CN106143530A - Routing inspection trolley for suspension type monorail traffic system box track girder - Google Patents
Routing inspection trolley for suspension type monorail traffic system box track girder Download PDFInfo
- Publication number
- CN106143530A CN106143530A CN201610439815.9A CN201610439815A CN106143530A CN 106143530 A CN106143530 A CN 106143530A CN 201610439815 A CN201610439815 A CN 201610439815A CN 106143530 A CN106143530 A CN 106143530A
- Authority
- CN
- China
- Prior art keywords
- car body
- track girder
- suspension type
- unit
- type monorail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
- B61K9/10—Measuring installations for surveying permanent way for detecting cracks in rails or welds thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Abstract
For the routing inspection trolley of suspension type monorail traffic system box track girder, relate to traffic technique and computer technology.The present invention includes car body and vision-based detection part, and vision-based detection is partly installed in car body；Described car body includes that chassis, car shell, driver element and vehicular control unit, driver element and vehicular control unit connect, and is provided with seat, is additionally provided with wireless communication unit in car body in car body；Described vision-based detection part includes that light source module, detector lens, three shaft detection camera lens mobile platforms and data process memory element, and data processing unit is connected with wireless communication unit；Being additionally provided with traffic safety unit on described car body, described traffic safety unit includes laser scanning obstacle sensor and the work moving car alarm flashing light being respectively arranged at car body front and back, and laser scanning obstacle sensor is connected with vehicular control unit.The present invention utilizes inspection device to carry visual system replacement manual inspection, not only solve owing to the housing interior volume of box track girder is narrow and small, rather dark, bottom opening is narrow so that the problem that manual inspection difficulty is bigger, moreover it is possible to significantly improves and patrols and examines efficiency and reliability.
Description
Technical field
The present invention relates to traffic technique and computer technology.
Background technology
The track girder of suspension type monorail traffic system typically uses simply supported steel box girder structure (see Fig. 7), and track girder cross section is complete
Portion use bottom opening box section, the lower flange of box beam also serves as track, vehicle hanging in bridge (track girder) below, wheel
It is supported in the steel case of opening；Electric power, communication system are arranged on inside steel case.
Box track girder needs after opening operation as the primary structure of suspension type monorail traffic system, suspension type monorail traffic
It is carried out periodic maintenance and detection.Show according to overseas investigation and related data, the case of current suspension type monorail traffic system
Type track girder is mainly detected by manual inspection mode, and the housing interior volume of box track girder is narrow and small, rather dark,
Bottom opening is narrow so that manual inspection difficulty is bigger., detect inside box track girder, its internal disease point meanwhile
Concrete mileage position be difficult to confirm.For box track girder inner surface cracks detection, rust detection, checking of clearance and running face
If flatness detection only relies on artificial perusal to be difficult to meet suspension type monorail traffic system box track girder operation
Safety and the detection of reliability.
Summary of the invention
The technical problem to be solved is to provide one and can solve the problem that manual inspection box beam difficulty is big, reliability
Low problem, it is achieved the manned maintenance carrying out box beam and the routing inspection trolley of maintenance.
The present invention solves described technical problem and employed technical scheme comprise that, for suspension type monorail traffic system box track
The routing inspection trolley of beam, it is characterised in that including car body and vision-based detection part, vision-based detection is partly installed in car body；
Described car body includes that chassis, car shell, driver element and vehicular control unit, driver element and vehicular control unit are even
Connect, in car body, be provided with seat, in car body, be additionally provided with wireless communication unit；
Described vision-based detection part includes that light source module, detector lens, three shaft detection camera lens mobile platforms and data process
Memory element, data processing unit is connected with wireless communication unit；
Being additionally provided with traffic safety unit on described car body, described traffic safety unit includes being respectively arranged at car body front
Laser scanning obstacle sensor and work moving car alarm flashing light, laser scanning obstacle sensor and thermoacoustic prime engine list with rear
Unit connects.
