CN109131428B - Train scanning detection device and warehouse inspection robot - Google Patents
Train scanning detection device and warehouse inspection robot Download PDFInfo
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- CN109131428B CN109131428B CN201711042234.2A CN201711042234A CN109131428B CN 109131428 B CN109131428 B CN 109131428B CN 201711042234 A CN201711042234 A CN 201711042234A CN 109131428 B CN109131428 B CN 109131428B
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- 238000007689 inspection Methods 0.000 title claims abstract description 22
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- 238000005096 rolling process Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 13
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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Abstract
The application provides a train scanning detection device and a warehouse inspection robot, wherein the train scanning detection device comprises: a robotic arm base; the six-degree-of-freedom mechanical arm is fixedly arranged on the upper end face of the mechanical arm base; the sliding guide rail assembly is fixedly arranged on a final arm rod in the six-degree-of-freedom mechanical arm; the movable sliding block is correspondingly connected with the sliding guide rail assembly; the image scanning module is connected to the movable slider; the train scanning detection device further includes: a detection controller; and a drive assembly electrically connected to the detection controller; the driving assembly is respectively connected with the mechanical arm base, the six-degree-of-freedom mechanical arm, the movable sliding block and the image scanning module. The technical scheme of the application can reduce the overhaul time and improve the overhaul efficiency.
Description
The present application claims priority from the chinese patent office, chinese patent application number 201710467077.3, filed on date 16 of 2017, 06, the entire contents of which are incorporated herein by reference.
Technical Field
The application relates to the technical field of train overhaul, in particular to a train scanning detection device and a warehouse detection robot.
Background
With the sustainable development of national economy, the running speed of trains is continuously increased and the passenger capacity of trains is continuously increased. With the continuous acceleration of train operation speed and the continuous increase of passenger capacity, the operation safety of trains is receiving more and more attention. In order to ensure the running safety of the train, the fault detection needs to be carried out on the train frequently. The warehouse entry overhaul is an important overhaul mode for detecting train faults and guaranteeing train operation safety.
As shown in fig. 1, in the failure detection mode of the warehouse entry maintenance, the train needs to be stopped on a special maintenance track 1, and the maintenance track 1 is supported by a special maintenance support 2 to raise the train by a certain height with respect to the ground. And, dig and be equipped with trench 3 in the ground between two maintenance tracks 1 to realize the detection to train bottom spare part.
With the development of train detection technology, a warehouse inspection robot is generally used to move and walk in ground areas at two sides of a train or in a trench at the bottom of the train in the prior art. The warehouse inspection robot is generally provided with a scanning device, and the scanning device can scan and obtain data in the form of images of parts on two sides or the bottom of a train in the running process of the train. The data of the train parts obtained through scanning by the scanning device can be used for further checking and overhauling faults of the structures at the two sides or the bottom of the train.
Through the fault detection mode of the warehouse inspection robot, the image data of each part of the train can be detected by the scanning device though the robot moves, but the image data is difficult to extend into the interior to detect the shielded part due to the limitation of the volume of the mechanical arm, so that the image acquisition is inaccurate, the maintenance precision is low, or a long time is required to extend into the interior to detect the shielded part, and the maintenance efficiency is greatly influenced.
Disclosure of Invention
The application aims to provide a train scanning detection device and a warehouse detection robot, which are used for solving the problems of long maintenance time and low maintenance efficiency of the existing warehouse detection robot introduced in the background technology.
In order to solve the technical problems, the application provides the following technical scheme:
according to a first aspect of the present application, there is provided a train scanning detection apparatus comprising:
a robotic arm base;
the six-degree-of-freedom mechanical arm is fixedly arranged on the upper end face of the mechanical arm base;
the sliding guide rail assembly is fixedly arranged on a final arm rod in the six-degree-of-freedom mechanical arm;
the movable sliding block is correspondingly connected with the sliding guide rail assembly; and
the image scanning module is connected to the movable slide block;
the train scanning detection device further includes:
a detection controller; the method comprises the steps of,
a drive assembly electrically connected to the detection controller; the driving assembly is respectively connected with the mechanical arm base, the six-degree-of-freedom mechanical arm, the movable sliding block and the image scanning module.
