A CN202111365057.8A CN202111365057A CN113957842A CN 113957842 A CN113957842 A CN 113957842A CN 202111365057 A CN202111365057 A CN 202111365057A CN 113957842 A CN113957842 A CN 113957842A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
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Abstract
The invention discloses a railway track cleaning robot, which comprises a chassis, a traveling mechanism, a supporting box, a connecting column, an angle adjusting mechanism, a first cleaning mechanism and a control box, wherein the chassis is provided with a first cleaning mechanism; the traveling mechanism is arranged below the chassis; the supporting box is arranged on the chassis through a lifting mechanism; the connecting column is arranged in the supporting box, and the upper end of the connecting column extends out of the supporting box and is fixed with an installation box through a connecting rod and a fixing rod; the angle adjusting mechanism is arranged in the supporting box and is connected with the lower end of the connecting column; the first cleaning mechanism is arranged at the bottom of the mounting box and used for cleaning the side walls of the two steel rails; the control box is arranged on the chassis, the front side wall and the rear side wall of the control box are respectively provided with a vision camera, and an image recognition module, a controller and a working power supply are arranged in the control box. The invention can automatically travel along the track, and can clean stones on the track and attachments on the side surface of the track in the traveling process, thereby prolonging the service life of the track.
Description
Technical Field
The invention relates to the technical field of rail cleaning, in particular to a railway rail cleaning robot.
Background
The rail is as the important carrier of track traffic, plays extremely important effect in modern transportation industry, along with the extension of railway track live time and the influence of external exposed environment, can inevitably glue the pollutant on the track, moreover because the track comprises two parallel arrangement's rail, and the rail is the I shape cross-section, therefore the track is when using for a long time, the both sides wall of rail can adhere pollutants such as grease, dust, these pollutants can lead to the fact the corruption to the track.
The existing rail cleaning maintenance is usually carried out manually, workers are fatigued due to long-time cleaning work, the rail cleaning efficiency is reduced, and the manual cleaning also faces the threat of trains, so that a railway track cleaning robot is urgently needed to replace manual rail cleaning.
Disclosure of Invention
The object of the present invention is to provide a railway track cleaning robot to solve the above-mentioned problems of the background art.
The technical scheme of the invention is as follows: a railway track cleaning robot comprises a chassis, a traveling mechanism, a supporting box, a connecting column, an angle adjusting mechanism, a first cleaning mechanism and a control box; the traveling mechanism is arranged below the chassis; the supporting box is arranged on the chassis through a lifting mechanism; the connecting column is vertically arranged in the support box, the upper end of the connecting column extends out of the support box and is vertically fixed with a connecting rod, and the bottom of the connecting rod is fixed with a horizontally arranged installation box through a fixing rod; the angle adjusting mechanism is arranged in the support box, is connected with the lower end of the connecting column and is used for adjusting the circumferential rotation angle of the connecting column; the first cleaning mechanism is arranged at the bottom of the mounting box and used for cleaning the side walls of the two steel rails; the control box sets up on the chassis, is equipped with vision camera and laser range finding sensor on the control box, is equipped with image recognition module, controller and working power supply in the control box, running gear, elevating system, angle adjustment mechanism, first mechanism, vision camera, laser range finding sensor and image recognition module respectively with the controller electricity is connected.
