CN218431492U

CN218431492U - AGV trolley for railway locomotive inspection

Info

Publication number: CN218431492U
Application number: CN202222643958.5U
Authority: CN
Inventors: 许安东; 李红萍
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-10-09
Filing date: 2022-10-09
Publication date: 2023-02-03
Anticipated expiration: 2032-10-09

Abstract

The utility model discloses a AGV dolly for railway locomotive patrols and examines, the utility model discloses a AGV car for railway locomotive patrols and examines, the top front portion on chassis is provided with preceding universal wheel and hangs the mechanism, and the chassis middle part is provided with two actuating mechanism that are located preceding universal wheel and hang the mechanism rear side, and the rear side that the chassis rear portion is located two actuating mechanism all is provided with back universal wheel relocation mechanism. The front universal wheels of the AGV chassis are horizontally and horizontally hung in a balanced mode, and the rear universal wheels and the driving wheels at the same side are vertically and horizontally hung in a balanced mode. Back universal wheel mounting panel, this AGV chassis every two liang of equal a set of synchronous lifts of universal wheel of group, and the ditch is passed once, and wheel and universal wheel are unlikely to be absorbed in the slot and lead to the AGV jamming to be obstructed, and the slot road surface is if carrying the level land. The utility model has the advantages that: the device is suitable for complex road surfaces, is flexible in steering, greatly improves the automatic inspection efficiency of locomotive bottom and body parts, saves labor cost and realizes real-time uploading and interconnection of detection data.

Description

AGV trolley for railway locomotive inspection

Technical Field

The utility model relates to a technical field of AGV car structure, especially an AGV dolly that is used for railway locomotive to patrol and examine robot.

Background

After the railway locomotive runs for a period of time (mileage), the railway locomotive needs to enter a maintenance warehouse (workshop) of a locomotive service section for periodic detection and maintenance, and potential safety and fault hazards are eliminated in time, so that all parts of the locomotive can operate normally, and the normal operation of the locomotive is guaranteed. When in maintenance, the locomotive is parked above a designated maintenance station (namely, the locomotive runs to a maintenance pit), and then a maintainer descends into the pit to inspect parts at the bottom of the locomotive, wherein the specific inspection method comprises the following steps: the overhaul workers enter the pit, visually or by means of a special tool or a portable detection instrument, check the vehicle bottom parts, find abnormality (collectively called defects), report the abnormality and record the abnormality, enter the replacement or repair work of the parts with problems, need to detect again after the replacement or repair, and go out of the warehouse and enter the network to continue the application.

However, the manual inspection method needs to be manually put into the pit for maintenance, and a detection instrument is also needed to be carried, and the portable instrument has a single function, so that a single instrument can only complete single (or few) detection, while a locomotive needs to complete detection of a plurality of detection items, so that a detection person needs to carry different instruments to repeatedly enter and exit the pit for several times to complete detection, which undoubtedly increases the working strength of workers and reduces the detection efficiency. In addition, the data of the portable instruments are difficult to combine and report due to different detection items in manual detection, and one part of the data is also recorded by manual visual inspection, so that real-time uploading and interconnection of detection data cannot be realized, and locomotive overhaul informatization management and intelligent operation and maintenance technology upgrading are not facilitated.

In order to solve the problems, in recent years, a railway department, in cooperation with a scientific and technological enterprise, gradually develops and introduces an intelligent inspection robot system for a locomotive (which is formed by carrying an automatic detection and acquisition full-time module, a data processing and uploading module and the like on an intelligent AGV trolley) to automatically detect parts at the bottom of a locomotive chassis.