Preferably, the sliding guide rail assembly is rotatably connected to the final arm lever.
Preferably, the sliding guide rail assembly includes:
the sliding rail is connected with the tail arm rod and is in sliding connection with the movable sliding block.
Preferably, the train scanning detection device further comprises:
the range finder subassembly of connecting in sliding guide subassembly, and with range finder alarm that range finder subassembly electricity is connected, wherein, the range finder subassembly includes:
two first range finders respectively connected to two ends of each sliding rail in the length direction; and/or the number of the groups of groups,
the second range finder is connected to the movable slide block and is flush with the image scanning module, and the second range finder is also electrically connected with the range finding alarm.
Preferably, the train scanning detection device further comprises:
the angle adjusting positioner is fixedly arranged in the image scanning module and is electrically connected with the detection controller;
the universal ball mechanism is fixedly arranged on the movable sliding block and fixedly connected with the image scanning module; the method comprises the steps of,
the scanning angle adjusting mechanism is respectively connected with the driving assembly and the image scanning module;
wherein, universal ball mechanism includes: the universal ball base is fixedly connected to one surface of the movable sliding block, which is opposite to the sliding guide rail assembly; the method comprises the steps of,
the universal ball is in rolling connection with the universal ball in the universal ball base, and the universal ball is also fixedly connected with the image scanning module.
Preferably, the scanning angle adjusting mechanism includes:
a plurality of connecting holes circumferentially distributed on the image scanning module; the method comprises the steps of,
a plurality of traction wires correspondingly connected with the plurality of connecting holes respectively; wherein,,
the plurality of traction wires penetrate through the through holes on the edge of the universal ball base and are connected with the driving assembly.
Preferably, the train scanning detection device further includes:
the telescopic rod is arranged between the tail arm rod and the sliding guide rail assembly and is arranged along the length direction of the tail arm rod;
one end of the telescopic rod is connected to the tail arm rod, and the other end of the telescopic rod is rotatably connected with the sliding guide rail assembly through a rotating bearing.
Preferably, the telescopic rod is in sliding connection with the final arm rod.
Preferably, the sliding guide rail assembly is hinged with the end arm rod, and the hinge direction of the sliding guide rail assembly is perpendicular to the length direction of the sliding guide rail assembly.
In a second aspect, the present application also provides a library inspection robot, including: detecting a robot body; the walking mechanism is fixedly arranged on the lower bottom surface of the detection robot body; and, the train scanning detection device according to any one of the aspects of the present application; the mechanical arm base of the train scanning detection device is connected to the upper end face of the detection robot body.
According to the technical scheme of the train scanning detection device and the warehouse detection robot, the sliding guide rail assembly is fixedly arranged at the end part of the tail arm rod in the six-degree-of-freedom mechanical arm and is arranged on the movable sliding block correspondingly connected with the sliding guide rail assembly, the image scanning module is connected to the movable sliding block, and when the warehouse detection robot moves along the length direction of a train, the driving assembly can drive the movable sliding block to move along the length direction of the sliding guide rail assembly under the action of the detection controller. Compared with the prior art that the scanning device can detect the complete scheme by greatly swinging left and right or up and down, the warehouse inspection robot provided by the application can scan train parts completely only by moving the sliding block to slide left and right without swinging the six-degree-of-freedom mechanical arm in a large range, so that the overhaul time of the warehouse inspection robot can be reduced, and the overhaul efficiency of the warehouse inspection robot is improved.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram of a train warehouse inspection device according to the prior art;
fig. 2 is a schematic structural view of a train warehouse inspection robot according to an embodiment of the present application;
fig. 3 is a schematic structural view of a train warehouse inspection robot according to an embodiment of the present application;
fig. 4 is a schematic structural view of a train warehouse inspection robot according to an embodiment of the present application.