Furthermore, the first cleaning mechanism comprises a first motor fixed in the installation box, an output shaft of the first motor is connected with a horizontally arranged rotating shaft, the other end of the rotating shaft is rotatably connected with the inner wall of the installation box, two groups of cleaning assemblies arranged in parallel are arranged on the rotating shaft, each group of cleaning assemblies is correspondingly positioned right above each steel rail, and each cleaning assembly comprises two cylindrical cams, two first wheel shafts and two connecting seats; the two cylindrical cams are sleeved on the rotating shaft and positioned on two sides of the steel rail, and cam grooves on the two cylindrical cams are symmetrically arranged; the two first wheel shafts are vertically clamped on the first guide slot opening, the first guide slot opening is formed in the bottom of the installation box and arranged along the length direction of the installation box, the upper ends of the two first wheel shafts extend into the installation box and are respectively clamped in the two cam grooves in a sliding mode, a supporting block is fixed on each first wheel shaft and located above the first guide slot opening, the lower ends of the two first wheel shafts extend out of the installation box and are respectively and rotatably connected with first cleaning wheels which are horizontally arranged, and the two first cleaning wheels are respectively in contact with the side walls on two sides of the steel rail; the two connecting seats are symmetrically fixed on the inner side walls of the two first wheel shafts respectively, a mounting groove is formed in the side wall, opposite to the first wheel shafts, of each connecting seat, a sliding block is arranged in each mounting groove in a sliding and clamping mode, each sliding block is connected with the side wall of each first wheel shaft through a plurality of horizontally arranged first springs, a second wheel shaft is vertically fixed to the bottom of each sliding block, each second wheel shaft is arranged in a second guide slot in a sliding and clamping mode, the second guide slot is formed in the bottom of each connecting seat, the lower end of each second wheel shaft extends to the outside of the connecting seats and is rotatably connected with a second cleaning wheel, the two second cleaning wheels are respectively in contact with the two side walls of the top of the steel rail, and the diameter of each second cleaning wheel is smaller than the radius of the first cleaning wheels.
Furthermore, the bottom of the installation box is provided with a second cleaning mechanism, and the second cleaning mechanism is used for cleaning the tops of the two steel rails.
Furthermore, the second cleaning mechanism comprises two second motors which are respectively fixed at the bottom of the installation box through fixing frames, each second motor is correspondingly positioned right above each steel rail, an output shaft of each second motor is downwards arranged and connected with a cleaning brush, and the cleaning brush is in contact with the tops of the steel rails.
Furthermore, the travelling mechanism comprises travelling wheels arranged on the chassis, each travelling wheel is connected with a hub motor and a steering motor, and the hub motors and the steering motors are respectively and electrically connected with the controller.
Furthermore, the lifting mechanism comprises hydraulic cylinders fixed on two sides of the top of the chassis, and moving ends of the two hydraulic cylinders are respectively fixed with the bottom of the supporting box.
Further, the angle adjustment assembly includes: the first motor is fixed on the side wall of the fixed block, an output shaft of the first motor is arranged vertically upwards, and the first motor is in signal connection with the controller; the synchronous belt wheel is sleeved and fixed on an output shaft of the first motor, a tooth groove is formed in the circumferential side wall of the supporting disc, and the synchronous belt wheel is connected with the tooth groove in the supporting disc through a synchronous belt; the sleeve is fixed in the bottom of supporting disk, and the sleeve sets up with the supporting disk is concentric, and telescopic other end rotates with first mounting groove to be connected, the top at the fixed block is seted up to first mounting groove, the support column rotates with the supporting groove to be connected.
Furthermore, the two sides of the bottom of the installation box are symmetrically fixed with installation blocks respectively, the two installation blocks are located behind the first cleaning mechanism and the second cleaning mechanism respectively, a T-shaped groove is formed in the bottom of each installation block, a pressure sensor is arranged on the inner top surface of each T-shaped groove and electrically connected with the controller, a T-shaped sliding block is clamped in each T-shaped groove in a sliding mode, a plurality of vertically arranged second springs are arranged on the two sides of each pressure sensor respectively, the two ends of each second spring are connected with the inner top surface of each T-shaped groove and the top of each T-shaped sliding block respectively, the bottoms of the two T-shaped sliding blocks extend out of the installation blocks, connecting shafts are rotatably connected to the side walls opposite to the two T-shaped sliding blocks, and idler wheels matched with the two steel rails are fixed to the two sides of each connecting shaft in a sleeved mode.
Furthermore, the angle adjusting mechanism comprises a third motor fixed in the supporting box, a gear is fixedly sleeved on an output shaft of the third motor, a gear ring is fixedly sleeved on the connecting column, the gear ring is meshed with the gear, and the bottom of the connecting column is rotatably connected with the inner bottom surface of the supporting box through a bearing.