Before the automatic detection device is used, a multistage electric lifting column is mounted on an AGV trolley chassis, a robot arm is mounted on a final-stage piston rod of the multistage electric lifting column, and an automatic detection and acquisition device is mounted at the action end of the robot arm. After a detection process is started, an Automatic Guided Vehicle (AGV) automatically starts from a parking charging position, automatically runs into a maintenance pit and reaches a detection position of a locomotive, the detection robot controls a lifting column to lift to a proper height, a mechanical arm carries an automatic detection acquisition device to detect an ideal detection position of a detection target, the automatic detection acquisition device completes detection scanning of detection points, the automatic detection acquisition device uploads detection data to a data analysis module, analysis and processing of the detection data are completed, abnormal points (defects) are found, the system automatically alarms and uploads the defect data to a management system and a decision system, a defect handling scheme is completed by the decision system, and a decision basis is provided for maintenance (replacement or repair).

However, although the mode of the AGV carrying the automatic detection and acquisition device can scan the parts at the bottom of the locomotive, the following defects still exist:

the AGV trolley has the advantages that the wheel train is simple to suspend (generally, four-corner independent universal wheels are fixedly arranged, and springs of driving wheels are used for damping), the road surface adaptability is poor, the requirement on the application road surface is high, and the uneven road surface cannot be normally applied; the road surface with the railway wheel rim groove in the overhaul warehouse can not be overhauled across the railway locomotive depot, the application requirement of the multi-ditch cross-type shared equipment in the overhaul warehouse is difficult to meet, and each track overhaul pit is often required to be provided with one detection device or a special track cross-type transfer device, so that the application efficiency of equipment and facilities is greatly reduced; meanwhile, the equipment investment of the locomotive depot is increased, and the overhaul operation cost of the locomotive depot is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the technical shortcoming of existing AGV dolly, provide a compact structure, greatly improve the inspection efficiency of locomotive bottom spare part, save the AGV dolly that is used for the railway locomotive to patrol and examine of cost of labor.

The purpose of the utility model is realized through the following technical scheme: an AGV trolley for railway locomotive inspection comprises a chassis, wherein a front universal wheel suspension mechanism is arranged at the front end of the top of the chassis, two driving mechanisms are arranged on the chassis and are positioned at the rear sides of the front universal wheel suspension mechanism, and rear universal wheel floating mechanisms are arranged at the rear sides of the two driving mechanisms;

the front universal wheel suspension mechanism comprises a hinge seat fixedly arranged at the bottom of a front top plate above the chassis, a transversely arranged transverse swing arm is hinged to the hinge seat, front universal wheel mounting plates are fixedly arranged below two ends of the transverse swing arm, front universal wheels are arranged at the bottoms of the two front universal wheel mounting plates, and a plurality of springs I are fixedly arranged above two ends of the transverse swing arm;

the rear universal wheel floating mechanism positioned at the rear part of the chassis comprises a rear top plate fixedly arranged above the chassis, an upper suspension plate arranged below the rear top plate, and a plurality of guide posts fixedly arranged at the bottom of the upper suspension plate, wherein lower suspension plates are sleeved on the guide posts in a sliding manner, springs II are sleeved on the guide posts, the upper ends and the lower ends of the springs II are fixedly arranged on the upper suspension plate and the lower suspension plate respectively, guide rails are fixedly arranged on the top surface of the lower suspension plate, a left connecting rod and a right connecting rod are arranged between the upper suspension plate and the lower suspension plate, the upper end part and the lower end part of the left connecting rod are hinged on the upper suspension plate and the lower suspension plate respectively, the right connecting rod and the left connecting rod are arranged in a crossed manner and are hinged with a left connecting rod pin shaft into a whole to form a scissor fork parallel lifting mechanism, the upper end part of the right connecting rod is hinged on the upper suspension plate, a bearing is rotatably arranged at the other end of the right connecting rod, and the bearing is slidably arranged in the guide rails; the bottom of the lower suspension plate is provided with a plurality of rear universal wheels extending below the chassis;