Being additionally provided with bodywork's direction and position computing subsystem on described car body, described bodywork's direction and position computing subsystem includes car body side
Bit processing unit and the radio-frequency card being attached thereto read unit；
Described radio-frequency card reads unit and is arranged at the radio-frequency card of box track girder for reading,
Described bodywork's direction and position processing unit for according to twice Card Reader time at the whole story and prestore the whole story 2 radio-frequency cards away from
From and speed calculate current vehicle body position；
Described driver element includes that driving wheel, driven pulley, directive wheel, described directive wheel are arranged at the left and right sides of car body,
At least directive wheel of side is connected with car body by spring.
Described wireless communication unit includes wifi module.
Described driver element include servomotor, double go out reductor, clutch and driving wheel, servomotor connects double to go out to subtract
Speed machine, then by output shaft connection clutch, driving wheel is driven.
Described vehicular control unit includes long-range march control module, and long-range march control module is with wireless communication unit even
Connecing, long-range march control module is also connected with vehicular control unit.
Traffic safety unit also includes the outside spacing detection module of car body.The outside spacing detection module of described car body is arranged at
At directive wheel, by the distance in the directive wheel axle center of measurement and track girder contact internal walls to car body with in detection car body to track girder
The distance of wall.
The present invention compared to existing technology, has the advantage that
1, the present invention utilizes inspection device to carry visual system replacement manual inspection, not only solves due to box track girder
Housing interior volume narrow and small, rather dark, bottom opening is narrow so that the problem that manual inspection difficulty is bigger, moreover it is possible to notable
Improve and patrol and examine efficiency and reliability.
2, the road location computing subsystem in the present invention can be accurately positioned bead crack, the corrosion point sending detected
To distal center controller, repair and maintenance personnel can be carried this equipment and quickly be arrived fault point and complete repair.
3, the present invention utilizes the directive wheel of compressible resilience to carry out equipment travel guidance, adapts to box beam and the evil of deformation occurs
Bad operating mode and do not affect vision-based detection effect, guide wheel assemblies configuration tangent displacement sensor can effectively detect box beam circle
Limit size.
4, the present invention can realize the timely transmission of inspection device information by arranging wireless communication networks, effectively overcomes existing
Some cruising inspection systems cannot upload data until patrolling and examining and just can uploading the drawback patrolling and examining data after operation completes during patrolling and examining,
Convenient working personnel take measures in time.
5, the present invention takes into full account that device security, any unexpected situation can be detected by central controller, equipment itself
Breaking down, equipment is stopped at abort situation by equipment brakes locking, and manually releasing clutch until rescue personnel can
Towed to home by rescue tractor.
Accompanying drawing illustrates:
Fig. 1 is the outside drawing of the present invention；
Fig. 2 is the structural front view of the present invention；
Fig. 3 is the structure top view of the present invention；
Fig. 4 is the structure left view of the present invention；
Fig. 5 is the body frame structure for automotive figure of the present invention；
Fig. 6 is the control structure block diagram of the present invention；
Fig. 7 is the sectional schematic diagram of box track girder；
Label declaration: 1-chassis, 13-mechanical disc brake, 18-trailing wheel, 29-front-wheel installing rack, 36-rear wheel driving axle, 44-axle
Holding case, 48-pair goes out reductor, and 52-drives motor, 53-clutch thrust spring, 61-bearing sealed ring, 62-clutch, 77-
Front-wheel, the manual shift fork of 78-, 80-vehicle power, 85-accelerator pedal, 86-brake pedal, the compressible directive wheel of 90-, 93-fixes
Directive wheel, 98-compression spring, 101-tangent displacement sensor, 104-inverter, 105-battery isolation cover, the integrated control of 111-
Case processed, 119-tri-axle mounting bracket, 122-seat, 124-laser safety scanning obstacle sensor, 126-tri-shaft detection camera lens moves
Moving platform, 128-detector lens, 130-light source module, 134-vehicular touch screen, 135-inspection device sliding door, 136 inspection cars
Front casing, 137-inspection car rear casing, 138-visual system protective cover, 143-scram button, 144-condition prompting lamp, 145-shows
Warning lamp, 146-parking pull bar, 147-workbox, 149-frequency read/write
Detailed description of the invention:
As shown in Fig. 1,2,3,4,5,6, the box beam routing inspection trolley of the present invention includes box beam routing inspection trolley body and remotely control
System processed..