The correspondence between each structure and the reference numerals in the embodiment shown in fig. 1 to 4 is as follows:
1-maintenance track, 2-maintenance support, 3-trench, 4-mechanical arm base, 5-six degrees of freedom mechanical arm, 501-final arm lever, 6-sliding guide rail assembly, 601-sliding rail, 7-moving slide block, 8-image scanning module, 9-detection controller, 10-driving assembly, 11-range finder assembly, 1101-first range finder, 1102-second range finder, 12-range finder, 13-angle adjustment locator, 14-universal ball mechanism, 1401-universal ball base, 1402-universal ball, 15-scanning angle adjustment mechanism, 1501-connecting hole, 1502-traction wire, 16-telescopic link, 17-rotating bearing, 18-detection robot body, 19-running mechanism.
Detailed Description
The train garage inspection robot and the train part detection method provided by the embodiment of the application solve the problem that the existing fault detection mode introduced in the background technology is difficult to comprehensively detect all parts at the bottom of the whole train.
In order to better understand the technical solution in the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more comprehensible, the technical solution in the embodiments of the present application is described in further detail below with reference to the accompanying drawings.
Referring to fig. 2 and 3, fig. 2 is a schematic structural diagram of a library inspection robot according to an embodiment of the present application, and fig. 3 is a schematic structural diagram of a train scanning detection device according to an embodiment of the present application, as shown in fig. 2, the library inspection robot in this embodiment includes: a detection robot body 18; the traveling mechanism 19 is fixedly arranged on the lower bottom surface of the detection robot body 18; train scanning detection device; the arm base 4 of the train scanning detection device is connected to the upper end surface of the detection robot body 18.
Referring to fig. 2 and fig. 3, a train scanning detection apparatus provided in an embodiment of the present application includes:
a robot arm base 4; and the six-degree-of-freedom mechanical arm 5 is fixedly arranged on the upper end surface of the mechanical arm base 4.
The mechanical arm in this embodiment is a six-degree-of-freedom mechanical arm 5, and can realize movement in directions of three coordinate axes of X, Y and Z and rotation around the three coordinate axes, namely free movement and rotation up and down, left and right, front and back in space. As shown in fig. 3, as an embodiment, the six-degree-of-freedom robot arm 5 includes a rotation base connected to the robot arm base 4, the rotation base being rotatably connected to the robot arm base 4 so as to be horizontally rotatable around the robot arm base 4; a first arm lever connected with the rotating seat through a first rotating joint; and a final arm 501 pivotally connected to the first arm by a second pivot joint.
By moving the six-degree-of-freedom mechanical arm 5, a structure (such as the image scanning module 8) disposed at the end of the six-degree-of-freedom mechanical arm 5 can be freely moved. As shown in fig. 2, when the train scanning detection device is fixedly connected to the upper end surface of the warehouse inspection robot through the arm base 4, image capturing at a plurality of angles of the train can be realized during the running of the train.
The sliding guide rail assembly 6 is fixedly arranged on a final arm rod 501 in the six-degree-of-freedom mechanical arm 5;
a movable slider 7 correspondingly connected to the slide rail assembly 6; and an image scanning module 8 connected to the movable slider 7.
The sliding guide rail assembly 6 is fixedly arranged on the tail arm rod 501 of the six-degree-of-freedom mechanical arm 5, the length direction of the sliding guide rail assembly 6 is perpendicular to the length direction of the tail arm rod 501, and the image scanning module 8 is connected with the sliding guide rail assembly 6 in a sliding manner through the moving slide block 7, namely, the image scanning module can slide along the length direction of the sliding guide rail assembly 6. Train parts in a wider range on the train can be detected through the sliding of the image scanning module 8. Compared with the scheme that a scanning device (such as a mechanical arm) is required to swing left and right or up and down in a large extent in the prior art, the image scanning module 8 can completely scan train parts by sliding the movable sliding block 7, so that the maintenance time is shortened, and the maintenance efficiency is improved.
The train scanning detection device further includes:
a detection controller 9; the method comprises the steps of,
a drive assembly 10 electrically connected to the detection controller 9; the driving assembly 10 is respectively connected with the mechanical arm base 4, the six-degree-of-freedom mechanical arm 5, the movable slider 7 and the image scanning module 8.