the driving mechanism positioned in the middle of the chassis comprises a connecting plate fixedly arranged between a front top plate and a rear top plate, a bearing seat fixedly arranged on the chassis is arranged below the connecting plate, a longitudinal swing arm is rotatably arranged on the bearing seat, a driving wheel mounting seat is fixedly arranged at the right end part of the longitudinal swing arm, a planetary reduction servo motor is fixedly arranged on the inner side surface of the driving wheel mounting seat, an output shaft of the planetary reduction servo motor penetrates through the driving wheel mounting seat, a driving wheel is arranged at the extending end of the planetary reduction servo motor to the outer side of the driving wheel mounting seat, and a plurality of springs III are fixedly arranged between the top surface of the driving wheel mounting seat and the connecting plate; the left end of the longitudinal swing arm extends between the upper suspension plate and the lower suspension plate, a U-shaped groove is formed in the extending end of the longitudinal swing arm, and the U-shaped groove is sleeved on the pin shaft.

The two front universal wheels are arranged in bilateral symmetry, and the two rear universal wheel floating mechanisms and the two driving mechanisms are arranged in bilateral symmetry; a scissor fork parallel lifting mechanism is formed between an upper suspension plate and a lower suspension plate of the two groups of rear universal wheel floating mechanisms by adopting a left connecting rod, a right connecting rod and a pin shaft; two groups of front universal wheels are mounted in a left-right balanced suspension mode through a transverse swing arm, and two groups of rear universal wheels and driving wheels on the same side are mounted in a front-back balanced suspension mode through a longitudinal swing arm.

Between the preceding roof of chassis and the chassis, and back roof and all be provided with the skirtboard, guarantee the structural strength and the stability of chassis.

And a lithium battery is fixedly arranged in the center of the rear part of the chassis and between the two rear universal wheel floating mechanisms.

The middle bottom plate of the chassis is fixedly provided with a multi-stage electric lifting column, the acting end of a piston rod of the multi-stage electric lifting column is provided with a mechanical arm, and the acting end of the mechanical arm is provided with an automatic detection and acquisition device.

The lithium battery is connected with the multistage electric lifting column, the servo motor and the automatic detection and acquisition device through leads.

The utility model has the advantages of it is following:

1. this AGV car compares the AGV dolly that has fixed wheel, can not receive orbital hindrance to crossing over the track that can be steady, thereby shortened the travel time of AGV car, and then very big improvement the inspection efficiency of locomotive bottom spare part.

2. The front universal wheels are in balanced suspension left and right in pairs of transverse swing arms, and the rear universal wheels and the driving wheels at the same side are in balanced suspension front and back in pairs of longitudinal swing arms; all wheel trains are ensured to land on the ground in real time at any moment, and suspension or slipping of driving wheels on an uneven road surface is avoided.

3. All the universal wheels are synchronously lifted one by one in pairs and pass through the ditch again, the wheels and the universal wheels cannot be sunk into the ditch to cause the blockage of the AGV, and the pavement of the ditch is like performing flat ground.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a transverse swing arm balance structure of the front universal wheel suspension mechanism;

FIG. 3 is a schematic structural view of a driving mechanism;

FIG. 4 is a schematic structural diagram of a rear universal wheel floating mechanism;

FIG. 5 is a schematic view of a longitudinal swing arm balance structure of the driving mechanism and the rear universal wheel floating mechanism;

in the figure, 1-chassis, 2-front universal wheel suspension mechanism, 3-driving mechanism, 4-rear universal wheel floating mechanism, 5-chassis front top plate, 6-hinge seat, 7-transverse swing arm, 8-front universal wheel mounting plate, 9-front universal wheel, 10-spring I, 11-chassis rear top plate, 12-upper suspension plate, 13-guide column, 14-lower suspension plate, 15-spring II, 16-guide rail, 17-left connecting rod, 18-right connecting rod, 19-pin shaft, 20-bearing, 21-rear universal wheel, 22-connecting plate, 23-bearing seat, 24-longitudinal swing arm, 25-driving wheel mounting seat, 26-planetary reduction servo motor, 27-driving wheel, 28-spring III, 29-U-shaped groove, 30-apron board, 31-lithium battery, 32-multistage electric lifting column, 33-mechanical arm and 34-automatic detection and collection device.