Furthermore, support frames are respectively fixed on the front side wall and the rear side wall of the chassis, an air cylinder is fixed on each support frame, a moving end of each air cylinder extends to the lower portion of each support frame, a stabilizing block is fixed on each air cylinder, and each air cylinder is electrically connected with the controller.
All be equipped with on the lateral wall around the install bin and clean the shovel, clean the shovel and be triangle-shaped.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the rail cleaning machine, the visual camera and the traveling device can be matched to automatically travel along the rail, attachments on the side surface of the rail can be cleaned through the first cleaning mechanism in the traveling process, the top of the rail can be cleaned through the second cleaning mechanism, manual cleaning is not needed, the cleaning efficiency is improved, and the service life of the rail is prolonged.
2. The visual camera can also observe whether a train runs or an obstacle exists in front of the track, then the connecting column is rotated through the angle adjusting mechanism, the connecting column rotates and simultaneously drives the connecting rod, the fixing rod, the mounting box and the first cleaning mechanism to synchronously rotate and rotate to the side of the track to avoid the train, and the safety of the device is improved.
3. According to the invention, the cleaning shovel can shovel large sundries on the track to two sides of the track in advance in the process of cleaning along the track, so that danger is avoided.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a schematic view of the initial position of the first cleaning mechanism according to the present invention;
fig. 5 is a top view of the present invention.
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to fig. 1 to 5. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the invention, "a plurality" means two or more unless otherwise specified.
It should be noted that the electrical components in the present invention are all electrically connected to the external controller and the working power supply, and the controller can be a conventional known device for controlling a computer or the like, and does not involve any innovation.
Examples
As shown in fig. 1 to 5, the present invention provides a railway track cleaning robot, comprising a chassis 1, a traveling mechanism, a supporting box 2, a connecting column 21, an angle adjusting mechanism, a first sweeping mechanism and a control box 4; the traveling mechanism is arranged below the chassis 1; the supporting box 2 is arranged on the chassis 1 through a lifting mechanism; the connecting column 21 is vertically arranged in the support box 2, the upper end of the connecting column extends out of the support box 2 and is vertically fixed with a connecting rod 22, and the bottom of the connecting rod 22 is fixed with a horizontally arranged installation box 3 through a fixing rod 23; the angle adjusting mechanism is arranged in the support box 2, is connected with the lower end of the connecting column 21 and is used for adjusting the circumferential rotation angle of the connecting column 21; the first cleaning mechanism is arranged at the bottom of the mounting box 3 and is used for cleaning the side walls of the two steel rails; control box 4 sets up on chassis 1, is equipped with vision camera 8 and laser range finding sensor on control box 4, is equipped with image recognition module, controller and working power supply in the control box 4, running gear, elevating system, angle adjustment mechanism, first clean mechanism, vision camera 8, laser range finding sensor and image recognition module respectively with the controller electricity is connected.
When cleaning the rail, the rail is identified by the cooperation of the vision camera 8 and the image identification module, the distance between the chassis 1 and the rail is measured by the laser distance measuring sensor, the controller controls the traveling mechanism to drive the chassis 1 to move along the direction of the rail according to the measured distance, the distance between the chassis 1 and the rail is kept constant, if the distance between the chassis 1 and the rail is overlarge, the controller controls the traveling mechanism to drive the chassis 1 to move close to the rail, if the distance between the chassis 1 and the rail is overlarge, the controller controls the traveling mechanism to drive the chassis 1 to move away from the rail, and simultaneously the controller controls the lifting mechanism to synchronously lift by driving the support box 2, the connecting post 21, the connecting rod 22, the fixed rod 23 and the mounting box 3 so that the first cleaning mechanism is in contact with the side walls of the two rails for cleaning, in the cleaning process, the chassis 1 can perform parallel movement along the direction of the track through the travelling mechanism to clean the rail, meanwhile, the vision camera 8 can be used for observing objects far away from the rail, if a train runs from the far away of the rail, the vision camera 8 observes train information and then transmits the train information to the controller, the controller controls the lifting mechanism to drive the first cleaning mechanism to move upwards and break away from the rail, then the controller controls the angle adjusting mechanism to rotate the connecting column 21, the connecting column 21 rotates while driving the connecting rod 22, the fixing rod 23, the mounting box 3 and the first cleaning mechanism synchronously rotate and rotate to the side of the rail from the rotating direction, so that the collision with the train is avoided, the dangerous condition of collision with the train is avoided, and the device is prevented from being damaged.