The driving assembly 10 is respectively connected with the mechanical arm base 4, the six-degree-of-freedom mechanical arm 5, the movable slide block 7 and the image scanning module 8, and can drive the structures of the six-degree-of-freedom mechanical arm 5, the movable slide block 7, the image scanning module 8 and the like to cooperatively operate under the control of the detection controller 9, so that train parts can be detected in a large range, at a wide angle and with high efficiency.
According to the technical scheme of the train scanning detection device and the warehouse detection robot, the sliding guide rail assembly 6 is fixedly arranged at the end part of the tail arm rod 501 in the six-degree-of-freedom mechanical arm 5, the sliding guide rail assembly 6 is correspondingly connected with the movable sliding block 7, the movable sliding block 7 is connected with the image scanning module 8, when the warehouse detection robot moves along the length direction of a train, the driving assembly 10 can drive the movable sliding block 7 to move along the length direction of the sliding guide rail assembly 6 under the action of the detection controller 9, and the image scanning module 8 on the movable sliding block 7 can move in a large range, so that images of train parts can be scanned in multiple angles and in a large range. Compared with the prior art that the scanning device can detect the complete scheme by greatly swinging left and right or up and down, the warehouse inspection robot provided by the application can completely scan train parts only by moving the sliding block 7 to slide left and right without swinging the six-degree-of-freedom mechanical arm 5 in a large range, so that the overhaul time of the warehouse inspection robot can be reduced, and the overhaul efficiency of the warehouse inspection robot can be improved.
In addition, since the components of the train are widely distributed and many components are distributed in the deep part of the train, in order to accurately acquire the image of the train, the image scanning module 8 needs to be close to the components of the train and even go deep into the interior of the train to perform image shooting, and the sliding guide rail assembly 6 easily touches each component of the train, thereby influencing shooting. To solve this problem, the sliding guide assembly 6 is rotatably coupled to the final arm 501 as shown in fig. 3.
The sliding guide rail assembly 6 is rotationally connected with the final arm rod 501, when the final arm rod 501 of the six-degree-of-freedom mechanical arm 5 goes deep into the interior or the corner of a train, the sliding guide rail assembly 6 can correspondingly rotate according to the train image acquired by the image scanning module 8, so that the image scanning module 8 is in the optimal shooting position, and the image scanning module 8 can shoot images of train parts conveniently.
In addition, the slide rail assembly 6 includes:
the sliding rails 601 connected to the end arm 501, wherein each sliding rail 601 is connected with a moving slide block 7, and each moving slide block 7 is connected with an image scanning module mounting mechanism (not labeled in the figure), and the image scanning module mounting mechanism is connected with at least two groups of image scanning modules 8, and a certain included angle exists between every two adjacent image scanning modules 8. By installing two groups of image scanning modules 8 and keeping a certain included angle between adjacent image scanning modules 8, different image scanning modules can scan and shoot images of the same or different train parts at multiple angles at the same time.
Since the six-degree-of-freedom mechanical arm 5 moves during the process of detecting the failure of the train components by the image detection device, the image scanning module 8 easily collides with the train if going deep into the interior or corners of the train. In order to solve the above problem, as shown in fig. 3, the train scanning detection apparatus further includes:
a rangefinder assembly 11 coupled to the sliding rail assembly 6, and a rangefinder alarm 12 electrically coupled to the rangefinder assembly 11.
The distance between the image scanning module 8 and the sliding guide rail assembly 6 and the train parts can be measured by arranging the range finder assembly 11, so that when the distance is smaller than a preset distance, an alarm signal is sent to an operator or a detection controller 9 through the range finder alarm 12, and the sliding guide rail assembly 6 or the image scanning module 8 is prevented from colliding with the train when the image scanning module 8 goes deep into the interior or the corner of the train.
Wherein the rangefinder assembly 11 comprises:
two first distance meters 1101 respectively connected to both ends of each of the slide rails 601 in the length direction; and/or the number of the groups of groups,
the second distance meter 1102 is connected to the moving slide 7 and is flush with the image scanning module 8, wherein the second distance meter 1102 is further electrically connected to the distance measuring alarm 12.