Detailed Description

The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:

as shown in fig. 1 to 5, an AGV trolley for railway locomotive inspection comprises a chassis 1, a front universal wheel suspension mechanism 2 is arranged at the front end of the top of the chassis 1, two driving mechanisms 3 positioned at the rear side of the front universal wheel suspension mechanism 2 are arranged on the chassis 1, and rear universal wheel floating mechanisms 4 are arranged at the rear sides of the two driving mechanisms 3; preceding universal wheel suspension mechanism 2 is including setting firmly hinge seat 6 in 5 bottoms on the preceding roof of chassis 1 top, and articulated on the hinge seat 6 have a horizontal swing arm 7 that sets up, and the both ends below of swing arm 7 has all set firmly preceding universal wheel mounting panel 8, and the bottom of two preceding universal wheel mounting panels 8 all is provided with preceding universal wheel 9, and the top at 7 both ends of swing arm has set firmly many spring I10.

The rear universal wheel floating mechanism 4 positioned at the rear part of the chassis 1 comprises a rear top plate 11 fixedly arranged above the chassis 1, an upper suspension plate 12 arranged below the rear top plate 11, and a plurality of guide posts 13 fixedly arranged at the bottom of the upper suspension plate 12, wherein lower suspension plates 14 are slidably sleeved on the guide posts 13, springs II15 are sleeved on the guide posts 13, the upper ends and the lower ends of the springs II15 are fixedly arranged on the upper suspension plate 12 and the lower suspension plates 14 respectively, guide rails 16 are fixedly arranged on the top surface of the lower suspension plate 14, a left connecting rod 17 and a right connecting rod 18 are arranged between the upper suspension plate 12 and the lower suspension plate 14, the upper end part and the lower end part of the left connecting rod 17 are hinged on the upper suspension plate 12 and the lower suspension plate 14 respectively, the right connecting rod 18 and the left connecting rod 17 are arranged in a crossed manner and hinged with a left connecting rod 17 through a pin 19 to form a scissor fork parallel lifting mechanism, the upper end part of the right connecting rod 18 is hinged on the upper suspension plate 12, a bearing 20 is rotatably arranged at the other end, and the bearing 20 is slidably arranged in the guide rails 16; the bottom of the lower suspension plate 14 is provided with a plurality of rear universal wheels 21 extending below the chassis 1.

The driving mechanism 3 positioned in the middle of the chassis comprises a connecting plate 22 fixedly arranged between a front top plate 5 and a rear top plate 11, a bearing seat 23 fixedly arranged on the chassis 1 is arranged below the connecting plate 22, a longitudinal swing arm 24 is rotatably arranged on the bearing seat 23, a driving wheel mounting seat 25 is fixedly arranged at the right end part of the longitudinal swing arm 24, a planetary speed-reducing servo motor 26 is fixedly arranged on the inner side surface of the driving wheel mounting seat 25, an output shaft of the planetary speed-reducing servo motor 26 penetrates through the driving wheel mounting seat 25, a driving wheel 27 is arranged from the extending end of the output shaft to the outer side of the driving wheel mounting seat 25, and a plurality of springs III28 are fixedly arranged between the top surface of the driving wheel mounting seat 25 and the connecting plate 22; the left end of the longitudinal swing arm 24 extends between the upper suspension plate 12 and the lower suspension plate 14, a U-shaped groove 29 is formed in the extending end, and the U-shaped groove 29 is sleeved on the pin shaft 19.