Specifically, as shown in fig. 2 to 4, the first cleaning mechanism includes a first motor 301 fixed in the installation box 3, the first motor 301 is a self-locking motor, an output shaft of the first motor 301 is connected to a horizontally arranged rotating shaft 302, the other end of the rotating shaft 302 is rotatably connected to an inner wall of the installation box 3, two sets of cleaning assemblies arranged in parallel are arranged on the rotating shaft 302, each set of cleaning assemblies is correspondingly located right above each steel rail, and each cleaning assembly includes two cylindrical cams 303, two first wheel shafts 305 and two connecting seats 309; the two cylindrical cams 303 are sleeved on the rotating shaft 302 and positioned at two sides of the steel rail, and the cam grooves 304 on the two cylindrical cams 303 are symmetrically arranged; the two first wheel shafts 305 are vertically clamped on the first guide slot 306, the first guide slot 306 is arranged at the bottom of the installation box 3 and is arranged along the length direction of the installation box 3, the upper ends of the two first wheel shafts 305 extend into the installation box 3 and are correspondingly clamped in the two cam grooves 304 in a sliding manner, a supporting block 307 is fixed on each first wheel shaft 305, the supporting block 307 is positioned above the first guide slot 306, the lower ends of the two first wheel shafts 305 extend out of the installation box 3 and are respectively connected with a horizontally arranged first cleaning wheel 308 in a rotating manner, and the two first cleaning wheels 308 are respectively contacted with the side walls on two sides of the steel rail; the two connecting seats 309 are symmetrically fixed on the inner side walls of the two first wheel shafts 305 respectively, a mounting groove 310 is formed in the side wall of each connecting seat 309 facing the first wheel shaft 305, a sliding block 311 is slidably clamped in each mounting groove 310, each sliding block 311 is connected with the side wall of the first wheel shaft 305 through a plurality of horizontally arranged first springs 312, a second wheel shaft 313 is vertically fixed at the bottom of each sliding block 311, each second wheel shaft 313 is slidably clamped in a second guide slot 314, the second guide slot 314 is formed in the bottom of the connecting seat 309, the lower end of each second wheel shaft 313 extends to the outside of the connecting seat 309 and is rotatably connected with a second cleaning wheel 315, the two second cleaning wheels 315 are in contact with the two side walls of the top of the steel rail respectively, and the diameter of each second cleaning wheel 315 is smaller than the radius of the first cleaning wheel 308.
When the side walls of the two steel rails are cleaned by the first cleaning mechanism, referring to fig. 4, the first cleaning mechanism is at an initial position, the controller controls the lifting mechanism to drive the installation box 3 to move downwards, referring to fig. 2 and 4, when the first cleaning wheel 308 moves to be flush with the side walls of the steel rails, the controller controls the lifting mechanism to stop moving, and controls the first motor 301 to drive the rotating shaft 302 to rotate, the rotating shaft 302 rotates and simultaneously drives the four cylindrical cams 303 to rotate synchronously, because the cam grooves 304 of the two cylindrical cams 303 on the two sides above each steel rail are symmetrically arranged, when the two cylindrical cams 303 on the two sides above each steel rail rotate, the first wheel shafts 305 arranged on the two sides of each steel rail can be close to each other and move through matching with the first guide slots 306, so that the first cleaning wheels 308 arranged on the two sides of each steel rail are contacted with and clamped on the side walls on the two sides of each steel rail, when the first cleaning wheels 308 contact the side wall of the steel rail, the controller controls the first motor 301 to stop rotating and perform self-locking, so that the rotating shaft 302 stops rotating to keep the first cleaning wheels 308 always in contact with the side wall of the steel rail, because the first cleaning wheels 308 are rotationally connected with the first wheel shaft 305, when the first cleaning wheels 308 move along the steel rail, the first cleaning wheels 308 are driven to rotate by using the friction force generated by the first cleaning wheels 308 