The first distance meter 1101 is connected to two ends of each sliding rail 601 in the length direction, and can detect the distance between two ends of each sliding rail 601 and the train parts, so that when the distance between each sliding rail 601 and the train parts is smaller than or equal to the preset distance, an alarm signal is sent through the distance measuring alarm 12, and the six-degree-of-freedom mechanical arm 5 or the sliding rail 601 is timely moved through the detection controller 9, so that the sliding rail 601 is prevented from colliding with the train. In addition, the second distance meter 1102 is connected to the moving slide 7 and is flush with the image scanning module 8, so that the distance between the image scanning module 8 and the train component can be detected, and when the distance is smaller than or equal to the preset distance, it is determined that the image scanning module 8 is likely to collide, and an alarm signal is sent to the detection controller 9 through the distance measuring alarm 12, so that the moving slide 7, the sliding rail 601 or the six-degree-of-freedom mechanical arm 5 is adjusted to move, and the image scanning module 8 is prevented from colliding with the train.
In addition, if the image scanning module 8 is simply fixed to the movable slider 7, the scanning angle of the image scanning module 8 is easily fixed, and it is difficult for the image scanning module 8 to detect the failure condition of the train components at multiple angles. To solve this problem, as shown in fig. 4, the train scanning detection apparatus further includes:
the angle adjusting positioner 13 is fixedly arranged in the image scanning module 8 and is electrically connected with the detection controller 9;
the universal ball mechanism 14 is fixedly arranged on the movable slide block 7 and fixedly connected with the image scanning module 8; the method comprises the steps of,
a scanning angle adjusting mechanism 15 connected to the driving unit 10 and the image scanning module 8, respectively;
wherein the universal ball mechanism 14 includes: a universal ball 1402 base 1401 fixedly connected to one side of the movable slider 7 facing away from the sliding guide rail assembly 6; the method comprises the steps of,
the ball 1402 is rollably coupled to the ball 1402 within the base 1401 of the ball 1402, the ball 1402 also being fixedly coupled to the image scanning module 8.
The angle adjusting positioner 13 is disposed in the image scanning module 8, when the moving slider 7 moves, or the movement of the mechanism such as the sliding rail assembly 6 causes the scanning angle of the image scanning module 8 to deviate, the angle adjusting positioner 13 can position the current angle of the image scanning module 8, then output the information containing the current angle to the detection controller 9, then the detection controller 9 compares the current angle with the preset angle of the image scanning module 8, calculates the deviation angle of the image scanning module 8, and when the deviation of the image scanning module 8 is determined to be too large, sends an adjusting instruction to the driving assembly 10 according to the deviation angle, so that the driving assembly 10 drives the scanning angle adjusting mechanism 15 to control the universal ball 1402 to roll, so as to adjust the scanning angle of the image scanning module 8.
As a preferred embodiment, as shown in fig. 4, the scan angle adjusting mechanism 15 includes:
a plurality of connection holes 1501 circumferentially distributed in the image scanning module 8; the method comprises the steps of,
a plurality of traction wires 1502 respectively connected to the plurality of connection holes 1501; wherein,,
a plurality of traction wires 1502 are connected to the drive assembly 10 through holes in the rim of the base 1401 of the ball 1402.
The scan angle adjusting mechanism 15 includes a pull wire 1502 and a connecting hole 1501; the plurality of traction wires 1502 can be pulled by the driving assembly 10 through the connection of the traction wires 1502 and the driving assembly 10, so that the purpose of adjusting the scanning angle of the image scanning module 8 can be achieved through the pulling action of the traction wires 1502 by pulling the connection holes 1501 on the image scanning module 8 with the lengths of the different traction wires 1502.
In addition, in order to obtain an image of the train components in the depth region inside the train, the image scanning module 8 needs to go deep into the train to perform scanning and shooting, and in this process, the deep distance of the image scanning module 8 may be limited because the length of the six-degree-of-freedom mechanical arm 5 may not be reached. To solve this problem, as shown in fig. 4, the train scanning detection apparatus further includes:
and a telescopic link 16 provided between the final arm 501 and the slide rail assembly 6 and along the longitudinal direction of the final arm 501. The telescopic link 16 is disposed along the length direction of the final arm 501 and is connected to the slide rail assembly 6, so that the telescopic link 16 can extend and retract along the length direction of the final arm 501, and the slide rail assembly 6 can be extended into the depth region inside the train to perform scanning.