The two front universal wheels 9 are arranged in a bilateral symmetry mode, and the two rear universal wheel floating mechanisms 4 and the two driving mechanisms 3 are arranged in a bilateral symmetry mode; a scissor fork parallel lifting mechanism is formed between an upper suspension plate 12 and a lower suspension plate 14 of the two groups of rear universal wheel floating mechanisms 4 by adopting a left connecting rod 17, a right connecting rod 18 and a pin shaft; two groups of front universal wheels 9 are mounted in a left-right balanced suspension mode through a transverse swing arm 7, and two groups of rear universal wheels 21 and driving wheels 27 on the same side are mounted in a front-back balanced suspension mode through a longitudinal swing arm 24. The apron boards 30 are arranged between the front top board 5 of the chassis 1 and the chassis 1, and between the rear top board 11 of the chassis 1 and the apron boards, so that the structural strength and stability of the chassis 1 are ensured. 1 rear portion central authorities on chassis just are located and have set firmly lithium cell 31 between two rear universal wheel floating machanism 4, set firmly multistage electric lift post 32 on the middle part bottom plate on chassis 1, install arm 33 on the effect end of multistage electric lift post 32 piston rod, install automated inspection collection system 34 on the effect end of arm 33, lithium cell 31 and multistage electric lift post 32, servo motor 26 and automated inspection collection system 34 are connected through the wire.

The working process of the utility model is as follows:

s1, when the equipment is idle, the AGV stops at a charging position for charging and standby. The drive wheels 27, front castor 9 and rear castor 21 of the AGV vehicle are now in contact with the ground. After the automatic detection process of the locomotive is started, the servo motor 26 is opened by the AGV, the servo motor 26 drives the driving wheel 27 to rotate, the driving wheel 27 drives the whole AGV to automatically drive to the designated maintenance pit and the detected locomotive bottom according to the preset running line under the control of the automatic guidance system, and automatic detection operation is carried out. In the running process, the driving wheels 27 provide traction force to drive the trolley to run, and the front universal wheels 9 and the rear universal wheels 21 play a role in supporting the whole AGV; when the left driving wheel and the right driving wheel rotate in the same direction and at the same speed during the running of the AGV trolley, the AGV trolley runs linearly; when the left and right driving wheels 27 rotate in the same direction and at different speeds, the trolley moves in a steering mode, and the speed difference of the two driving wheels determines the turning radius; when the left driving wheel and the right driving wheel rotate reversely at a constant speed, the trolley realizes the original-place rotary motion;

s2, when the AGV runs and meets the condition that the left side and the right side of the road are uneven, the front universal wheel 9 on the side, with the high road, of the front side of the chassis 1 is lifted by the road, the transverse swing arm 7 swings around the hinge seat 6, the transverse swing arm 7 on the side is lifted, and the spring I10 on the top of the transverse swing arm is compressed. And the front universal wheels 9 at the lower side of the ground descend to ensure that the two groups of front universal wheels 9 are in contact with the road surface. When the ground returns to be flat, the transverse swing arm 7 returns to be horizontal under the action of the spring I10. When the front and back of the road surface are raised, the driving wheels 27 on the raised road surface lift along with the raised road surface, the longitudinal swing arms 24 swing around the bearing seats 23, the front ends of the longitudinal swing arms lift, the rear ends of the longitudinal swing arms are pressed down under the action of balance force, the U-shaped grooves 29 at the rear ends of the longitudinal swing arms 24 are inserted into the lower suspension plates 14 of the rear universal wheel floating mechanisms 4 to move downwards, and the rear universal wheels 21 are pressed against the low-level road surface. When the front and the back of the road surface are sunken, the driving wheels 27 on the sunken road surface descend along with the road surface, the rear universal wheels 21 are lifted under the action of the balance force of the longitudinal swing arms 24, the longitudinal swing arms 24 swing around the bearing seats 23, the rear ends of the longitudinal swing arms are lifted, the front ends of the longitudinal swing arms sink under the action of the balance force of the swing arms, and the driving wheels 27 are pressed on the sunken road surface. After the ground returns to be level, the vertical swing arm 24 returns to be level under the action of the spring III28, so that all the driving wheels 27 and the

universal wheels

9 and 27 can be always ensured to be in contact with the ground, reliable driving is ensured, and stable running is ensured.