and the side wall of the steel rail, so as to clean the side wall of the steel rail, meanwhile, because the inner side wall of each first wheel shaft 305 is provided with the connecting seat 309, the connecting seat 309 is connected with the sliding block 311 through the first spring 312, the bottom of the sliding block 311 is connected with the second cleaning wheels 315 through the second wheel shaft 313, when the first wheel shafts 305 arranged on both sides of each steel rail move close to each other, the connecting seat 309 and the second cleaning wheels 315 are driven to move synchronously, the second cleaning wheels 315 on two sides of each steel rail contact with two sides of the top of the steel rail first, because the diameter of the second cleaning wheels 315 is smaller than the radius of the first cleaning wheels 308, at this time, the first cleaning wheels 308 do not contact with the side walls of the steel rail, the first wheel shaft 305 drives the first cleaning wheels 308 to move continuously, in the process that the first wheel shaft 305 moves continuously, the second wheel shaft 313 drives the sliding block 311 under the cooperation of the second guide slot 314 to compress the first spring 312 in the direction away from the steel rail until the first cleaning wheels 308 contact with the side walls of the steel rail, the first wheel shaft 305 and the connecting seat 309 stop moving, and the second wheel shaft 313 enables the second cleaning wheels 315 to contact with the side walls of the top of the steel rail all the time under the extrusion state of the first spring 312, so that the side walls of the top of the steel rail can be cleaned in the moving process.
Preferably, a second cleaning mechanism for cleaning the tops of the two rails is provided at the bottom of the mounting box 3 in order to clean the tops of the rails.
Specifically, the second cleaning mechanism comprises two second motors 5 which are respectively fixed at the bottom of the installation box 3 through a fixing frame 51, each second motor 5 is correspondingly located right above each steel rail, an output shaft of each second motor 5 is downwards arranged and connected with a cleaning brush 52, the cleaning brushes 52 are in contact with the tops of the steel rails, when the lifting mechanism drives the installation box 3 to downwards move to a certain position and cleans two side walls of each steel rail through the first cleaning mechanism, the bottom of each cleaning brush 52 is just in contact with the top of each steel rail, and the second motor 5 is controlled by the controller to drive the cleaning brushes 52 to rotate to clean the tops of the steel rails.
Specifically, running gear is including setting up walking wheel 101 on chassis 1, and every walking wheel 101 all is connected with in-wheel motor and steering motor, in-wheel motor and steering motor respectively with the controller electricity is connected.
Specifically, the lifting mechanism includes hydraulic cylinders 102 fixed to two sides of the top of the chassis 1, and moving ends of the two hydraulic cylinders 102 are respectively fixed to the bottom of the support box 2.
Preferably, in order to facilitate the controller to control the lifting mechanism to drive the mounting box 3 to lift to a certain distance, the first cleaning mechanism and the second cleaning mechanism can just clean the steel rail, therefore, the two sides of the bottom of the mounting box 3 are respectively and symmetrically fixed with the mounting blocks 6, the two mounting blocks 6 are located behind the first cleaning mechanism, the bottom of each mounting block 6 is provided with a T-shaped groove 61, the inner top surface of each T-shaped groove 61 is provided with the pressure sensor 62, the pressure sensor 62 is electrically connected with the controller, the T-shaped slider 63 is slidably clamped in each T-shaped groove 61, the two sides of the pressure sensor 62 are respectively provided with the plurality of vertically arranged second springs 64, the two ends of the plurality of second springs 64 are respectively connected with the inner top surface of the T-shaped groove 61 and the top of the T-shaped slider 63, the bottoms of the two T-shaped sliders 63 extend out of the mounting block 6, and the opposite side walls of the two T-shaped sliding blocks 63 are rotatably connected with a connecting shaft 65, and rollers 66 matched with the two steel rails are fixedly sleeved on the two sides of the connecting shaft 65.