One end of the telescopic rod 16 is connected to the final arm 501, and the other end of the telescopic rod 16 is rotatably connected to the sliding guide rail assembly 6 through a rotating bearing 17.
The sliding guide rail assembly 6 is rotatably connected with one end of the telescopic rod 16 through the rotating bearing 17, and can rotate along the circumference perpendicular to the telescopic rod 16, namely the tail arm rod 501, so that the position and the angle of the sliding guide rail assembly 6 can be adjusted to avoid blocking of train parts or adjust the scanning angle of the image scanning module 8 to the train parts.
In addition, in order to further increase the telescopic distance of the image scanning module 8, the relative positions of the image scanning module 8 and the train parts are adjusted, and the telescopic rod 16 is slidably connected with the end arm rod 501.
In addition, the train component may be above or below the image scanning module 8, if the six-degree-of-freedom mechanical arm 5 is simply adjusted, the scanning angle of the image scanning module 8 is not necessarily suitable, and the sliding rail assembly 6 may be connected with a plurality of image scanning modules 8, which is not easy to adjust the scanning angles of the plurality of image scanning modules 8 at the same time. To solve this problem, as shown in fig. 4, the slide rail assembly 6 is hinged to the end arm 501, and the hinge direction of the slide rail assembly 6 is perpendicular to the longitudinal direction of the slide rail assembly 6.
By hinging the sliding guide rail assembly 6 with the end arm 501, the hinging direction of the sliding guide rail assembly 6 is perpendicular to the length direction of the sliding guide rail assembly 6, so that the sliding guide rail assembly 6 can rotate perpendicular to the length direction of the sliding guide rail assembly 6, and the scanning angle of each image scanning module 8 connected to the sliding guide rail assembly 6 is adjusted to a proper angle, so that train parts above or below the image scanning module 8 can be conveniently shot.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The above embodiments of the present application do not limit the scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (8)
1. A train scanning detection apparatus, comprising:
a robot arm base (4);
the mechanical arm (5) is fixedly arranged on the upper end face of the mechanical arm base (4);
the sliding guide rail assembly (6) is fixedly arranged on a tail arm rod (501) in the mechanical arm (5);
the method comprises the steps of,
the image scanning module (8) is movably connected to the sliding guide rail assembly (6);
the train scanning detection device further includes:
a detection controller (9); the method comprises the steps of,
a drive assembly (10) electrically connected to the detection controller (9), wherein the drive assembly (10) is connected to the machine
The mechanical arm base (4), the mechanical arm (5), the movable sliding block (7) and the image scanning module (8) are respectively connected;
the sliding guide rail assembly (6) is rotationally connected with the final arm lever (501);
the sliding guide rail assembly (6) comprises:
the image scanning device comprises a sliding rail (601) connected to the tail arm rod (501) and a movable sliding block (7) in sliding connection with the sliding rail (601), wherein the image scanning module (8) is arranged on the movable sliding block (7);
further comprises:
a rangefinder assembly (11) coupled to the sliding rail assembly (6), and electrically coupled to the rangefinder assembly (11)
A connected ranging alarm (12);
the rangefinder assembly (11) comprises:
a first distance meter (1101) connected to a longitudinal end of the slide rail (601); and/or the number of the groups of groups,
the second range finder (1102) is connected to the movable sliding block (7) and is flush with the image scanning module (8), and the second range finder (1102) is further electrically connected with the range finding alarm (12).
2. The train scanning detection device according to claim 1, wherein the first distance measuring devices (1101) are respectively arranged at two ends of the sliding rail (601).