Described tele-control system includes remote manipulation handle, control centre's operating board and picture control platform.
Described routing inspection trolley body includes chassis 1, car shell, driving means, integrating control case 111, bodywork's direction and position meter
Operator Systems, security system, vision detection system, vehicle control syetem and wireless remote control and data transmission system.
Described chassis includes the one-body molded base plate of aluminium alloy 1, seat 122；
Seat 122 is installed on the postmedian on base plate, and seat design can front and back regulate and can fold when maintenance activity.
Described driving means includes the trailing wheel 18 as driving wheel, and trailing wheel is driving wheel, by servomotor 52 connect double go out
Reductor 48, then connected clutch 62 by output shaft 60 and be driven, rear-wheel structure assembly includes solid rubber tire, rear wheel drive
Axle 36, bearing housing 44, drive shaft is arranged in bearing housing also and trailing wheel is with bolts, and servomotor is controlled by industrial computer,
And have speed measuring coder that motor is tested the speed；Driven pulley front-wheel 77, uses limit angle universal structure, and its mechanism assembly includes reality
Heart rubber wheel, mechanical brake device 13, spring assist back positive structure 35, and front-wheel mounting bracket 29, rubber wheel passes through with front axle
Bolt connects, and T-shaped front axle is arranged in front-wheel mounting bracket；
Directive wheel totally six, the both sides being installed on vehicle body are triangularly arranged, and wherein three left side directive wheels are compressible
Mechanism includes directive wheel mounting bracket, solid rubber wheel body 90, compression spring 98, can detect the contact position of box beam boundary in real time
Displacement sensor 101, directive wheel is by using slide block to connect between guide wheel shaft and directive wheel mounting bracket, compression spring is placed in cunning
Between block and car body, directive wheel be when box beam contacts to be effectively compressed with resilience guarantee equipment can even running by path, position
Displacement sensor is fixed on chassis and detects directive wheel displacement in real time with shoe contact, is obtained box beam boundary in real time by computing module
Size；Right hand guide wheels 93 is fast pulley；
Being provided with clutch 62 between speed reducer output shaft and driving wheel, under normal operating conditions, clutch is at spring force
Effect under laminating transmission moment, be isolated by the manual shift fork 78 being arranged on the right side of clutch during fault and will be set by tractor
For towing to home；
Front-wheel mechanical brake device includes mechanical disc brake 13, parking pull bar 146, uses between mechanical disc brake and parking pull bar
Bracing wire connects.
Described bodywork's direction and position computing subsystem includes frequency read/write 149 and radio-frequency card, PLC locating module, servomotor
Encoder；
The rear portion that frequency read/write is installed on the right side of car shell as shown in Figure 1 is relative with the radio-frequency card being arranged on box beam side；
PLC locating module is arranged in integrating control case 111.The principle of bodywork's direction and position computing subsystem is: PLC locating module reads and watches
Take the radio frequency that the distance travelled fixed interval position obtained with frequency read/write of motor encoder data acquisition inspection device is installed
Card distance carries out reading correction thus obtains accurate bodywork's direction and position data.
The described safe decorum includes laser safety scanning obstacle sensor, work moving car alarm flashing light, occupant's shape
State monitoring camera, equipment state warning light, inside and outside megaphone, warning buzzing；
Laser safety scanning obstacle sensor 124 arranges two groups of front ends being respectively arranged in base plate and afterbody；Work driving
Warning flashing light is placed in vehicle bottom and is easy to warn the personnel under track；Occupant's monitoring camera is installed on inside car shell,
Policer operation personnel state in real time；Megaphone is arranged on touch screen mounting box 133, can realize talking with control centre；Report to the police
Buzzing is placed in the outside chassis front end of inspection car；
Described vision detection system includes that data process storage and transport module, light source module 130, detector lens 128, three
Shaft detection camera lens mobile platform 126；
Vision data processes storage and transport module is placed in integrating control case 111, to captured by vision detection system
Picture processes and stores, and will process after data be back to control centre by Wi Fi.Light source module 130 and detection
Camera lens 128 is installed along with in the rotary shaft of three axle mobile platforms；
Motor driver drives three servomotors of dynamic triaxial mobile platform and carries out up and down, left and right and drive rotation of lens
By instruction motion；
Light source module is connected with industrial computer, automatically accepts shift position and the control changing illumination.Detector lens and industry control
Machine connects, and determines, according to control instruction, the frequency of taking pictures.