When the controller drives the mounting box 3 to descend through the lifting mechanism, the T-shaped sliding blocks 63 connected to two sides of the connecting shaft 65 are connected to the inner top surfaces of the T-shaped grooves 61 through the second springs 64, so that the connecting shaft 65 is suspended through the second springs 64 under the action of gravity, when the mounting box 3 continues to descend, the two rollers 66 arranged on the connecting shaft 65 contact with the tops of the two rails, at this time, the first cleaning wheel 308 is not flush with the side walls of the rails and the cleaning brush 52 is not in contact with the tops of the rails, so that the lifting mechanism continues to drive the mounting box 3 to move downwards, as the two rollers 66 are abutted against the rails to keep the current position unchanged, the mounting block 6 continues to move downwards, so that the T-shaped sliding blocks 63 slide upwards relative to the T-shaped grooves 61 to squeeze the second springs 64, when the position of the first cleaning wheel 308 is flush with the side walls of the rails and the cleaning brush 52 is in contact with the tops of the rails, t type slider 63 touches pressure sensor 62 just, and pressure sensor 62 sends for the controller after detecting pressure value information, and the controller sends signal for elevating system and control elevating system stop moving after receiving information to it is fixed to clean the position of mechanism and the second and clean the mechanism, is convenient for clean the rail, utilizes two gyro wheels 66 also can assist install bin 3 to remove on two rails simultaneously.
Specifically, angle adjustment mechanism is including fixing the third motor 24 in supporting box 2, and third motor 24 is step motor, and the suit is fixed with gear 25 on the output shaft of third motor 24, the suit is fixed with ring gear 26 on the spliced pole 21, ring gear 26 with the gear 25 meshing, the bottom of spliced pole 21 pass through the bearing with the interior bottom surface of supporting box 2 rotates and is connected.
When the controller observes that a train runs on the rail through the vision camera 8, the controller firstly controls the first motor 301 to drive the rotating shaft 302 and the four cylindrical cams 303 to rotate in opposite directions, so that the four first cleaning wheels 308 are respectively separated from the side walls of the rail, and controls the lifting mechanism to drive the mounting box 3 to ascend, so that the four first cleaning wheels 308 ascend above the rail, the third motor 24 is controlled to drive the gear 25 to rotate, the gear 25 drives the gear ring 26 and the connecting column 21 to rotate, the connecting column 21 rotates and simultaneously drives the mounting box 3 to rotate through the connecting rod 22 and the fixing rod 23, and the mounting box 3 rotates to the side surface of the rail, so that the train can pass through the rail conveniently, after the train passes through the rail, the rotation angle is accurately controllable because the third motor 24 adopts a stepping motor, so that the controller controls the third motor 24 to reversely rotate by the same angle, so that the mounting box 3 rotates to the previous position, thereby facilitating the first cleaning mechanism and the second cleaning mechanism to clean the rail.
Preferably, in order to keep the position of the chassis 1 stable and not to deviate in the process of rotating the connecting column 21, the supporting frames 71 are respectively fixed on the front and rear side walls of the chassis 1, each supporting frame 71 is fixed with a cylinder 72, the moving end of each cylinder 72 extends to the lower part of the supporting frame 71 and is fixed with a stabilizing block 73, each cylinder 72 is electrically connected with the controller, and before the connecting column 21 rotates, the controller controls the moving end of each cylinder 72 to drive the stabilizing block 73 to move downwards and contact with the ground to increase the contact area and the friction force, so that the chassis is more stable.
Preferably, in order to clean large sundries on the rails, cleaning shovels 9 are arranged on the front and rear side walls of the mounting box 3, and the cleaning shovels 9 are triangular.