3. The train scanning detection apparatus according to claim 1 or 2, characterized by further comprising:
the angle adjusting positioner (13) is fixedly arranged in the image scanning module (8) and is electrically connected with the detection controller (9);
the universal ball mechanism (14) is fixedly arranged on the movable sliding block (7) and fixedly connected with the image scanning module (8);
the method comprises the steps of,
a scanning angle adjusting mechanism (15) respectively connected with the driving assembly (10) and the image scanning module (8);
wherein the universal ball mechanism (14) comprises: is fixedly connected with the movable slide block (7) back to the sliding guide rail component (6)
A one-sided universal ball mount (1401); the method comprises the steps of,
the universal ball (1402) is connected in the universal ball base (1401) in a rolling mode, and the universal ball (1402) is fixedly connected with the image scanning module (8).
4. The train scanning detection apparatus according to claim 3, wherein the scanning angle adjusting mechanism (15),
comprising the following steps:
a plurality of connecting holes (1501) circumferentially distributed on the image scanning module (8); the method comprises the steps of,
a plurality of traction wires (1502) respectively connected to the plurality of connection holes (1501) correspondingly; wherein,,
the plurality of traction wires (1502) pass through the through holes of the edge of the universal ball base (1401) and the driving component (10)
Is connected with each other.
5. The train scanning detection apparatus of claim 1 further comprising:
is arranged between the final arm lever (501) and the sliding guide rail assembly (6) and along the final arm lever (501)
A telescopic rod (16) arranged in the length direction of the frame;
wherein one end of the telescopic rod (16) is connected with the end arm rod (501), and the other end of the telescopic rod (16) is connected with the end arm rod
The end is rotationally connected with the sliding guide rail assembly (6) through a rotating bearing (17).
6. The train scanning detection device according to claim 5, characterized in that the telescopic rod (16) is slidingly connected with the final arm rod (501).
7. Train scanning detection device according to claim 1, characterized in that the sliding rail assembly (6) is connected to
The end arm lever (501) is hinged, and the hinge direction of the sliding guide rail component (6) is vertical to the sliding guide rail group
The length direction of the piece (6).
8. A library inspection robot, comprising:
a detection robot body (18);
the walking mechanism (19) is fixedly arranged on the lower bottom surface of the detection robot body (18); the method comprises the steps of,
the train scanning detection apparatus of any one of claims 1 to 7; wherein,,
the mechanical arm base (4) of the train scanning detection device is connected to the detection robot body (18).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710467077 | 2017-06-16 | ||
| CN2017104670773 | 2017-06-16 |
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| CN109131428A CN109131428A (en) | 2019-01-04 |
| CN109131428B true CN109131428B (en) | 2023-09-26 |
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| CN201711042234.2A Active CN109131428B (en) | 2017-06-16 | 2017-10-30 | Train scanning detection device and warehouse inspection robot |
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| CN110001708B (en) * | 2019-04-01 | 2024-07-02 | 唐山百川智能机器股份有限公司 | Auxiliary exit mechanism and track walking type motor train unit bottom detection device |
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| JPH11285994A (en) * | 1998-04-02 | 1999-10-19 | Nachi Fujikoshi Corp | Automatic bolt position measuring device |
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| CN106734009A (en) * | 2017-01-10 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | A kind of heavy caliber minute surface cleaning equipment |
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| JPH11285994A (en) * | 1998-04-02 | 1999-10-19 | Nachi Fujikoshi Corp | Automatic bolt position measuring device |
| JP2010036327A (en) * | 2008-08-07 | 2010-02-18 | Fujinon Corp | Contact sensor for vacuum |
| CN105043246A (en) * | 2014-05-01 | 2015-11-11 | 机械设计中畑株式会社 | Detection apparatus, detection method and manipulator |
| CN204415430U (en) * | 2014-11-04 | 2015-06-24 | 上海市东方海事工程技术有限公司 | A kind of rail examination robot servo aligning gear |
| CN104915957A (en) * | 2015-05-29 | 2015-09-16 | 何再兴 | Matching rectification method for improving three dimensional visual sense identification precision of industrial robot |
| CN105383945A (en) * | 2015-12-17 | 2016-03-09 | 合肥奥博特自动化设备有限公司 | Grapnel type grasper |
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