Vehicular control unit include motor servo driver, industrial computer, PLC control module, accelerator pedal, brake pedal,
Vehicular power system, box beam gauge detection tangent displacement sensor, laser safety scanning obstacle sensor；
Motor servo driver is connected driving active force AC servo motor with PLC control module, completes inspection device
Advance, retreat and speed controlling；
Accelerator pedal, brake pedal is connected with PLC control module, for realizing playing inspection device when manned traveling
Stop and speed controlling；
Inspection device is powered by the lithium battery being arranged on base plate front end, increases between battery and control module, executor
Add AC inverter to mate with each electrical appliance.Battery modules is furnished with electric energy control system and uses external power supply to fill
Electricity；
Box beam gauge detection tangent displacement sensor, laser safety scanning obstacle sensor are connected with industrial computer, contact
Formula displacement transducer can detect box beam limiting size in real time and measured value heart display screen in the controlling is shown record in real time；Swash
Light security sweep obstacle sensor is connected with PLC control module and arranges the warning region that bigger preparation region is less, works as detection
Enter PLC control motor driver when preparing region carry out equipment deceleration and externally give a warning to barrier, when entering warning
When region arranges ultimate value, equipment is automatically stopped movement.
Inspection device has automatic detecting, manual remote control operation and vehicle-mounted people and controls Three models.Automatic detecting pattern, by controlling
Center processed sends startup order, and dolly is automatically performed box beam and patrols and examines process.Manual remote control operator scheme is to be utilized wireless behaviour by people
Make remote controller inspection device is operated.Under vehicle-mounted people's control pattern, inspection device is operated by the staff carried, complete
Become the work that box beam is patrolled and examined and safeguarded.
Claims (8)
1. for the routing inspection trolley of suspension type monorail traffic system box track girder, it is characterised in that include car body and vision inspection
Surveying part, vision-based detection is partly installed in car body；
Described car body includes that chassis, car shell, driver element and vehicular control unit, driver element and vehicular control unit connect,
It is provided with seat in car body, in car body, is additionally provided with wireless communication unit；
Described vision-based detection part includes light source module (130), detector lens (128), three shaft detection camera lens mobile platform (126)
Processing memory element with data, data processing unit is connected with wireless communication unit；
Be additionally provided with traffic safety unit on described car body, described traffic safety unit include being respectively arranged at car body front and after
Laser scanning obstacle sensor (124) of side and work moving car alarm flashing light, laser scanning obstacle sensor (124) and driving
Control unit connects.
2. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Being additionally provided with bodywork's direction and position computing subsystem on described car body, it is single that described bodywork's direction and position computing subsystem includes that bodywork's direction and position processes
Unit and the radio-frequency card being attached thereto read unit；
Described radio-frequency card reads unit and is arranged at the radio-frequency card of box track girder for reading,
Described bodywork's direction and position processing unit for according to twice Card Reader time at the whole story and prestore the whole story 2 radio-frequency card distances with
And speed calculates current vehicle body position.
3. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Described driver element includes that driving wheel, driven pulley, directive wheel, described directive wheel are arranged at the left and right sides of car body, at least
The directive wheel of side is connected with car body by spring.
4. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Described wireless communication unit includes wifi module.
5. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Described driver element include servomotor (52), double go out reductor (48), clutch (62) and driving wheel (18), servomotor
(52) connection pair goes out reductor (48), then is driven driving wheel (18) by output shaft (60) connection clutch (62).
6. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Described vehicular control unit includes that long-range march control module, long-range march control module are connected with wireless communication unit, remotely
Thermoacoustic prime engine module is also connected with vehicular control unit.
7. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
Traffic safety unit also includes the outside spacing detection module of car body.