Although the preferred embodiments of the present invention have been disclosed, the embodiments of the present invention are not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. A railway track cleaning robot, comprising a chassis (1), characterized by further comprising:
the travelling mechanism is arranged below the chassis (1);
the supporting box (2) is arranged on the chassis (1) through a lifting mechanism;
the connecting column (21) is vertically arranged in the supporting box (2), the upper end of the connecting column extends out of the supporting box (2) and is vertically fixed with a connecting rod (22), and the bottom of the connecting rod (22) is fixed with a horizontally arranged installation box (3) through a fixing rod (23);
the angle adjusting mechanism is arranged in the support box (2), is connected with the lower end of the connecting column (21) and is used for adjusting the circumferential rotation angle of the connecting column (21);
the first cleaning mechanism is arranged at the bottom of the mounting box (3) and is used for cleaning the side walls of the two steel rails;
control box (4), set up on chassis (1), be equipped with vision camera (8) and laser range finding sensor on control box (4), be equipped with image recognition module, controller and working power supply in control box (4), running gear, elevating system, angle adjusting mechanism, first mechanism, vision camera (8), laser range finding sensor and image recognition module clean respectively with the controller electricity is connected.
2. The railway track cleaning robot as claimed in claim 1, wherein the first cleaning mechanism comprises a first motor (301) fixed in the installation box (3), an output shaft of the first motor (301) is connected with a horizontally arranged rotating shaft (302), the other end of the rotating shaft (302) is rotatably connected with the inner wall of the installation box (3), two sets of cleaning assemblies are arranged on the rotating shaft (302) in parallel, each set of cleaning assemblies is correspondingly positioned right above each steel rail, and the cleaning assemblies comprise:
the two cylindrical cams (303) are sleeved on the rotating shaft (302) and positioned on two sides of the steel rail, and cam grooves (304) on the two cylindrical cams (303) are symmetrically arranged;
the two first wheel shafts (305) are vertically clamped on the first guide slot (306), the first guide slot (306) is formed in the bottom of the installation box (3) and is arranged along the length direction of the installation box (3), the upper ends of the two first wheel shafts (305) extend into the installation box (3) and are correspondingly clamped in the two cam grooves (304) in a sliding mode respectively, a supporting block (307) is fixed on each first wheel shaft (305), the supporting block (307) is located above the first guide slot (306), the lower ends of the two first wheel shafts (305) extend out of the installation box (3) and are respectively and rotatably connected with first cleaning wheels (308) which are horizontally arranged, and the two first cleaning wheels (308) are respectively contacted with the side walls on two sides of the steel rail;
two connecting seats (309) symmetrically fixed on the inner side walls of the two first wheel shafts (305) respectively, each connecting seat (309) is provided with a mounting groove (310) on the side wall facing the first wheel shaft (305), a sliding block (311) is slidably clamped in each mounting groove (310), each sliding block (311) is connected with the side wall of the first wheel shaft (305) through a plurality of horizontally arranged first springs (312), a second wheel shaft (313) is vertically fixed at the bottom of each sliding block (311), each second wheel shaft (313) is slidably clamped in the second guide slot (314), the second guide slot (314) is formed in the bottom of the connecting seat (309), the lower end of each second wheel shaft (313) extends to the connecting seat (309) and is connected with a second cleaning wheel (315) in a rotating mode, the two second cleaning wheels (315) are respectively in contact with two side walls of the top of the steel rail, and the diameter of each second cleaning wheel (315) is smaller than the radius of the corresponding first cleaning wheel (308).
3. A railway track cleaning robot according to claim 1, characterized in that the bottom of the mounting box (3) is provided with second sweeping means for sweeping the top of the two rails.
4. A railway track cleaning robot according to claim 3, characterized in that the second cleaning mechanism comprises two second motors (5) respectively fixed at the bottom of the mounting box (3) through fixing frames (51), each second motor (5) is correspondingly positioned right above each steel rail, the output shaft of each second motor (5) is arranged downwards and is connected with a cleaning brush (52), and the cleaning brush (52) is in contact with the top of the steel rail.
5. The railway track cleaning robot as claimed in claim 1, wherein the traveling mechanism comprises traveling wheels (101) arranged on the chassis (1), each traveling wheel (101) is connected with a hub motor and a steering motor, and the hub motors and the steering motors are respectively electrically connected with the controller.
6. A railway track cleaning robot according to claim 1, characterized in that the lifting mechanism comprises hydraulic cylinders (102) fixed on both sides of the top of the chassis (1), the moving ends of both hydraulic cylinders (102) being fixed with the bottom of the support box (2), respectively.