S3, when the trolley moves to the track groove and needs to cross the track, when the front universal wheels 9 pass through the track groove and the front wheels of the front universal wheels 9 on the two sides move to the upper part of the track groove, the rear wheels of the two front universal wheels 9 in the same group are still positioned on the road surface to support the trolley; when the rear wheels of the two front universal wheels 9 in the same group are positioned above the track grooves, the front wheels of the two front universal wheels are positioned on a flat road surface after crossing the track grooves, and the trolley is supported to ensure that the front universal wheels 9 are not sunk into the track grooves all the time and the AGV trolley is blocked in running. When the rear universal wheel 21 group passes through the track groove, the same mechanism is adopted, and the universal wheels do not sink into the track groove all the time, so that the AGV trolley is blocked in running.

S4, the multi-stage electric lifting column 32 carried by the AGV trolley automatically lifts according to the detection requirement under the control of an automatic control program, and the automatic detection acquisition device is ensured to be appropriate in height relative to the detection target parts; the mechanical arm 33 arranged at the end part of the final-stage piston rod of the multi-stage electric lifting column 32 automatically moves with multiple degrees of freedom under the control of an automatic control program, so that an automatic detection and acquisition unit of the final-stage arm of the carrier is ensured to be in the optimal scanning position and angle in real time, and the acquired data is ensured to meet the analysis and processing requirements.

And S5, automatically scanning the detected parts under the control of automatic detection software by using an automatic detection acquisition device 34 mounted at the tail end of a final-stage arm of a manipulator 33 on the AGV, completing automatic detection scanning acquisition of all detected items, uploading the detected data to a data analysis processing module mounted on the AGV, completing detection analysis processing, and uploading the data analysis processing results and defect data to a database and decision processing system of a data center of a service section through a data transmission module, wherein the decision processing system automatically analyzes and processes the data and provides decision basis for maintenance (replacement or repair). And the defect result and the defect processing scheme are confirmed by professional and authority management personnel, and the defect processing scheme is issued to complete automatic monitoring, overhauling and maintenance operation.

Therefore, the AGV car can be compared with the AGV car with the fixed wheels, cannot be hindered by tracks, and can stably cross the tracks, so that the running time of the AGV car is shortened, and the inspection efficiency of parts at the bottom of the locomotive is greatly improved. In addition, the AGV does not need a plurality of workers to perform auxiliary operation, only one worker is needed to control the start and stop of the AGV and the actions of other execution parts, and the inspection of parts at the bottom of the locomotive can be realized, so that the labor cost is greatly saved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a AGV dolly for railway locomotive patrols and examines, it includes chassis (1), its characterized in that: a front universal wheel suspension mechanism (2) is arranged at the front end of the top of the chassis (1), two driving mechanisms (3) positioned at the rear sides of the front universal wheel suspension mechanism (2) are arranged on the chassis (1), and rear universal wheel floating mechanisms (4) are arranged at the rear sides of the two driving mechanisms (3);

the front universal wheel suspension mechanism (2) comprises a hinge seat (6) fixedly arranged at the bottom of a front top plate (5) above the chassis (1), a transverse swing arm (7) transversely arranged is hinged to the hinge seat (6), front universal wheel mounting plates (8) are fixedly arranged below two ends of the transverse swing arm (7), front universal wheels (9) are respectively arranged at the bottoms of the two front universal wheel mounting plates (8), and a plurality of springs I (10) are fixedly arranged above two ends of the transverse swing arm (7);