8. the routing inspection trolley for suspension type monorail traffic system box track girder as claimed in claim 1, it is characterised in that
The outside spacing detection module of described car body is arranged at directive wheel, arrives by measuring the directive wheel axle center with track girder contact internal walls
The distance of car body is with the distance of detection car body to track girder inwall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439815.9A CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610439815.9A CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
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| Publication Number | Publication Date |
|---|---|
| CN106143530A true CN106143530A (en) | 2016-11-23 |
| CN106143530B CN106143530B (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610439815.9A Active CN106143530B (en) | 2016-06-17 | 2016-06-17 | Routing inspection trolley for suspension type monorail traffic system box track girder |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN107487338A (en) * | 2017-08-02 | 2017-12-19 | 安徽骏达起重机械有限公司 | Traffic track automatic detection device |
| CN107622486A (en) * | 2017-08-18 | 2018-01-23 | 陕西维视数字图像技术有限公司 | A kind of product batch mixing defective vision detecting system |
| CN107901947A (en) * | 2017-12-13 | 2018-04-13 | 中铁第四勘察设计院集团有限公司 | A kind of automatic traveling detection device for being suitable for empty rail track |
| CN110450814A (en) * | 2019-08-06 | 2019-11-15 | 中国铁建重工集团股份有限公司 | Track detection assembly |
| CN110763584A (en) * | 2019-11-17 | 2020-02-07 | 汪亚平 | Road and bridge concrete structure real-time detection device |
| CN112446974A (en) * | 2020-11-17 | 2021-03-05 | 南通中远海运川崎船舶工程有限公司 | Intelligent inspection system for ship pipe passage |
| CN112631280A (en) * | 2020-12-08 | 2021-04-09 | 国网北京市电力公司 | Unmanned manned inspection trolley |
| CN114264670A (en) * | 2021-12-09 | 2022-04-01 | 上海应用技术大学 | Intelligent rail-patrolling automatic detection trolley for diseases inside box girder |
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| CN205930728U (en) * | 2016-06-17 | 2017-02-08 | 中铁二院工程集团有限责任公司 | A patrol and examine dolly that is used for suspension type mono -rail transport system box track roof beam |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106680290A (en) * | 2017-02-27 | 2017-05-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN106680290B (en) * | 2017-02-27 | 2023-11-17 | 周显威 | Multifunctional detection vehicle in narrow space |
| CN107487338A (en) * | 2017-08-02 | 2017-12-19 | 安徽骏达起重机械有限公司 | Traffic track automatic detection device |
| CN107622486A (en) * | 2017-08-18 | 2018-01-23 | 陕西维视数字图像技术有限公司 | A kind of product batch mixing defective vision detecting system |
| CN107901947A (en) * | 2017-12-13 | 2018-04-13 | 中铁第四勘察设计院集团有限公司 | A kind of automatic traveling detection device for being suitable for empty rail track |
| CN107901947B (en) * | 2017-12-13 | 2024-02-23 | 中铁第四勘察设计院集团有限公司 | Automatic running detection device suitable for empty rail track |
| CN110450814A (en) * | 2019-08-06 | 2019-11-15 | 中国铁建重工集团股份有限公司 | Track detection assembly |
| CN110450814B (en) * | 2019-08-06 | 2020-12-22 | 中国铁建重工集团股份有限公司 | Track detection assembly |
| CN110763584A (en) * | 2019-11-17 | 2020-02-07 | 汪亚平 | Road and bridge concrete structure real-time detection device |
| CN112446974A (en) * | 2020-11-17 | 2021-03-05 | 南通中远海运川崎船舶工程有限公司 | Intelligent inspection system for ship pipe passage |
| CN112631280A (en) * | 2020-12-08 | 2021-04-09 | 国网北京市电力公司 | Unmanned manned inspection trolley |
| CN114264670A (en) * | 2021-12-09 | 2022-04-01 | 上海应用技术大学 | Intelligent rail-patrolling automatic detection trolley for diseases inside box girder |
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| Publication number | Publication date |
|---|---|
| CN106143530B (en) | 2018-09-21 |
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