7. The railway track cleaning robot as claimed in claim 1, wherein the mounting blocks (6) are symmetrically fixed to two sides of the bottom of the mounting box (3) respectively, the two mounting blocks (6) are located behind the first cleaning mechanism, a T-shaped groove (61) is formed in the bottom of each mounting block (6), a pressure sensor (62) is arranged on the inner top surface of each T-shaped groove (61), the pressure sensor (62) is electrically connected with the controller, a T-shaped sliding block (63) is slidably clamped in each T-shaped groove (61), a plurality of second springs (64) which are vertically arranged are arranged on two sides of each pressure sensor (62), two ends of each second spring (64) are connected with the inner top surface of each T-shaped groove (61) and the top of each T-shaped sliding block (63) respectively, the bottoms of the two T-shaped sliding blocks (63) extend out of the mounting blocks (6), and the side wall opposite to the two T-shaped sliding blocks (63) is rotatably connected with a connecting shaft (65), and rollers (66) matched with the two steel rails are fixedly sleeved on the two sides of the connecting shaft (65).
8. The railway track cleaning robot as claimed in claim 1, wherein the angle adjusting mechanism comprises a third motor (24) fixed in the support box (2), a gear (25) is fixed on an output shaft of the third motor (24) in a sleeved mode, a gear ring (26) is fixed on the connecting column (21) in a sleeved mode, the gear ring (26) is meshed with the gear (25), and the bottom of the connecting column (21) is rotatably connected with the inner bottom surface of the support box (2) through a bearing.
9. The railway track cleaning robot as claimed in claim 1, wherein support frames (71) are respectively fixed on the front side wall and the rear side wall of the chassis (1), a cylinder (72) is fixed on each support frame (71), a moving end of each cylinder (72) extends to the lower part of each support frame (71) and is fixed with a stabilizing block (73), and each cylinder (72) is electrically connected with the controller.
10. A railway track cleaning robot as claimed in claim 1, characterized in that the front and rear side walls of the mounting box (3) are provided with sweeping shovels (9), the sweeping shovels (9) being triangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365057.8A CN113957842A (en) | 2021-11-17 | 2021-11-17 | Railway track cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365057.8A CN113957842A (en) | 2021-11-17 | 2021-11-17 | Railway track cleaning robot |
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| Publication Number | Publication Date |
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| CN113957842A true CN113957842A (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111365057.8A Withdrawn CN113957842A (en) | 2021-11-17 | 2021-11-17 | Railway track cleaning robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114632744A (en) * | 2022-03-18 | 2022-06-17 | 沃森家用电梯(江苏)有限公司 | Automatic cleaning device for T-shaped guide rail of elevator |
| CN114905531A (en) * | 2022-06-10 | 2022-08-16 | 苏州立天智能科技有限公司 | Photovoltaic cleaning robot and cleaning method |
| CN115311754A (en) * | 2022-06-22 | 2022-11-08 | 华能新华发电有限责任公司 | Intelligent inspection system for machine |
| CN116274036A (en) * | 2023-05-22 | 2023-06-23 | 河南中冶起重机集团有限公司 | Bridge portal crane track cleaning device |
-
2021
- 2021-11-17 CN CN202111365057.8A patent/CN113957842A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114632744A (en) * | 2022-03-18 | 2022-06-17 | 沃森家用电梯(江苏)有限公司 | Automatic cleaning device for T-shaped guide rail of elevator |
| CN114905531A (en) * | 2022-06-10 | 2022-08-16 | 苏州立天智能科技有限公司 | Photovoltaic cleaning robot and cleaning method |
| CN115311754A (en) * | 2022-06-22 | 2022-11-08 | 华能新华发电有限责任公司 | Intelligent inspection system for machine |
| CN116274036A (en) * | 2023-05-22 | 2023-06-23 | 河南中冶起重机集团有限公司 | Bridge portal crane track cleaning device |
| CN116274036B (en) * | 2023-05-22 | 2023-08-04 | 河南中冶起重机集团有限公司 | Bridge portal crane track cleaning device |
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