the rear universal wheel floating mechanism (4) positioned at the rear part of the chassis (1) comprises a rear top plate (11) fixedly arranged above the chassis (1), an upper suspension plate (12) arranged below the rear top plate (11), and a plurality of guide columns (13) fixedly arranged at the bottoms of the upper suspension plate (12), wherein lower suspension plates (14) are sleeved on the guide columns (13) in a sliding manner, springs II (15) are sleeved on the guide columns (13), the upper ends and the lower ends of the springs II (15) are fixedly arranged on the upper suspension plate (12) and the lower suspension plate (14) respectively, guide rails (16) are fixedly arranged on the top surface of the lower suspension plate (14), a left connecting rod (17) and a right connecting rod (18) are arranged between the upper suspension plate (12) and the lower suspension plate (14), the upper end and the lower end of the left connecting rod (17) are respectively hinged on the upper suspension plate (12) and the lower suspension plate (14), the right connecting rod (18) and the left connecting rod (17) are arranged in a crossed manner and hinged with a shaft (19) of the left connecting rod (17) to form a scissor parallel lifting mechanism, the upper end of the right connecting rod (18) is hinged to the upper suspension plate (12), and the upper end of the upper suspension plate (20) is mounted on a bearing (12) in a rotary bearing (20); the bottom of the lower suspension plate (14) is provided with a plurality of rear universal wheels (21) extending below the chassis (1);

the driving mechanism (3) positioned in the middle of the chassis comprises a connecting plate (22) fixedly arranged between a front top plate (5) and a rear top plate (11), a bearing seat (23) fixedly arranged on the chassis (1) is arranged below the connecting plate (22), a longitudinal swing arm (24) is rotatably arranged on the bearing seat (23), a driving wheel mounting seat (25) is fixedly arranged at the right end part of the longitudinal swing arm (24), a planetary reduction servo motor (26) is fixedly arranged on the inner side surface of the driving wheel mounting seat (25), an output shaft of the planetary reduction servo motor (26) penetrates through the driving wheel mounting seat (25), a driving wheel (27) is arranged from the extending end of the output shaft to the outer side of the driving wheel mounting seat (25), and a plurality of springs III (28) are fixedly arranged between the top surface of the driving wheel mounting seat (25) and the connecting plate (22); the left end of the longitudinal swing arm (24) extends between the upper suspension plate (12) and the lower suspension plate (14), the extending end of the left end is provided with a U-shaped groove (29), and the U-shaped groove (29) is sleeved on the pin shaft (19).

2. An AGV for railway locomotive inspection according to claim 1, wherein: the two front universal wheels (9) are arranged in a bilateral symmetry mode, and the two rear universal wheel floating mechanisms (4) and the two driving mechanisms (3) are arranged in a bilateral symmetry mode; a scissor fork parallel lifting mechanism is formed between an upper suspension plate (12) and a lower suspension plate (14) of the two groups of rear universal wheel floating mechanisms (4) by adopting a left connecting rod (17), a right connecting rod (18) and a pin shaft; two groups of front universal wheels (9) are mounted in a left-right balanced suspension mode through a transverse swing arm (7), and two groups of rear universal wheels (21) and driving wheels (27) on the same side are mounted in a front-back balanced suspension mode through a longitudinal swing arm (24).

3. The AGV car for railway locomotive inspection according to claim 1, wherein: between preceding roof (5) and chassis (1) of chassis (1), and back roof (11) and all be provided with skirtboard (30), guarantee the structural strength and the stability of chassis (1).

4. The AGV car for railway locomotive inspection according to claim 1, wherein: and a lithium battery (31) is fixedly arranged in the center of the rear part of the chassis (1) and between the two rear universal wheel floating mechanisms (4).

5. The AGV car for railway locomotive inspection according to claim 1, wherein: the multi-stage electric lifting column is characterized in that a multi-stage electric lifting column (32) is fixedly arranged on a middle bottom plate of the chassis (1), a mechanical arm (33) is arranged on an acting end of a piston rod of the multi-stage electric lifting column (32), and an automatic detection and acquisition device (34) is arranged on an acting end of the mechanical arm (33).

6. An AGV for railway locomotive inspection according to claim 4, wherein: the lithium battery (31) is connected with the multi-stage electric lifting column (32), the servo motor (26) and the automatic detection and acquisition device (34) through leads.